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Science/smear_yoyo_camera.xml

Mission ID: SmearYoYoCamera

Mission Path: Science/smear_yoyo_camera.xml

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

Insert/Science.tl

Insert/NeedComms.tl

Insert/NeedComms.tl

Invoked Module Behaviors

Estimation:Tracking

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:Circle

Guidance:DepthEnvelope

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint

Guidance:YoYo