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`Insert/LineCapture.tl`¶

Aggregate ID: LineCapture

Aggregate Path: Insert/LineCapture.tl

Home to transponder sequence: (0) Undock (1) Midcourse guidance: nav to dock WP while querying transponder, execute search pattern if WP is reached with no response from x-ponder. (2) Terminal guidance: home to target using DUSBL tracking data, reset nav, and dock

Inserted by:

Arguments¶

DockLat¶

DockLat = Dock:Dock.lat

Latitude of docking station waypoint (defaults to Config/workSite.beaconLat).

DockLon¶

DockLon = Dock:Dock.lon

Longitude of docking station waypoint (defaults to Config/workSite.beaconLon).

DetachTimeout¶

DetachTimeout = 30 minute

Maximum time duration for the vehicle to detach form the dock. The vehicle will switch over to midcourse guidance after the timeout is expired.

MidcourseDepth¶

MidcourseDepth = Dock:LineCapture.midcourseDepth

Desired vehicle depth when navigating to dock WP (during midcourse phase).

MidcourseSpeed¶

MidcourseSpeed = Dock:LineCapture.midcourseSpeed

Thruster speed during Midcourse guidance.

MidcourseTimeout¶

MidcourseTimeout = Dock:LineCapture.midcourseTimeout

Maximum time duration for running in midcourse guidance mode.

TerminalRange¶

TerminalRange = Dock:LineCapture.terminalRange

Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???.

AcousticTimeout¶

AcousticTimeout = Dock:LineCapture.acousticTimeout

Maximum time duration allowed between pings during terminal guidance. If expired, the vehicle will regress to Midcourse guidance.

losRateIIRFilterDecay¶

losRateIIRFilterDecay = 0.0 none

LineCapture single-pole IIR filter decay value. Filters line-of-sight (LOS) angle rotation rate. The Decay value should be btween 0 to 1, set to 0 disable filtering.

SearchTimeout¶

SearchTimeout = Dock:LineCapture.searchTimeout

Maximum time duration for running in search guidance mode.

CircleRadius¶

CircleRadius = Dock:LineCapture.searchCircleRadius

Radius of circle around the dock waypoint.

CircleMaxError¶

CircleMaxError = 1 meter

If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.

CircleTurnToPort¶

CircleTurnToPort = false

If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.

DepthDeadband¶

DepthDeadband = 0.01 meter

Vertical drift from the specified depth that's allowed during depth keeping.

RudderDeadband¶

RudderDeadband = 0.001 arcdeg

Degree of rounding in rudder command output values to use during Terminal Homing.

MinAltitude¶

MinAltitude = 2 meter

Minimum height above the sea floor for the entire mission.

MaxDepth¶

MaxDepth = 8 meter

Maximum depth for the entire mission.

MinOffshore¶

MinOffshore = 1 meter

Minimum offshore distance for the entire mission.

DockingAltitude¶

DockingAltitude = NaN meter

Docking altitude. Ignored when NaN and used over depth when a valid altitude is set.

InvalidAltitudeTimeout¶

InvalidAltitudeTimeout = NaN minute

The mission will use the last good depth command if no valid altitude readings are received within this specified time duration.

AltitudeDepthLimit¶

AltitudeDepthLimit = NaN meter

Vehicle will not be commanded deeper than this regardless of altitude command.

AltitudeIIRFilterDecay¶

AltitudeIIRFilterDecay = 0.0 none

AltitudeServo single-pole IIR filter decay value. Low-pass filters the AltitudeServo depth command. The Decay value should be btween 0 to 1, set to 0 disable filtering.

ElapsedRange¶

ElapsedRange = 0 minute

Mission variable (don't change). Time since last range to acoustic contact.

Range¶

Range = NaN meter

Mission variable (don't change). Most recent range to acoustic contact.

Output¶

DoneTimeout¶

DoneTimeout = -1 count

Mission variable (don't change). The mission will run in this mode when the insert timed out.

Done¶

Done = 0 count

Mission variable (don't change). The mission will run in this mode when the insert is done (docked).

DetachFromDock¶

DetachFromDock = 1 count

Mission variable (don't change). The mission will run in this mode to drift away from the dock after is unlatched.

Midcourse¶

Midcourse = 2 count

Mission variable (don't change). The mission will run in this mode when approaching the dock under Midcourse guidance.

Terminal¶

Terminal = 3 count

Mission variable (don't change). The mission will run in this mode when approaching the dock under Terminal guidance.

GuidanceMode¶

GuidanceMode = DetachFromDock

Mission variable (don't change). The mission sets this variable to switch between guidance modes.

DockingDepth¶

DockingDepth = 1 meter

Mission variable (don't change). Actual docking depth.

Insert/LineCapture.tl¶