Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0
to disable sampling.
1
Start index in ESP settings. If re-running mission, can skip settings of
already-completed samples. Default is 1 (no skipping).
1
Maximum duration of mission
20
On yo-yo transects, how often to surface for commumications
60
If the vehicle does not receive an acoustic signal for more than this
length of time, it will surface for communications. Set longer than
MissionTimeout to effectively disable.
21
If no firing after more than MaxWaitNoFiring, terminate mission.
2
Maximum wait time the vehicle cannot reach the targeted depth.
2
Whether to go to surface for comms before the initial dive.
Whether to senddata.
Maximum duration of cylinder yoyo.
30
Whether to search for the location of high chl.
Whether to yoyo on cylinder centered at the sampling location.
Initialized to True.
Whether to sampling at peak-chl
On the first dive to the target depth, run at SpeedInitialDive for this
duration (e.g., 1 m/s spiral to dive fast).
5.0
Vehicle speed when transiting.
1.0
Vehicle speed during initial dive. 0.0 for drift mode (prop off); 1.0
for spiral mode (prop on). Initialized to 1 m/s.
1.0
Vehicle speed during sampling: 0.0 for drift mode (prop off); 1.0 for
donut mode (prop on). Initialized to 1 m/s.
1.0
Rudder angle during spiral or donut.
13
Maximum depth for the entire mission.
50
Minimum altitude for the entire mission.
7
Minimum offshore distance for the entire mission.
2
Deep depth bound for ESP operation
45
Shallow depth bound for chl-peak detection.
4.5
Deep depth bound for chl-peak detection.
27
Shallow bound for vertical chl-peak finding maneuver = ShallowBoundChl -
VertMargin. Deep bound for vertical chl-peak finding maneuver =
DeepBoundChl + VertMargin.
3
Minimum depth while performing the YoYo behavior.
4.5
Maximum depth while performing the YoYo behavior.
27
Minimum altitude while performing the YoYo behavior (for
bottom-terminated YoYos).
9
Minimum depth while performing the YoYo behavior on cylinder centered at
the sampling location.
4.5
Maximum depth while performing the YoYo behavior on cylinder centered at
the sampling location.
27
Radius of cylinder centered at the sampling location.
200
Maximum number of circles on cylinder.
1
Number of times the vehicle should try to cycle through waypoints..
1
Latitude of waypoint 1. If nan, waypoint is skipped. If
FindHighChlLocation is True, the search-for-hichl distance needs to be
at least 4 yoyo profiles.
NaN
Longitude of waypoint 1. If nan, waypoint is skipped. If
FindHighChlLocation is True, the search-for-hichl distance needs to be
at least 4 yoyo profiles.
NaN
Latitude of waypoint 2. If nan, waypoint is skipped.
NaN
Longitude of waypoint 2. If nan, waypoint is skipped.
NaN
Latitude of waypoint 3. If nan, waypoint is skipped.
NaN
Longitude of waypoint 3. If nan, waypoint is skipped.
NaN
Latitude of waypoint 4. If nan, waypoint is skipped.
NaN
Longitude of waypoint 4. If nan, waypoint is skipped.
NaN
Indicates only ESP will be used in sample.
0
Indicates only CANONSampler will be used in sample.
1
Indicates only all available samplers will be used in sample.
2
Sample type: (0) ESP only, (1) CANON Sampler only, (2) All available
samplers
0
Sample 2.
0
Sample 3.
0
Sample 4.
0
Sample 5.
0
Sample 6.
0
Sample 7.
0
Sample 8.
0
Sample 9.
0
Sample 10.
0
Sample 11.
0
Sample 12.
0
Sample 13.
0
Sample 14.
0
Sample 15.
0
Sample 16.
0
Sample 17.
0
Sample 18.
0
Sample 19.
0
Sample 20.
0
Sample 21.
0
Sample 22.
0
Sample 23.
0
Sample 24.
0
Sample 25.
0
Sample 26.
0
Sample 27.
0
Sample 28.
0
Sample 29.
0
Sample 30.
0
Sample 31.
