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`Science/circle_acoustic_contact.tl`¶

Mission ID: circle_acoustic_contact

Mission Path: Science/circle_acoustic_contact.tl

This mission runs a circle around a specified acoustic contact. The tracking behavior periodically queries the DAT for range and direction to the contact, and the DAT acoustically interrogates the contact. The tracking component then calculates the position of the contact to update the center of the circle. When the vehicle surfaces and updates its own position with GPS, it queries the contact again, then sends the contact position to shore.

Arguments¶

MissionTimeout¶

MissionTimeout = 2 hour

Maximum duration of mission

NeedCommsTime¶

NeedCommsTime = 60 minute

Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications

AcousticContactTimeout¶

AcousticContactTimeout = 15 minute

If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore.

ContactLabel¶

ContactLabel = 0 count

The acoustic address of the asset to be tracked

ContactDepth¶

ContactDepth = NaN meter

The depth of the asset to be tracked, if known.

PeakDetectChl¶

PeakDetectChl = false

Whether to enable peak chl detection on each yo-yo profile

SendPeakDepthAvgProfilesChl¶

SendPeakDepthAvgProfilesChl = false

Whether to report profiles-averaged max-per-profile depth of chlorophyll: _.peakdepth.

PeakDetectPlanktivoreLMavgROI¶

PeakDetectPlanktivoreLMavgROI = false

Whether to enable peak PlanktivoreLMavgROI detection on each yo-yo profile

SendPeakDepthAvgProfilesPlanktivoreLMavgROI¶

SendPeakDepthAvgProfilesPlanktivoreLMavgROI = false

Whether to report profiles-averaged max-per-profile depth of PlanktivoreLMavgROI: _.peakdepth.

ListenToTerminateMissionMsg¶

ListenToTerminateMissionMsg = false

Whether to listen to the _.terminateMission acoustic message.

SendNearSignal¶

SendNearSignal = false

Whether to send the _.near acoustic message to the contact.

ModemIDForSendingSignal¶

ModemIDForSendingSignal = 0 enum

ID of destination modem to send acoustic messages to. Defaults to the same as ContactLabel but doesn't have to be the same modem as that being tracked.

CenterLatitude¶

CenterLatitude = 36.81544 degree

The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.

CenterLongitude¶

CenterLongitude = -121.82506 degree

The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.

OuterCircleRadius¶

OuterCircleRadius = 300 meter

Radius of circle around acoustic contact during wait time

InnerCircleRadius¶

InnerCircleRadius = 50 meter

Radius of circle around acoustic contact during wait time

ThreshRangeContact¶

ThreshRangeContact = 100 meter

Send _.near acoustic message to the contact when the range is closer than this threshold.

TrackingUpdatePeriod¶

TrackingUpdatePeriod = 60 second

How long to wait between acoustic queries

NumberOfPings¶

NumberOfPings = 1 count

Number of return pings to request with each acoustic query (more than 1 will activate oneway mode)

LowPassWindowLengthVertical¶

LowPassWindowLengthVertical = 20 count

Low-pass window length (based on depth sensor sampling interval 0.4 second) for low-pass filtering.

NumProfilesAvgPeakDepth¶

NumProfilesAvgPeakDepth = 3 count

Number of yoyo profiles for averaging the max-per-profile peak depths.

InnerCircleTime¶

InnerCircleTime = 0 minute

Time before each normal communication cycle to move to the inner circle. Default value of 0 means vehicle will stay at OuterCircleRadius the whole time.

CircleMaxError¶

CircleMaxError = 100 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.

FixedDepth¶

FixedDepth = NaN meter

If non-nan, vehicle flies a flat-and-level circle at the specified depth instead of yo-yos. See noyo settings below.

YoYoMinDepth¶

YoYoMinDepth = 3 meter

Minimum depth during yo-yo's.

