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