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underIce/transitUnder.xml

Mission ID: transitUnder

Mission Path: underIce/transitUnder.xml

Vehicle transits to desired waypoint and can be commanded to use/hold mass or buoyancy. Designed for under ice.

Arguments

MissionTimeout

MissionTimeout = 60 minute

Maximum duration of mission

DetachTimeout

DetachTimeout = 20 minute

Maximum time to spend getting off the dock

Latitude

Latitude = NaN degree

Latitude of waypoint to seek. If set to NaN, uses latitude at mission initialization.

Longitude

Longitude = NaN degree

Longitude of waypoint to seek. If set to NaN, uses longitude at mission initialization.

Northings

Northings = 0 meter

Northward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude.

Eastings

Eastings = 0 meter

Eastward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude.

Depth

Depth = 10 meter

Depth of flat and level flight during the mission.

Speed

Speed = 1 meter_per_second

Speed of vehicle (relative to water) during the mission.

MaxDepth

MaxDepth = 20 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 1 kilometer

Minimum distance offshore for the entire mission.

MinAltitude

MinAltitude = 7 meter

Minimum height above the sea floor for the entire mission.

MassHold

MassHold = true

Set to True in order to hold mass at default position, False to allow mass to run on its own.

BuoyancyHold

BuoyancyHold = true

Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own.

MicromodemCommsInterval

MicromodemCommsInterval = 2 minute

How often to trigger Umodem communications

DetachDepth

DetachDepth = 4.5 meter

Desired vehicle depth when leaving the dock.

DetachBounceTimeout

DetachBounceTimeout = 20 second

Time duration to keep the thruster engaged to bounce/slingshot off the dock.

TransponderCode

TransponderCode = 2 count

Transponder Address.

TrackingUpdatePeriod

TrackingUpdatePeriod = 2.5 second

How long to wait between acoustic queries.

NumberOfPings

NumberOfPings = 1 count

Number of pings requested each time.

Output

None defined

Inserts

Insert/StandardEnvelopes.tl

Insert/MicromodemComms.tl

redefineArg CommsInterval = MicromodemCommsInterval

Invoked Module Behaviors

Dock:Undock

Estimation:TrackAcousticContact

Guidance:Buoyancy

Guidance:Execute

Guidance:Pitch

Guidance:SetSpeed

Guidance:Waypoint