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
DockLat = Dock:Dock.lat
Latitude of docking station waypoint (defaults to Config/workSite.beaconLat).
DockLon = Dock:Dock.lon
Longitude of docking station waypoint (defaults to Config/workSite.beaconLon).
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 = Dock:LineCapture.midcourseDepth
Desired vehicle depth when navigating to dock WP (during midcourse phase).
MidcourseSpeed = Dock:LineCapture.midcourseSpeed
Thruster speed during Midcourse guidance.
MidcourseTimeout = Dock:LineCapture.midcourseTimeout
Maximum time duration for running in midcourse guidance mode.
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 = Dock:LineCapture.acousticTimeout
Maximum time duration allowed between pings during terminal guidance. If expired, the vehicle will regress to Midcourse guidance.
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 = Dock:LineCapture.searchTimeout
Maximum time duration for running in search guidance mode.
CircleRadius = Dock:LineCapture.searchCircleRadius
Radius of circle around the dock waypoint.
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 = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
DepthDeadband = 0.01 meter
Vertical drift from the specified depth that's allowed during depth keeping.
RudderDeadband = 0.001 arcdeg
Degree of rounding in rudder command output values to use during Terminal Homing.
MinAltitude = 2 meter
Minimum height above the sea floor for the entire mission.
MaxDepth = 8 meter
Maximum depth for the entire mission.
MinOffshore = 1 meter
Minimum offshore distance for the entire mission.
DockingAltitude = NaN meter
Docking altitude. Ignored when NaN and used over depth when a valid altitude is set.
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 = NaN meter
Vehicle will not be commanded deeper than this regardless of altitude command.
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 = 0 minute
Mission variable (don't change). Time since last range to acoustic contact.
Range = NaN meter
Mission variable (don't change). Most recent range to acoustic contact.
DoneTimeout = -1 count
Mission variable (don't change). The mission will run in this mode when the insert timed out.
Done = 0 count
Mission variable (don't change). The mission will run in this mode when the insert is done (docked).
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 = 2 count
Mission variable (don't change). The mission will run in this mode when approaching the dock under Midcourse guidance.
Terminal = 3 count
Mission variable (don't change). The mission will run in this mode when approaching the dock under Terminal guidance.
GuidanceMode = DetachFromDock
Mission variable (don't change). The mission sets this variable to switch between guidance modes.
DockingDepth = 1 meter
Mission variable (don't change). Actual docking depth.