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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.

MaxDepth

MaxDepth = 45 meter

Maximum allowable depth during the mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum distance from the shoreline to maintain

Output

None defined

Inserts

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Insert/BackseatDriver.tl

Invoked Module Behaviors

Guidance:Buoyancy

Guidance:KeepStation

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint