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