0
Sample 32.
0
Sample 33.
0
Sample 34.
0
Sample 35.
0
Sample 36.
0
Sample 37.
0
Sample 38.
0
Sample 39.
0
Sample 40.
0
Sample 41.
0
Sample 42.
0
Sample 43.
0
Sample 44.
0
Sample 45.
0
Sample 46.
0
Sample 47.
0
Sample 48.
0
Sample 49.
0
Sample 50.
0
Sample 51.
0
Sample 52.
0
Sample 53.
0
Sample 54.
0
Sample 55.
0
Sample 56.
0
Sample 57.
0
Sample 58.
0
Sample 59.
0
Sample 60.
0
Value common to all samples unless set diffently: cartridge type.
-6
Sample 1. Cartridge type.
-6
Sample 2.
-6
Sample 3.
-6
Sample 4.
-6
Sample 5.
-6
Sample 6.
-6
Sample 7.
-6
Sample 8.
-6
Sample 9.
-6
Sample 10.
-6
Sample 11.
-6
Sample 12.
-6
Sample 13.
-6
Sample 14.
-6
Sample 15.
-6
Sample 16.
-6
Sample 17.
-6
Sample 18.
-6
Sample 19.
-6
Sample 20.
-6
Sample 21.
-6
Sample 22.
-6
Sample 23.
-6
Sample 24.
-6
Sample 25.
-6
Sample 26.
-6
Sample 27.
-6
Sample 28.
-6
Sample 29.
-6
Sample 30.
-6
Sample 31.
-6
Sample 32.
-6
Sample 33.
-6
Sample 34.
-6
Sample 35.
-6
Sample 36.
-6
Sample 37.
-6
Sample 38.
-6
Sample 39.
-6
Sample 40.
-6
Sample 41.
-6
Sample 42.
-6
Sample 43.
-6
Sample 44.
-6
Sample 45.
-6
Sample 46.
-6
Sample 47.
-6
Sample 48.
-6
Sample 49.
-6
Sample 50.
-6
Sample 51.
-6
Sample 52.
-6
Sample 53.
-6
Sample 54.
-6
Sample 55.
-6
Sample 56.
-6
Sample 57.
-6
Sample 58.
-6
Sample 59.
-6
Sample 60.
-6
Value common to all samples unless set diffently: target temperature
difference from the peak-chl temperature.
NaN
Sample 1. Target temperature difference from the peak-chl temperature.
NaN
Sample 2.
NaN
Sample 3.
NaN
Sample 4.
NaN
Sample 5.
NaN
Sample 6.
NaN
Sample 7.
NaN
Sample 8.
NaN
Sample 9.
NaN
Sample 10.
NaN
Sample 11.
NaN
Sample 12.
NaN
Sample 13.
NaN
Sample 14.
NaN
Sample 15.
NaN
Sample 16.
NaN
Sample 17.
NaN
Sample 18.
NaN
Sample 19.
NaN
Sample 20.
NaN
Sample 21.
NaN
Sample 22.
NaN
Sample 23.
NaN
Sample 24.
NaN
Sample 25.
NaN
Sample 26.
NaN
Sample 27.
NaN
Sample 28.
NaN
Sample 29.
NaN
Sample 30.
NaN
Sample 31.
NaN
Sample 32.
NaN
Sample 33.
NaN
Sample 34.
NaN
Sample 35.
NaN
Sample 36.
NaN
Sample 37.
NaN
Sample 38.
NaN
Sample 39.
NaN
Sample 40.
NaN
Sample 41.
NaN
Sample 42.
NaN
Sample 43.
NaN
Sample 44.
NaN
Sample 45.
NaN
Sample 46.
NaN
Sample 47.
NaN
Sample 48.
NaN
Sample 49.
NaN
Sample 50.
NaN
Sample 51.
NaN
Sample 52.
NaN
Sample 53.
NaN
Sample 54.
NaN
Sample 55.
NaN
Sample 56.
NaN
Sample 57.
NaN
Sample 58.
NaN
Sample 59.
