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Science/cork_and_screw_2.tl

Mission ID: CorkAndScrew

Mission Path: Science/cork_and_screw_2.tl

(No description)

Arguments

MissionTimeout

MissionTimeout = 20 hour

Maximum duration of mission

NumRoundsWholeSet

NumRoundsWholeSet = 1 count

Number of rounds of whole set of outer cylinders and inner screws.

NumScrewsPerCylinder

NumScrewsPerCylinder = 1 count

Number of inner screws per outer cylinder.

NumDepths

NumDepths = 10 count

Total number of inner screw depths.

NeedCommsTimeOnCorkScrew

NeedCommsTimeOnCorkScrew = 60 minute

On cork and screw, how often to surface for commumications

AcousticTrackingTimeout

AcousticTrackingTimeout = 21 hour

If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications. Set longer than MissionTimeout to effectively disable.

AcousticContactTimeout

AcousticContactTimeout = 15 minute

Only use a sufficiently fresh handshake to update the tracking center.

MaxWaitNotAchievingDepth

MaxWaitNotAchievingDepth = 2 hour

Maximum wait time the vehicle cannot reach the targeted depth.

OuterCylinder

OuterCylinder = true

Whether to do an outer cylinder yoyo. Initialized to True.

InnerScrew

InnerScrew = false

Whether to do an inner screw. Initialized to True.

CylinderTimeout

CylinderTimeout = 240 minute

Maximum duration of cylinder yoyo.

ScrewEachDepthTimeout

ScrewEachDepthTimeout = 120 minute

Maximum duration at each depth on inner screw.

SpeedCylinder

SpeedCylinder = 1.0 meter_per_second

Vehicle speed on cylinder.

SpeedScrew

SpeedScrew = 1.0 meter_per_second

Vehicle speed on screw.

MaxDepth

MaxDepth = 100 meter

Maximum depth for the entire mission.

ContactLabel

ContactLabel = 0 count

The acoustic address of the asset to be tracked

AcousticTargetDepth

AcousticTargetDepth = NaN meter

Depth of acoustic target if known and fixed (or nearly fixed). For example, if the acoustic target is a Wave Glider, set it to zero. This will improve 2D projected position estimates in the Earth reference frame. Defaults to NaN.

CenterLatitude

CenterLatitude = NaN 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 = NaN 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.

CylinderYoYoMinDep

CylinderYoYoMinDep = 1.5 meter

Minimum depth while performing the YoYo behavior on outer cylinder.

CylinderYoYoMaxDep

CylinderYoYoMaxDep = 30 meter

Maximum depth while performing the YoYo behavior on outer cylinder.

CylinderRadius

CylinderRadius = 50 meter

Radius of outer cylinder.

MaxCirclesOnCylinder

MaxCirclesOnCylinder = 1 count

Maximum number of circles on cylinder.

ScrewRadius

ScrewRadius = 100 meter

Radius of inner screw.

MaxCirclesEachDepthOnScrew

MaxCirclesEachDepthOnScrew = 1 count

Maximum number of circles on cylinder.

Depth1

Depth1 = NaN meter

Depth 1.

Depth2

Depth2 = NaN meter

Depth 2.

Depth3

Depth3 = NaN meter

Depth 3.

Depth4

Depth4 = NaN meter

Depth 4.

Depth5

Depth5 = NaN meter

Depth 5.

Depth6

Depth6 = NaN meter

Depth 6.

Depth7

Depth7 = NaN meter

Depth 7.

Depth8

Depth8 = NaN meter

Depth 8.

Depth9

Depth9 = NaN meter

Depth 9.

Depth10

Depth10 = NaN meter

Depth 10.

Depth11

Depth11 = NaN meter

Depth 11.

Depth12

Depth12 = NaN meter

Depth 12.

Depth13

Depth13 = NaN meter

Depth 13.

Depth14

Depth14 = NaN meter

Depth 14.

