The GoToDepth Task

Description

Publishes

• EndFlags

Subscribes

• StartFlags
• NAV_DEPTH
• NAV_PITCH

Configuration Block

• Common Task Parameters

• Thrust

  • Syntax: Thrust = Thrust [0-100]

• Rudder

  • Syntax: Rudder = Angle (Deg)
  • Example: Rudder =5

• Depth

  • Syntax: Depth = Depth (m)
  • Example: Depth =5 go to 5m of depth

• Tolerance

  • Syntax: Tolerance = DepthTolerance (m)
  • Meaning: Task completes when depth is within Tolerance m of desired depth
  • Example: Tolerance =0.5

Example Block

//Go To 21m depth +/- 1m at 30 percent thrust, turning right
Task = Dive
{
	Name 		= Dive
	Priority	= 3
	InitialState 	= ON
	TimeOut 	= 30
	StartFlag 	= Dive
	FinishFlag 	= DiveCompleted

	Tolerance = 1.0
	Depth		= 21.0

	Thrust 		= 30
	Rudder		= 4
}

The MOOS © P. Newman 2001-2002