NaN
Sample 60.
NaN
Value common to all samples unless set diffently: pre-designated
temperature. If NaN, will use temp diff from chl-peak temp.
NaN
Sample 1. Pre-designated temperature. If NaN, will use temp diff from
chl-peak temp.
NaN
Sample 2.
NaN
Sample 3.
NaN
Sample 4.
NaN
Sample 5.
NaN
Sample 6.
NaN
Sample 7.
NaN
Sample 8.
NaN
Sample 9.
NaN
Sample 10.
NaN
Sample 11.
NaN
Sample 12.
NaN
Sample 13.
NaN
Sample 14.
NaN
Sample 15.
NaN
Sample 16.
NaN
Sample 17.
NaN
Sample 18.
NaN
Sample 19.
NaN
Sample 20.
NaN
Sample 21.
NaN
Sample 22.
NaN
Sample 23.
NaN
Sample 24.
NaN
Sample 25.
NaN
Sample 26.
NaN
Sample 27.
NaN
Sample 28.
NaN
Sample 29.
NaN
Sample 30.
NaN
Sample 31.
NaN
Sample 32.
NaN
Sample 33.
NaN
Sample 34.
NaN
Sample 35.
NaN
Sample 36.
NaN
Sample 37.
NaN
Sample 38.
NaN
Sample 39.
NaN
Sample 40.
NaN
Sample 41.
NaN
Sample 42.
NaN
Sample 43.
NaN
Sample 44.
NaN
Sample 45.
NaN
Sample 46.
NaN
Sample 47.
NaN
Sample 48.
NaN
Sample 49.
NaN
Sample 50.
NaN
Sample 51.
NaN
Sample 52.
NaN
Sample 53.
NaN
Sample 54.
NaN
Sample 55.
NaN
Sample 56.
NaN
Sample 57.
NaN
Sample 58.
NaN
Sample 59.
NaN
Sample 60.
NaN
Value common to all samples unless set diffently: Depth difference
(positive: deeper; negative: shallower) from the peak-chl depth for
taking comparison samples. Initialized to NaN.
NaN
Sample 1. Depth difference (positive: deeper; negative: shallower) from
the peak-chl depth for taking comparison samples. Initialized to NaN.
NaN
Sample 2.
NaN
Sample 3.
NaN
Sample 4.
NaN
Sample 5.
NaN
Sample 6.
NaN
Sample 7.
NaN
Sample 8.
NaN
Sample 9.
NaN
Sample 10.
NaN
Sample 11.
NaN
Sample 12.
NaN
Sample 13.
NaN
Sample 14.
NaN
Sample 15.
NaN
Sample 16.
NaN
Sample 17.
NaN
Sample 18.
NaN
Sample 19.
NaN
Sample 20.
NaN
Sample 21.
NaN
Sample 22.
NaN
Sample 23.
NaN
Sample 24.
NaN
Sample 25.
NaN
Sample 26.
NaN
Sample 27.
NaN
Sample 28.
NaN
Sample 29.
NaN
Sample 30.
NaN
Sample 31.
NaN
Sample 32.
NaN
Sample 33.
NaN
Sample 34.
NaN
Sample 35.
NaN
Sample 36.
NaN
Sample 37.
NaN
Sample 38.
NaN
Sample 39.
NaN
Sample 40.
NaN
Sample 41.
NaN
Sample 42.
NaN
Sample 43.
NaN
Sample 44.
NaN
Sample 45.
NaN
Sample 46.
NaN
Sample 47.
NaN
Sample 48.
NaN
Sample 49.
NaN
Sample 50.
NaN
Sample 51.
NaN
Sample 52.
NaN
Sample 53.
NaN
Sample 54.
NaN
Sample 55.
NaN
Sample 56.
NaN
Sample 57.
NaN
Sample 58.
NaN
Sample 59.
NaN
Sample 60.
NaN
Value common to all samples unless set diffently: Pre-designated depth.
If NaN, will use vertical distance from chl-peak depth.
NaN
Sample 1. Pre-designated depth. If NaN, will use vertical distance from
chl-peak depth.