Depth15

Depth15 = NaN meter

Depth 15.

Depth16

Depth16 = NaN meter

Depth 16.

Depth17

Depth17 = NaN meter

Depth 17.

Depth18

Depth18 = NaN meter

Depth 18.

Depth19

Depth19 = NaN meter

Depth 19.

Depth20

Depth20 = NaN meter

Depth 20.

YoYoMinAltitude

YoYoMinAltitude = 9 meter

Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).

MinAltitude

MinAltitude = 7 meter

Minimum altitude for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

TrackingUpdatePeriod

TrackingUpdatePeriod = 15 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)

NumberOfFixesLowPass

NumberOfFixesLowPass = 4 count

Number of fixes to average to produce smoothed lat/lon/dep output (initialized to 4).

NumberOfStartingFixesToIgnore

NumberOfStartingFixesToIgnore = 2 count

Number of fixes to ignore at the start of mission (as the vehicle just leaves surface, contact's location estimate especailly bearing can be erroneous. Initialized to 8, corresponding to 2 minutes if query interval TrackingUpdatePeriod = 15 s.

VerticalTolerance

VerticalTolerance = 0.1 meter

Depth error allowed for being considered at/near the target depth.

CylinderCircleMaxError

CylinderCircleMaxError = 50 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.

CylinderCircleTurnToPort

CylinderCircleTurnToPort = true

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

ScrewCircleMaxError

ScrewCircleMaxError = 50 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.

ScrewCircleTurnToPort

ScrewCircleTurnToPort = true

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

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.)

YoYoUpPitch

YoYoUpPitch = 20 degree

Vehicle up pitch while performing the YoYo behavior.

YoYoDownPitch

YoYoDownPitch = -20 degree

Vehicle down pitch while performing the YoYo behavior.

BuoyancyNeutral

BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral

Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy

MassDefault

MassDefault = Control:VerticalControl.massDefault

Static setting for mass during the mission. Set to NaN mm for active mass position

YoYoMinDepth

YoYoMinDepth = 4.5 meter

Minimum depth while performing the YoYo behavior. Program will set to CylinderYoYoMinDep.

YoYoMaxDepth

YoYoMaxDepth = 27 meter

Maximum depth while performing the YoYo behavior. Program will set to CylinderYoYoMaxDep.

MissionStartCommsCompleted

MissionStartCommsCompleted = false

MissionStartComms is completed (initialized to false).

StartScrew

StartScrew = false

Start screw (initialized to false).

DepthSet

DepthSet = 10.0 meter

Depth held for inner screw. Initialized to 10 meters.

DepthOptionsSet

DepthOptionsSet = false

Depth options for inner screw already set. Initialized to false.

DepthCompleted

DepthCompleted = false

Depth holding on inner screw completed. Initialized to false.

FromLastTimeFixToCenterUpdate

FromLastTimeFixToCenterUpdate = 0 minute

Elapsed time from last time-fix to center update time (initialized to zero).

ElapsedTimeFix

ElapsedTimeFix = 0 minute

Elapsed time from last time-fix since last fix (initialized to zero).

ContactLatitudeLowpass

ContactLatitudeLowpass = NaN degree

Low-pass filtered latitude of contact (initialized to NaN).

ContactLongitudeLowpass

ContactLongitudeLowpass = NaN degree

Low-pass filtered longitude of contact (initialized to NaN).

CntScrews

CntScrews = 1 count

Count of inner screws (initilized to 1).

CntDepths

CntDepths = 1 count

Count of inner screw depths (initilized to 1).

Output

None defined

Inserts

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Insert/AbortDrift.tl

redefineArg AcousticTimeout = AcousticTrackingTimeout

Insert/Science.tl

Insert/NeedComms.tl

Invoked Module Behaviors

Estimation:Tracking

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:Circle

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Pitch

Guidance:SetSpeed

Guidance:YoYo