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underIce/DefaultUnder.xml

Mission ID: DefaultUnder

Mission Path: underIce/DefaultUnder.xml

(No description)

Arguments

CommsInterval

CommsInterval = 10 minute

How often to trigger uModem communications while the mission is in an idle state (on the dock).

HomingCommsInterval

HomingCommsInterval = 30 minute

How often to trigger uModem communications while the mission is actively homing to the dock (line capture).

TransponderCode

TransponderCode = Dock:Dock.transponderCode

Dock transponder address.

AcousticUpdatePeriod

AcousticUpdatePeriod = 60 second

Time duration between acoustic range queries while the mission is in an idle state (on the dock or surface).

HomingAcousticUpdatePeriod

HomingAcousticUpdatePeriod = 2.5 second

Time duration between acoustic range queries while the mission is actively homing to the dock (line capture).

NumberOfPings

NumberOfPings = 1 count

Number of pings requested each time.

TrackingLowPassFilterWinSize

TrackingLowPassFilterWinSize = 1 count

Median filter bin size. Filters the contact estimated lat/lon position. Prefer odd number, set to 1 to disable filter.

TrackingLowPassFilterWinOverlap

TrackingLowPassFilterWinOverlap = true

Set True for "sliding" median filter, false for non-overlapping bins.

Output

TrackingUpdatePeriod

TrackingUpdatePeriod = 60 second

Mission variable (don't change). How long to wait between acoustic queries.

uModemCommsInterval

uModemCommsInterval = 10 minute

Mission variable (don't change). The mission updates the value of this variable to determine how often to trigger uModem communications.

Surface

Surface = -1 count

Mission variable (don't change). The mission will run in this mode to go to the surface after homing attempts have failed.

Docked

Docked = 0 count

Mission variable (don't change). The mission will run in this mode when the vehicle is docked.

Home

Home = 1 count

Mission variable (don't change). The mission will run in this mode when homing to the dock.

DefaultMode

DefaultMode = 0 count

Mission variable (don't change). The mission sets this variable to switch between default modes.

CaptureMode

CaptureMode = -1 count

Mission variable (don't change). The mission sets this variable to reflect the termination status of the LineCapture insert.

StartComms

StartComms = true

Mission variable (don't change). The mission sets this variable to reset the comms timer. Forces comms when true.

ElapsedSinceDefaultStarted

ElapsedSinceDefaultStarted = 0 minute

Inserts

Insert/LineCapture.tl

Insert/SetNavAcoustic.tl

Invoked Module Behaviors

Dock:Docked

Estimation:TrackAcousticContact

Guidance:Execute

Guidance:GoToSurface

Guidance:PitchEnvelope

Guidance:Wait