NaN
Sample 2.
NaN
Sample 3.
NaN
Sample 4.
NaN
Sample 5.
NaN
Sample 6.
NaN
Sample 7.
NaN
Sample 8.
NaN
Sample 9.
NaN
Sample 10.
NaN
Sample 11.
NaN
Sample 12.
NaN
Sample 13.
NaN
Sample 14.
NaN
Sample 15.
NaN
Sample 16.
NaN
Sample 17.
NaN
Sample 18.
NaN
Sample 19.
NaN
Sample 20.
NaN
Sample 21.
NaN
Sample 22.
NaN
Sample 23.
NaN
Sample 24.
NaN
Sample 25.
NaN
Sample 26.
NaN
Sample 27.
NaN
Sample 28.
NaN
Sample 29.
NaN
Sample 30.
NaN
Sample 31.
NaN
Sample 32.
NaN
Sample 33.
NaN
Sample 34.
NaN
Sample 35.
NaN
Sample 36.
NaN
Sample 37.
NaN
Sample 38.
NaN
Sample 39.
NaN
Sample 40.
NaN
Sample 41.
NaN
Sample 42.
NaN
Sample 43.
NaN
Sample 44.
NaN
Sample 45.
NaN
Sample 46.
NaN
Sample 47.
NaN
Sample 48.
NaN
Sample 49.
NaN
Sample 50.
NaN
Sample 51.
NaN
Sample 52.
NaN
Sample 53.
NaN
Sample 54.
NaN
Sample 55.
NaN
Sample 56.
NaN
Sample 57.
NaN
Sample 58.
NaN
Sample 59.
NaN
Sample 60.
NaN
Value common to all samples unless set differently: Wait duration for
the depth undulation to damp down.
5.0
Sample 1. Wait duration for the depth undulation to damp down.
20.0
Sample 2.
10.0
Sample 3.
10.0
Sample 4.
10.0
Sample 5.
10.0
Sample 6.
10.0
Sample 7.
10.0
Sample 8.
10.0
Sample 9.
10.0
Sample 10.
10.0
Sample 11.
10.0
Sample 12.
10.0
Sample 13.
10.0
Sample 14.
10.0
Sample 15.
10.0
Sample 16.
10.0
Sample 17.
10.0
Sample 18.
10.0
Sample 19.
10.0
Sample 20.
10.0
Sample 21.
10.0
Sample 22.
10.0
Sample 23.
10.0
Sample 24.
10.0
Sample 25.
10.0
Sample 26.
10.0
Sample 27.
10.0
Sample 28.
10.0
Sample 29.
10.0
Sample 30.
10.0
Sample 31.
10.0
Sample 32.
10.0
Sample 33.
10.0
Sample 34.
10.0
Sample 35.
10.0
Sample 36.
10.0
Sample 37.
10.0
Sample 38.
10.0
Sample 39.
10.0
Sample 40.
10.0
Sample 41.
10.0
Sample 42.
10.0
Sample 43.
10.0
Sample 44.
10.0
Sample 45.
10.0
Sample 46.
10.0
Sample 47.
10.0
Sample 48.
10.0
Sample 49.
10.0
Sample 50.
10.0
Sample 51.
10.0
Sample 52.
10.0
Sample 53.
10.0
Sample 54.
10.0
Sample 55.
10.0
Sample 56.
10.0
Sample 57.
10.0
Sample 58.
10.0
Sample 59.
10.0
Sample 60.
10.0
Go-up depth rate (Negative depth rate means going up).
-0.04
Go-down depth rate (Positive depth rate means going down).
0.2
Max duration allowed for sampling (both ESP and CANONSampler)
3
How long to delay a CANON Sampler sample after an ESP sample is
intiated.
10
Vertical perturbation (going up or down) for reacquiring the peak.
6.0
Peak chl on a profile is registered at the beginning of the next yoyo
profile. In this mission, the peak chl on the descending profile is
saved when the vehicle has turned onto the next yoyo profile (ascending
profile) and is at least "RiseFromDeepTurningPoint" away from the
turning depth.
