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Insert/NeedComms.tl

Aggregate ID: NeedComms

Aggregate Path: Insert/NeedComms.tl

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Arguments

DiveInterval

DiveInterval = 1 hour

Elapsed time after most recent surfacing when vehicle will begin to ascend to the surface again. The timing is actually based on the variable Universal:time_fix instead of the variable Universal:platform_communications because the latter is not toggled until the message queue is clear. As a result, there are situations where the vehicle might dive for the first half of a yo, then return to the surface to continue communications, rendering the communications timeout useless. When adjusting this parameter, do not use "set", use Assign in a mission, or set NeedComms:DiveInterval from the command line.

WaitForPitchUp

WaitForPitchUp = 10 minute

Extra time to wait for the vehicle to pitch up (avoid truncating a yo).

SurfacePitch

SurfacePitch = 20 degree

Pitch to maintain while ascending

SurfaceDepthRate

SurfaceDepthRate = NaN meter_per_second

Depth rate to maintain while ascending. Set to NaN if using pitch

SurfaceSpeed

SurfaceSpeed = 1 meter_per_second

Standard speed during surfacing. Don't reduce this too much below 1 m/s -- the elevators can stall. (At 0.5 m/s, we have observed evidence of stall in the past.)

SurfacingTimeout

SurfacingTimeout = 1500 second

The maximum time allowed for the ascent to surface.

GPSTimeout

GPSTimeout = 7 minute

Maximum amount of time to spend trying to get each GPS fix.

CommsTimeout

CommsTimeout = 30 minute

Maximum amount of time to spend on the surface trying to communicate before giving up, getting another GPS fix, and diving again.

DoingCommsMode

DoingCommsMode = 0 count

Value to set DiveMode to while doing communications. The mission should set this to its DoingComms mode value.

RestoreMode

RestoreMode = 0 count

Value to restore DiveMode to after communications complete. The mission should set this based on its desired next dive mode (e.g., YoYo or SurfaceSink).

Output

IsActive

IsActive = false

True when NeedComms is actively running (doing communications). The mission can use this to conditionally override its DiveMode.

RequiredDiveMode

RequiredDiveMode = 0 count

The dive mode that should be active. Set to DoingCommsMode when active, then set to RestoreMode when completing so the mission's sync aggregate can automatically restore DiveMode.

Invoked Module Behaviors

Guidance:GoToSurface