Detect the front and take samples at the front and on both sides of the front. 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 12 Maximum depth for the entire mission. 50 Number of times the vehicle should try to cycle through waypoints. 3 How often to surface for commumications 60 How often to surface for commumications during each sampling, in case something goes wrong during sampling. 3 If no firing after more than MaxWaitNoFiring, terminate mission. 2 Maximum wait time the vehicle cannot reach the targeted depth. 0.5 Whether front detection is autonomous. Used only when FrontAutonomousDetection is False. The starting direction. Used only when FrontAutonomousDetection is False. When the vehicle longitude falls within [LonFrontMinDesignated LonFrontMaxDesignated], front is detection is flagged. NaN Used only when FrontAutonomousDetection is False. When the vehicle longitude falls within [LonFrontMinDesignated LonFrontMaxDesignated], front is detection is flagged. NaN Latitude of the start waypoint of the 1st transect. NaN Longitude of the start waypoint of the 1st transect. NaN Latitude of the end waypoint of the 1st transect. NaN Longitude of the end waypoint of the 1st transect. NaN Latitude of the far end of upwelling water. NaN Longitude of the far end of upwelling water. NaN Latitude of stratified-water side sampling location 1 = front latitude + DeltaLatUpwellingSide1. If NaN, this point is skipped. NaN Longitude of stratified-water side sampling location 1 = front longitude + DeltaLonUpwellingSide1. If NaN, this point is skipped. NaN For stratified-water side sampling location 2 NaN For stratified-water side sampling location 2 NaN For stratified-water side sampling location 3 NaN For stratified-water side sampling location 3 NaN For stratified-water side sampling location 4 NaN For stratified-water side sampling location 4 NaN Latitude of the far end of stratified water. NaN Longitude of the far end of stratified water. NaN Latitude of stratified-water side sampling location 1 = front latitude + DeltaLatStratifiedSide1. If NaN, this point is skipped. NaN Longitude of stratified-water side sampling location 1 = front longitude + DeltaLonStratifiedSide1. If NaN, this point is skipped. NaN For stratified-water side sampling location 2 NaN For stratified-water side sampling location 2 NaN For stratified-water side sampling location 3 NaN For stratified-water side sampling location 3 NaN For stratified-water side sampling location 4 NaN For stratified-water side sampling location 4 NaN On the first dive for looking for the chl max, run at SpeedInitialDive for this duration (e.g., 1 m/s spiral to dive fast). 1.0 Speed while performing the YoYo behavior. 1 Vehicle speed during initial dive (for looking for the chl max over depth). 1 Vehicle speed when looking for the chl max over depth. 1 Rudder angle in initial spiral-down to leave surface. Initialized to 9 degrees. 9 Rudder angle spiraling looking for the chl max over depth. 13 Shallow depth bound for chl-peak detection. 3 Deep depth bound for chl-peak detection. 20 Minimum depth while performing the YoYo behavior. 2 Maximum depth while performing the YoYo behavior. 30 Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). 9 Vehicle up-pitch while performing the YoYo behavior. 20 Vehicle down-pitch while performing the YoYo behavior. -20 Minimum height above the sea floor for the entire mission. 7 Minimum offshore distance for the entire mission. 2 Wait duration for the depth undulation to damp down. Initialized to 10 minutes. 10 Sample 1. Cartridge type. -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 -6 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. 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 The peak chl detected on the initial dive is reported when the vehicle has turned from the deepest depth (i.e., the turning depth) onto the ascending profile at a depth that is RiseFromDeepTurningPoint shallower than the turning depth. For robustness, RiseFromTurningDepth = DepChangeThreshAttitudeFlip + 2 meters. 5 Depth change threshold for determining vehicle attitude flip. 3 Go-up depth rate (Negative depth rate means going up). -0.05 Go-down depth rate (Positive depth rate means going down). 0.2 The mission sets this variable to reset the sample timer. 0 Only for syslog. 0 Cartridge type. Initialized to -6. -6 NaN NaN NaN NaN NaN NaN NaN NaN Initialized to NaN. NaN Initialized to NaN. NaN Initialized to True. 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 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 value detected on a dive. 0.0 Go-up flag (set to true when going up. Initialized to false). Go-down flag (set to true when going down. Initialized to True). Flag of logging "GoUp" in syslog (initialized to false). Flag of logging "GoDown" in syslog (initialized to false). Flag of initial dive completed. Initialized to false. 0.0 0.0 Count of water samples (initilized to 1). 1 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. Sample count is increased. Initialized to False. Sampling completed. Initialized to false. Sampling completed. Initialized to false. Sampling completed. Initialized to false. Sampling completed. Initialized to false. Another depth 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 depth-terminated YoYos. 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. 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 No firing for too long. Stopping mission. ElapsedTime, MaxWaitNoFiring = , stop Go down from Go up from Set peak-chl depth. DepthLogged, ChlLogged, PeakChlDepthSet, PeakChlSet = , , , Taking sample No.. Latitude, longitude = , . Target depth = . Requesting ESP cartridge type: 0 Sample No. completed. 1 0 0 0 00 0 0 00 0 0 00 0 0 00 Crossed the front from stratified to upwelling. VTHI = . VSHI = . Front latitude, longitude = , . Lat1, Lon1 = , . Lat2, Lon2 = , . Lat3, Lon3 = , . Lat4, Lon4 = , . Lat5, Lon5 = , . Lat6, Lon6 = , . Sample count = . 0 Crossed the front from upwelling to stratified. VTHI = . VSHI = . Front latitude, longitude = , . Lat1, Lon1 = , . Lat2, Lon2 = , . Lat3, Lon3 = , . Lat4, Lon4 = , . Lat5, Lon5 = , . Lat6, Lon6 = , . Sample count = 0