Transport/keepstation.tl¶
Mission ID: keepstation
Mission Path: Transport/keepstation.tl
Vehicle transits to desired waypoint (or stays put if none is commanded) and stays within the specified radius.
Inserted by:
Arguments¶
MissionTimeout¶
MissionTimeout = 4 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 45 minute
How often to surface for communications
Latitude¶
Latitude = NaN degree
Latitude of waypoint to hold. If NaN, hold the latitude at start of mission.
Longitude¶
Longitude = NaN degree
Longitude of waypoint to hold. If NaN, hold the longitude at start of mission.
Depth¶
Depth = 30 meter
Depth held during drift mode
ApproachDepth¶
ApproachDepth = 15 meter
Depth for initial approach to station.
DepthDeadband¶
DepthDeadband = 4 meter
How much vertical drift from the specified depth is allowed in drift mode
Speed¶
Speed = 0.75 meter_per_second
Vehicle transit speed.
Radius¶
Radius = 200 meter
Radius of circle around waypoint to hold.
SinkOffSurface¶
SinkOffSurface = false
If true, use buoyancy only to decend to SinkDepth before driving to first target depth
SinkDepth¶
SinkDepth = 10 meter
Initial depth to decend using only buoyancy before driving
SinkDepthTimeout¶
SinkDepthTimeout = 10 minute
Max wait time for the vehicle to reach the target depth
MaxDepth¶
MaxDepth = 45 meter
Maximum allowable depth during the mission.
MinOffshore¶
MinOffshore = 2 kilometer
Minimum distance from the shoreline to maintain
Output¶
DiveMode¶
DiveMode = 0 count
Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms.
DoingComms¶
DoingComms = 0 count
Mission variable (don't change). The mission will run in this mode when doing surface comms.
SurfaceSink¶
SurfaceSink = 1 count
Mission variable (don't change). The mission will run in this mode when sinking from the surface using only buoyancy.
TransitToStation¶
TransitToStation = 2 count
Mission variable (don't change). The mission will run in this mode when performing the transit to station
StationKeep¶
StationKeep = 3 count
Mission variable (don't change). The mission will run in this mode when keeping station
OnStation¶
OnStation = false
Mission variable (don't change). Determines last mode (Transit or StationKeep) to resume after needcomms