Science/smear_yoyo_camera.tl¶
Mission ID: SmearYoYoCamera
Mission Path: Science/smear_yoyo_camera.tl
After transit, this mission dives to yo-yo min depth, turns on red lights and camera, and begins the cylinder. Lights switch between red/white every LightDeltaTimeSetting minutes.
Arguments¶
MissionTimeout¶
MissionTimeout = 4 hour
Maximum duration of mission
NeedCommsTimeInTransit¶
NeedCommsTimeInTransit = 30 minute
On the way transiting to the surveying location, how often to surface for commumications
BeingInterrogatedTimeout¶
BeingInterrogatedTimeout = 1 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.
TrackAcousticTarget¶
TrackAcousticTarget = true
Whether to track an acoustic target at all.
TrackAcousticTargetDuringTransit¶
TrackAcousticTargetDuringTransit = false
Whether to track an acoustic target during transit (on condition that TrackAcousticTarget is True).
AcousticTargetContactLabel¶
AcousticTargetContactLabel = 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.
AcousticTargetContactTimeout¶
AcousticTargetContactTimeout = 15 minute
Only use a sufficiently fresh handshake to update the tracking center.
PeriodOfParameterSetting¶
PeriodOfParameterSetting = 10.0 minute
Period of taking settings for setting samplers. Set to a large number (e.g., 20000 minutes = 14 days) to practically diable this functionality.
LightDeltaTimeSetting¶
LightDeltaTimeSetting = 5.0 minute
Period of red versus white lights.
SpeedTransit¶
SpeedTransit = 1.0 meter_per_second
Vehicle speed when transiting to the surveying location.
SpeedSurveySetting¶
SpeedSurveySetting = 1.0 meter_per_second
Value for setting vehicle speed when surveying on cylinder yoyo.
MaxDepth¶
MaxDepth = 50 meter
Maximum depth for the entire mission.
YoYoMinDepthSetting¶
YoYoMinDepthSetting = 40 meter
Value for setting minimum depth while performing the YoYo behavior.
YoYoMaxDepthSetting¶
YoYoMaxDepthSetting = 50 meter
Value for setting maximum depth while performing the YoYo behavior.
InitDepthTimeout¶
InitDepthTimeout = 20 minute
Maximum time duration for the vehicle to reach the initial yo-yo depth. The vehicle will switch over to attempting yo-yos after the timeout is expired.
TransitYoYoMinDepth¶
TransitYoYoMinDepth = 10 meter
Minimum yoyo depth while transiting to the surveying location.
TransitYoYoMaxDepth¶
TransitYoYoMaxDepth = 50 meter
Maximum yoyo depth while transiting to the surveying location.
TransitCaptureRadius¶
TransitCaptureRadius = 100 meter
Waypoint capture radius for transiting to the surveying location.
CylinderRadiusSetting¶
CylinderRadiusSetting = 100 meter
Value for setting radius of cylinder centered at the surveying location.
MaxCirclesOnCylinder¶
MaxCirclesOnCylinder = 1000 count
Maximum number of circles on cylinder.
TransitLatitude¶
TransitLatitude = NaN degree
The latitude of the surveying location. If NaN, will skip transit.
TransitLongitude¶
TransitLongitude = NaN degree
The longitude of the surveying location. If NaN, will skip transit.
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.
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 = 8 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.
CylinderCircleMaxError¶
CylinderCircleMaxError = 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.
CylinderCircleTurnToPort¶
CylinderCircleTurnToPort = false
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
LightDeltaTime¶
LightDeltaTime = 5.0 minute
Period of red versus white lights.
SpeedSurvey¶
SpeedSurvey = 1.0 meter_per_second
Vehicle speed when surveying on cylinder yoyo.
YoYoMinDepth¶
YoYoMinDepth = 1.5 meter
Minimum depth while performing the YoYo behavior. Initialized to 1.5 m.
YoYoMaxDepth¶
YoYoMaxDepth = 20 meter
Maximum depth while performing the YoYo behavior. Initialized to 20 m.
CylinderRadius¶
CylinderRadius = 100 meter
Radius of cylinder centered at the surveying location. Initialized to 100 m.
FlagFirstTimeParameterSetting¶
FlagFirstTimeParameterSetting = true
Flag of first time setting samplers (initialized to True).
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).
FromLastTimeFixToCenterUpdate¶
FromLastTimeFixToCenterUpdate = 0 minute
Elapsed time from last time-fix to center update time (initialized to zero).
FromLastTimeFixToParameterSetting¶
FromLastTimeFixToParameterSetting = NaN minute
Elapsed time from last time-fix to setting of samplers.
LastLightSwitchTime¶
LastLightSwitchTime = NaN minute
Elapsed time from last time the light color was switched.
WhiteLightsRequested¶
WhiteLightsRequested = false
Indicates white lights should be turned on (default is red to start so we don't scare the fish). If false, red will be turned on.
TransitWaypointCompleted¶
TransitWaypointCompleted = false
Transit waypoint is completed (initialized to false).
Output¶
None defined
Inserts¶
Insert/StandardEnvelopes.tl¶
Insert/AbortDrift.tl¶
redefineArg AcousticTimeout = BeingInterrogatedTimeout