Science/mind_the_drift.tl¶
Mission ID: mind_the_drift
Mission Path: Science/mind_the_drift.tl
This mission drifts level at a depth while running the backseat and sending acomms data. Originally it was written for the Big Business of getting ayeris images transferred over the acomms link. The Drift: You start sinking, better grab an oar and row. And please take a path that you know You start thinking, making up the images as you go, as you go.
Arguments¶
MissionTimeout¶
MissionTimeout = 120 minute
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 60 minute
How often to surface for commumications
AcousticModemCommsInterval¶
AcousticModemCommsInterval = 5 minute
How often to trigger acoustic modem communications
Depth¶
Depth = 35 meter
How deep to drift.
DepthDeadband¶
DepthDeadband = 1 meter
How much vertical drift from the specified depth is allowed durnig the mission.
ApproachSpeed¶
ApproachSpeed = 1 meter_per_second
Enables vehicle thruster at the commanded speed to reach target depth (set to 0 m/s to drift).
ApproachDepthTimeout¶
ApproachDepthTimeout = 20 minute
Maximum wait time for the vehicle to reach the targeted depth.
ApproachPitchLimit¶
ApproachPitchLimit = 20 degree
Max vehicle pitch (+/-) when decending from the surface.
MinAltitude¶
MinAltitude = 5 meter
MaxDepth¶
MaxDepth = 52 meter
MinOffshore¶
MinOffshore = 2 kilometer
CheckDepths¶
CheckDepths = 1 bool
PowerBackseat¶
PowerBackseat = 1 bool
Set to false to disable backseat
Output¶
None defined
Inserts¶
Insert/Science.tl¶
Insert/NeedComms.tl¶
Insert/StandardEnvelopes.tl¶
Insert/AcousticModemComms.tl¶
redefineArg CommsInterval = AcousticModemCommsInterval