1.5
If this distance away from the circle, drive straight towards (or away
from the center). Otherwise, try to reduce distance from the ideal
circle.
100
If true, vehicle turns to the left around the center point. If false,
vehicle turns to the right.
Used to relax waypoint cross-track error constant that is adjusted for
docking. (You can override this setting by passing an argument.)
0.010
Vehicle up pitch while performing the YoYo behavior.
20
Vehicle down pitch while performing the YoYo behavior.
-20
Length of horizontal sliding window. Picks the highest yoyo-wise chl
peak (after low-pass filtering by a filter of length
FilterWidthHorizontal) within this window. Ignore older highs because
ocean is changing.
100
Low-pass window length (based on depth sensor sampling interval 0.4
second) for low-pass filtering.
20
Median filter length (only for chlorophyll fluorescence which tends to
have spikes). The median-filtered signal enters the succeeding low-pass
filter. If set to 1, then no median filtering, i.e., the raw
fluorescence signal directly enters the low-pass filter.
5
Proportional gain for temperature holding control loop.
1
Integral gain for temperature holding control loop.
0
Derivative gain for temperature holding control loop.
0
Expected temperature change per meter.
0.2
In buoyancy-only mode, maxBuoyDiveAccel needs to be set at least an
order of magnitude higher than that in Control.cfg.
0.0025
Pitch to maintain while ascending
20
Depth rate to maintain while ascending. Set to NaN if using pitch
NaN
Buoyancy bladder position while performing the YoYo behavior. Defaults
to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
for active buoyancy
Static setting for mass during the mission. Set to NaN mm for active
mass position
The mission sets this variable to reset the sample timer.
0
Only for syslog.
0
Vehicle speed when approaching the target isotherm or depth and then
sampling. Initialized to 1 m/s.
1.0
Minimum depth while performing the YoYo behavior. Program will set to
TransitYoYoMinDepth, and then CylinderYoYoMinDep.
4.5
Maximum depth while performing the YoYo behavior. Program will set to
TransitYoYoMaxDepth, and then CylinderYoYoMaxDep.
27
Current sample type setting.
Cartridge type. Initialized to -6.
-6
Initialized to -6.
-6
Latitude of cylinder center if set to a waypoint. Initialized to NaN.
NaN
Longitude of cylinder center if set to a waypoint. Initialized to NaN.
NaN
Temperature for sampling. Initialized to NaN.
NaN
Temperature if pre-designated. Initialized to NaN.
NaN
Initialized to NaN.
NaN
Temp difference if setting relative to peak-chl temperature. Initialized
to NaN.
NaN
Initialized to NaN.
NaN
Depth for sampling. Initialized to 10 m.
10.0
Depth if pre-designated. Initialized to NaN.
NaN
Initialized to NaN.
NaN
Depth difference (positive: deeper; negative: shallower) from the
peak-chl depth for taking comparison samples. Initialized to NaN.
NaN
Depth difference (positive: deeper; negative: shallower) from the
peak-chl depth for taking comparison samples. Initialized to NaN.
NaN
Wait duration for the depth undulation to damp down. Initialized to 10
minutes.
10.0
Wait duration for the depth undulation to damp down. Initialized to 10
minutes.
10.0
Sample count is increased.
When sampling is completed, go to surface to report. Initialized to
false.
Have completed surface reporting. Initialized to False.
For next sample. When sampling is completed, go to surface to report.
Initialized to false.
Before sampling, maneuver vertically to reacquire chl peak. Initialized
to false.
Sample options (DepDiffFromPeakChl, ReportAtSurface, ReacquirePeak)
already set. Initialized to false.
Sampling completed. Initialized to false.
Mission stopped because of no firing for too long. Initialized to false.
0.0
0.0
0.0
Initialized to false.
Initialized to false.
Initialized to false.
Waypoint1 is completed (initialized to false).
Waypoint2 is completed (initialized to false).
Waypoint3 is completed (initialized to false).
Waypoint4 is completed (initialized to false).
