Page auto-generated from XML file.

# `Science/circle_acoustic_contact.xml`¶

Mission ID: `circle_acoustic_contact`

Mission Path: `Science/circle_acoustic_contact.xml`

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 acoustic address of the asset to be 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 = 300 meter
``````

Radius of circle around acoustic contact during wait time

``````InnerCircleRadius = 50 meter
``````

Radius of circle around acoustic contact during wait time

### 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)

### 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.

### YoYoMinDepth¶

``````YoYoMinDepth = 3 meter
``````

Minimum depth during yo-yo's.

### YoYoMaxDepth¶

``````YoYoMaxDepth = 33 meter
``````

Maximum depth during yo-yo's.

### 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 = 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.

None defined

## Inserts¶

### `Insert/AbortDrift.tl`¶

``````redefineArg AcousticTimeout = AcousticContactTimeout
``````

### `Insert/Science.tl`¶

Get science data, including PeakDetectChl

``````redefineArg PeakDetectChlActive = true
``````