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 0 Maximum duration of mission 2 Whether to go to surface for comms at completion of each sample (initialized to False.) On the way transiting to the sampling location, how often to surface for commumications 30 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 Whether to track an acoustic target. The acoustic address of the asset to be tracked 0 Depth of acoustic target if known and fixed (or nearly fixed). For example, if the acoustic target is a Wave Glider, set it to zero. This will improve 2D projected position estimates in the Earth reference frame. Defaults to NaN. NaN Only use a sufficiently fresh handshake to update the tracking center. 15 If no firing after more than MaxWaitNoFiring, terminate mission. 2 Vehicle speed when transiting to the sampling location. 1.0 Vehicle speed when sampling on cylinder yoyo. 1.0 Maximum depth for the entire mission. 50 Minimum yoyo depth while transiting to the sampling location. 10 Maximum yoyo depth while transiting to the sampling location. 20 Waypoint capture radius for transiting to the sampling location. 100 Radius of cylinder centered at the sampling location. 20 Maximum number of circles on cylinder. 1000 The latitude of the sampling location. If NaN, will skip transit. NaN The longitude of the sampling location. If NaN, will skip transit. NaN The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. NaN The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. NaN 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: shallow depth bound for smear sampling. NaN Shallow depth bound for smear sampling. Sample 1. 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: deep depth bound for smear sampling. NaN Deep depth bound for smear sampling. Sample 1. 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: Wait time before firing. 5.0 Wait time before firing. Sample 1. 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 Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). 9 Minimum altitude for the entire mission. 7 Minimum offshore distance for the entire mission. 2 Whether to use CANON Sampler to sample. Whether to use ESP to sample. How long to wait for a CANON Sampler sample to start. 1 How long to wait for a CANON Sampler sample to complete. How long to wait between acoustic queries 15 Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) 1 Number of fixes to average to produce smoothed lat/lon/dep output (initialized to 4). 4 Number of fixes to ignore at the start of mission (as the vehicle just leaves surface, contact's location estimate especailly bearing can be erroneous. Initialized to 8, corresponding to 2 minutes if query interval TrackingUpdatePeriod = 15 s. 8 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 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 How often to surface for commumications during sampling. Huge number to disable needcomms. 100 YoYoMinDepth individual. NaN YoYoMaxDepth individual. NaN Wait individual. NaN Cartridge type individual. NaN Cartridge type. Initialized to -6. -6 The mission sets this variable to reset the ESP sample timer. 0 The mission sets this variable to reset the center update timer. 0 Only for syslog. 0 Low-pass filtered latitude of contact (initialized to NaN). NaN Low-pass filtered longitude of contact (initialized to NaN). NaN Minimum depth while performing the YoYo behavior. Program will overwrite for each sampler, e.g., ShallowBoundSmear1. 1.5 Maximum depth while performing the YoYo behavior. Program will overwrite for each sampler, e.g., DeepBoundSmear1 20 Wait time before firing a sample. Program will set for each sampler, e.g., Wait1. 5.0 End-of-sample comms completed. Initialized to False. Mission stopped because of no firing for too long. Initialized to false. 0.0 0.0 0.0 MissionStartComms is completed (initialized to false). Transit is completed (initialized to False). Flag of water sampling in process (initialized to false). Sampling completed. Initialized to false. Sample options (DepDiffFromPeakChl, ReportAtSurface, ReacquirePeak) already set. Initialized to false. Count of water samples (initilized to 1). 1 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. Trigger ESP sampling. DepthLogged, TempLogged, ChlLogged = , , . Wait for ESP sampling to complete. Trigger CANON sampling. DepthLogged, TempLogged, ChlLogged = , , . Timed out triggering CANONSampler. Stopping mission. stop Timed out sampling with CANONSampler. Stopping mission. stop Wait before firing sample. Set CartridgeType (if ESP), YoYoMinDepth, YoYoMaxDepth, WaitDuration to , , , . 0 0 Initialize CenterLatitude and CenterLongitude to GPS fix: , . Updating. Elapsed time since last center update, CenterLatitude, CenterLongitude = , , 0 1 Yoyo profile on a cylinder around location ,, at radius = . 1 No firing for too long. Stopping mission. Elapsed time since start or last sample, MaxWaitNoFiring, CntSamples = , , stop ₁1 ₁2 ₁3 ₁4 ₁5 ₁6 ₁7 ₁8 ₁9 ₁10 ₁11 ₁12 ₁13 ₁14 ₁15 ₁16 ₁17 ₁18 ₁19 ₁20 ₁21 ₁22 ₁23 ₁24 ₁25 ₁26 ₁27 ₁28 ₁29 ₁30 ₁31 ₁32 ₁33 ₁34 ₁35 ₁36 ₁37 ₁38 ₁39 ₁40 ₁41 ₁42 ₁43 ₁44 ₁45 ₁46 ₁47 ₁48 ₁49 ₁50 ₁51 ₁52 ₁53 ₁54 ₁55 ₁56 ₁57 ₁58 ₁59 ₁60 Taking sample No.. 0 Sample No. completed. 0 Taking sample No.. 0 Sample No. completed. 0 1