YoYoMaxDepth¶

YoYoMaxDepth = 20 meter

Maximum depth during yo-yo's.

ValidLegDeepThresh¶

ValidLegDeepThresh = NaN meter

Flip-to-ascent depth needs to be deeper than this threshold to be considered a valid leg for peak reporting.

YoYoMinAltitude¶

YoYoMinAltitude = 10 meter

Min altitude while in yo-yo mode.

YoYoPitch¶

YoYoPitch = 20 degree

Pitch (plus and minus) for yo-yo behavior.

Speed¶

Speed = 1 meter_per_second

Vehicle speed.

KwpHeading¶

KwpHeading = 0.010 radian_per_meter

Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)

MinAltitude¶

MinAltitude = 7 meter

Minimum height above the sea floor for the entire mission.

MaxDepth¶

MaxDepth = 105 meter

Maximum depth for the entire mission.

MinOffshore¶

MinOffshore = 1.5 kilometer

Minimum offshore distance for the entire mission.

NoYoApproachSpeed¶

NoYoApproachSpeed = 0.7 meter_per_second

Speed while descending to target depth for flat-and-level circle Not used for yoyos

NoYoApproachDepthRate¶

NoYoApproachDepthRate = 0.05 meter_per_second

Descent depth rate (Positive depth rate means going down) for flat-and-level circle Not used for yoyos

NoYoApproachPitchLimit¶

NoYoApproachPitchLimit = 20 degree

Max vehicle pitch (+/-) when decending from the surface for flat-and-level circle Not used for yoyos

NoYoApproachDepthTimeout¶

NoYoApproachDepthTimeout = 15 minute

Maximum time duration for the vehicle to reach the target depth for flat-and-level circle Not used for yoyos

NoYoApproachSettleTimePreDive¶

NoYoApproachSettleTimePreDive = 1 minute

Time duration for the vehicle to pump down the VBS BEFORE leaving the surface for flat-and-level circle Not used for yoyos

NoYokpDepth¶

NoYokpDepth = 0.07 radian_per_meter

Dive loop proportional gain (applied only while the vehicle is descending to target depth).

Output¶

DiveMode¶

DiveMode = 0 count

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

DoingComms¶

DoingComms = 0 count

Mission variable (don't change). The mission will run in this to mode when doing surface comms.

InitialDive¶

InitialDive = 1 count

Mission variable (don't change). The mission will run in this mode after surface comms are done to dive the vehicle to the approach depth.

MaintainDepth¶

MaintainDepth = 2 count

Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth.

PeakDepthAvgOverProfiles¶

PeakDepthAvgOverProfiles = 0 meter

The peak signal depth averaged over NumProfilesAvgPeakDepth of profiles.

TrueVar¶

TrueVar = true

NearSignalSent¶

NearSignalSent = false

Have sent the _.near message to the contact.

TerminateMissionMsgReceived¶

TerminateMissionMsgReceived = false

Whether this vehicle has received the _.terminateMission message from the other vehicle.

Inserts¶

`Insert/AbortDrift.tl`¶

redefineArg AcousticTimeout = AcousticContactTimeout

redefineArg PeakDetectChlActive = PeakDetectChl

redefineArg PeakDepthAvgProfilesChlActive = SendPeakDepthAvgProfilesChl

redefineArg PeakDetectPlanktivoreLMavgROIActive = PeakDetectPlanktivoreLMavgROI

redefineArg PeakDepthAvgProfilesPlanktivoreLMavgROIActive = SendPeakDepthAvgProfilesPlanktivoreLMavgROI

redefineArg LowPassWindowLength = LowPassWindowLengthVertical

redefineArg FilterWidthHorizontal = NumProfilesAvgPeakDepth

redefineArg ShallowBound = YoYoMinDepth

redefineArg DeepBound = YoYoMaxDepth

redefineArg DeepThreshValidLeg = ValidLegDeepThresh

Science/circle_acoustic_contact.tl¶