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.
MissionTimeout = 4 hour
Maximum duration of mission
NeedCommsTimeInTransit = 30 minute
On the way transiting to the surveying location, how often to surface for commumications
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 = true
Whether to track an acoustic target at all.
TrackAcousticTargetDuringTransit = false
Whether to track an acoustic target during transit (on condition that TrackAcousticTarget is True).
AcousticTargetContactLabel = 0 count
The acoustic address of the asset to be tracked
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 = 15 minute
Only use a sufficiently fresh handshake to update the tracking center.
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 = 5.0 minute
Period of red versus white lights.
SpeedTransit = 1.0 meter_per_second
Vehicle speed when transiting to the surveying location.
SpeedSurveySetting = 1.0 meter_per_second
Value for setting vehicle speed when surveying on cylinder yoyo.
MaxDepth = 50 meter
Maximum depth for the entire mission.
YoYoMinDepthSetting = 40 meter
Value for setting minimum depth while performing the YoYo behavior.
YoYoMaxDepthSetting = 50 meter
Value for setting maximum depth while performing the YoYo behavior.
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 = 10 meter
Minimum yoyo depth while transiting to the surveying location.
TransitYoYoMaxDepth = 50 meter
Maximum yoyo depth while transiting to the surveying location.
TransitCaptureRadius = 100 meter
Waypoint capture radius for transiting to the surveying location.
CylinderRadiusSetting = 100 meter
Value for setting radius of cylinder centered at the surveying location.
MaxCirclesOnCylinder = 1000 count
Maximum number of circles on cylinder.
TransitLatitude = NaN degree
The latitude of the surveying location. If NaN, will skip transit.
TransitLongitude = NaN degree
The longitude of the surveying location. If NaN, will skip transit.
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 = 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 = 9 meter
Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).
MinAltitude = 7 meter
Minimum altitude for the entire mission.
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
TrackingUpdatePeriod = 15 second
How long to wait between acoustic queries
NumberOfPings = 1 count
Number of return pings to request with each acoustic query (more than 1 will activate oneway mode)
NumberOfFixesLowPass = 4 count
Number of fixes to average to produce smoothed lat/lon/dep output (initialized to 4).
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 = 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 = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
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 = 20 degree
Vehicle up pitch while performing the YoYo behavior.
YoYoDownPitch = -20 degree
Vehicle down pitch while performing the YoYo behavior.
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 = Control:VerticalControl.massDefault
Static setting for mass during the mission. Set to NaN mm for active mass position
LightDeltaTime = 5.0 minute
Period of red versus white lights.
SpeedSurvey = 1.0 meter_per_second
Vehicle speed when surveying on cylinder yoyo.
YoYoMinDepth = 1.5 meter
Minimum depth while performing the YoYo behavior. Initialized to 1.5 m.
YoYoMaxDepth = 20 meter
Maximum depth while performing the YoYo behavior. Initialized to 20 m.
CylinderRadius = 100 meter
Radius of cylinder centered at the surveying location. Initialized to 100 m.
FlagFirstTimeParameterSetting = true
Flag of first time setting samplers (initialized to True).
ContactLatitudeLowpass = NaN degree
Low-pass filtered latitude of contact (initialized to NaN).
ContactLongitudeLowpass = NaN degree
Low-pass filtered longitude of contact (initialized to NaN).
FromLastTimeFixToCenterUpdate = 0 minute
Elapsed time from last time-fix to center update time (initialized to zero).
FromLastTimeFixToParameterSetting = NaN minute
Elapsed time from last time-fix to setting of samplers.
LastLightSwitchTime = NaN minute
Elapsed time from last time the light color was switched.
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 = false
Transit waypoint is completed (initialized to false).
redefineArg AcousticTimeout = BeingInterrogatedTimeout