Start vertical maneuver and sampling (initialized to false).
Surfacing for communications (set to true when going down. Initialized
to false).
Flag of target temperature having been set. Initialized to false.
Flag of target depth having been set. Initialized to false.
Go-up flag (set to true when going up. Initialized to false).
Go-down flag (set to true when going down. Initialized to false).
Flag of initial dive speed set. Initialized to false.
Flag of peak-chl depth having been set (set to true when the chl-peak
depth has been set. Initialized to false).
Flag of peak-chl temperature having been set (set to true when the
chl-peak temperature has been set. Initialized to false).
Enables setting peak-chl depth. Initialized to true.
Flag of first dive to find the peak-chl (true only for the first dive;
false afterwards).
Flag of water sampling in process (initialized to false).
Peak-chl depth detected on a dive. Initialized to 10 meters.
10.0
Peak-chl temperature detected on a dive, and set for chl-peak holding.
Initialized to NaN.
NaN
Peak-chl value detected on a dive.
0.0
Flag of logging "GoUp" in syslog (initialized to false).
Flag of logging "GoDown" in syslog (initialized to false).
Flag of logging "HoldDepth" in syslog (initialized to false).
Latitude of cylinder center. Initialized to NaN.
NaN
Longitude of cylinder center. Initialized to NaN.
NaN
Count of water samples (initilized to 1).
1
Initialized to false.
Initialized to false.
Initialized to false.
Initialized to false.
Initialized to false.
Initialized to false.
Initialized to false.
Initialized to false.
Initialized to true.
Initialized to false.
Initialized to false.
Whether to use ESP to sample.
Whether to use CANON Sampler to sample.
Another altitude envelope for the YoYo behavior. This envelope
should fall within the limits of the standard safety envelopes in
Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
angles for bottom-terminated YoYos.
Set FlagGoUp to true to reacquire chl peak. DepthLogged, TempLogged, ChlLogged, PeakChlDepthSet, PeakChlTemperatureSet, PeakChlSet = , , , , , .
Moving to
Timed out trying to reach the targeted depth. Stopping mission.
stop
At , settling for
Wait for the depth undulation to damp down.
IsothermDepthSampling.CntSamples =
Science:ESPComponent.sample_number =
Science:ESPComponent.cartridge =
Science:ESPComponent.sampleVolume =
Universal:depth =
Universal:sea_water_temperature =
Universal:mass_concentration_of_chlorophyll_in_sea_water =
Set CartridgeType (if ESP), TempDiffFromPeakChl, DepDiffFromPeakChl, TempDesignated, DepthDesignated, WaitDepthUndulation to , , , , , .
0
0
Set cylinder center to Waypoint ,.
Set cylinder center to hi-chl location ,,.
Yoyo profile on a cylinder around sampling location ,, at radius =
Go to cylinder center (i.e., sampling location): ,
0
0
0
1
Go down from
Go up from
Set peak-chl depth and temp. DepthLogged, ChlLogged, PeakChlDepthSet, PeakChlTemperatureSet, PeakChlSet = , , , ,
Clamp depth to DeepBoundESP = , because attempted temp is deeper.
0.0
0.0
0.0
No firing for too long. Stopping mission. ElapsedTime, MaxWaitNoFiring = ,
stop
1
1
1
2
1
3
1
4
1
5
1
6
1
7
1
8
1
9
1
10
1
11
1
12
1
13
1
14
1
15
1
16
1
17
1
18
1
19
1
20
1
21
1
22
1
23
1
24
1
25
1
26
1
27
1
28
1
29
1
30
1
31
1
32
1
33
1
34
1
35
1
36
1
37
1
38
1
39
1
40
1
41
1
42
1
43
1
44
1
45
1
46
1
47
1
48
1
49
1
50
1
51
1
52
1
53
1
54
1
55
1
56
1
57
1
58
1
59
1
60
Taking sample No.. Target temp = .
0
Sample No. completed.
0
Taking sample No.. Target depth = .
0
Sample No. completed.
0
Surfacing to report sampling results to shore.
1