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Insert/Docked.xml

Aggregate ID: Docked

Aggregate Path: Insert/Docked.xml

(No description)

Arguments

MaxDockRange

MaxDockRange = 8 meter

Maximum range allowed from the dock.

DetachedTimeout

DetachedTimeout = 5 minute

Time duration limit for determining if the vehicle is detached from the dock.

DockedTimeout

DockedTimeout = 30 second

Time duration limit for determining if the vehicle is ON the dock.

Depth

Depth = 5 meter

Depth to maintain while docked.

TransponderCode

TransponderCode = 2 count

Transponder Address.

TrackingUpdatePeriod

TrackingUpdatePeriod = 60 second

How long to wait between acoustic queries.

NumberOfPings

NumberOfPings = 1 count

Number of pings requested each time.

Speed

Speed = 0.0 meter_per_second

Thruster speed while docked.

DepthDeadband

DepthDeadband = 1.5 meter

How much vertical drift from the specified depth is allowed while docked.

PitchLimit

PitchLimit = 20 degree

Max vehicle pitch (+/-) while on dock.

MinDepth

MinDepth = Control:VerticalControl.surfaceThreshold

Minimum depth while docked.

MaxDepth

MaxDepth = BIT:CBIT.stopDepth

Maximum depth while docked.

Output

None defined

Invoked Module Behaviors

Dock:Docked

Estimation:TrackAcousticContact

Guidance:DepthEnvelope

Guidance:Pitch

Guidance:SetSpeed