Transport/keepstation_approach.tl¶
Mission ID: keepstation_approach
Mission Path: Transport/keepstation_approach.tl
Vehicle transits to desired waypoint (or stays put if none is commanded) and stays within the specified radius. After each surface interval, performs an approach dive to settle at the approach depth before transitioning to station keeping.
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
TransitDepth¶
TransitDepth = 15 meter
Depth for initial transit to station.
ApproachDepth¶
ApproachDepth = 29 meter
Depth for initial dive during station keeping
SettleTime¶
SettleTime = 5 minute
Time to hold at approach depth before transitioning to station keeping
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.
ApproachSpeed¶
ApproachSpeed = 1 meter_per_second
Speed for initial dive during station keeping
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¶
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.
InitialDive¶
InitialDive = 1 count
Mission variable (don't change). The mission will run in this mode after surface comms are done to dive the vehicle to the approach depth.
SettleAtDepth¶
SettleAtDepth = 2 count
Mission variable (don't change). The mission will run in this mode to settle the vehicle at the target depth.
MaintainDepth¶
MaintainDepth = 3 count
Mission variable (don't change). The mission will run in this mode to maintain the vehicle at station keeping depth.