Vehicle yo-yos with patch detect enabled for oil concentration. NOTE: oil concentrations may vary strongly with depth! Suggested settings for simulaton: Config/sim/[username]/Simulator.cfg: oceanModelData = "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3"; eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; // vel x wrto LV Config/sim/[username]/workSite.cfg: initLat = 71.2225805280196 arcdeg; // Initial latitude initLon = -163.5093252100575 arcdeg; // Initial longitude Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool; WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool; WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial = "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7 1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count; WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count; WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count; WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb; WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count; WetLabsSeaOWL_UV_A.darkCountsChl = 50 count; WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l; WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count; WetLabsSeaOWL_UV_A.darkCountsOil = 50 count; WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts = "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM"; Timeout for the entire mission 12 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. 240 Vehicle speed. 1 Chlorophyll patch tracking. Salinity patch tracking. Oil patch tracking. Whether to track a trough. If false, track peak; if true, track trough. Default is false. Minimum altitude for the entire mission. 5 Maximum depth for the entire mission. 50 Minimum water depth for the entire mission. 10 Minimum offshore distance for the entire mission. 2000 If closer than MinOffshore+MarginMinOffshore, turn back from shore. 100 If a operational safety polygon is specified and the vehicle is closer than this minimum distance to the polygon sides, turn back. 200 Maximum time between surfacings for communications during transit 60 Maximum time between surfacings for communications during patch tracking. This is checked only on every NumRoundsBtnCrossLegSurfacings rounds of CrossLeg. 300 In case vehicle does not surface on periodic rounds of InLeg or CrossLeg, vehicle will be forced to surface at NeedCommsTimePatchTracking+NeedCommsTimeMarginPatchTracking. 60 After the vehicle bounces off the boundary (defined by minimum distance to shore or polygon sides), wait this long before re-checking the distance. 5 Latitude of patch tracking start location. If nan, transit is skipped. NaN Longitude of patch tracking start location. If nan, transit is skipped. NaN Maximum number of rounds (one round = one full set of sweeps in four directions) 5 Every so many rounds, vehicle surfaces on CrossLeg. Set to a big number to practially disable surfacing on CrossLeg. 5 Maximum length of each tracking leg 1000 Maximum duration of each tracking leg 4000 Minimum depth while performing the YoYo behavior during transit. 2 Maximum depth while performing the YoYo behavior during transit. 30 Minimum depth while performing the YoYo behavior during patch tracking. 2 Maximum depth while performing the YoYo behavior during patch tracking. 25 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 Shallow depth bound for detecting peak on each descent or ascent profile. 5 Deep depth bound for detecting peak on each descent or ascent profile. 20 If non-NaN, sets chlorophyll threshold for starting horizontal patch detection 1.0 If non-NaN, sets salinity threshold for starting horizontal patch detection 33.0 If non-NaN, sets threshold for starting horizontal patch detection 0.2 Bearing being followed in the current leg. Set this to initialize start direction of patch tracking. 90 When filtered horizontal value is this fraction of the peak, consider it outside the patch. 90 Look for signal for this long. If none found within this timeout, switch to the next leg. 30 If greater than zero, report a peak every such time window has elapsed. If NaN or zero, this variable is ignored. NaN 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 Length of horizontal sliding window. The highest per-yoyo peak (after low-pass filtering by a filter of length FilterWidthHorizontal) is picked out within this window. 50 Width of boxcar filter used in horizontal patch detection 4 Depth change threshold for determining vehicle attitude flip. 2.0 Set WaterFrame true to drive towards waypoints in the water frame of reference If true, use center of "in peak" range as the turn-around point. If false use maximum horizontal peak location as the turn-around point. Amount to turn at each leg 90 Change in bearing which reverses vehicle direction 180 Applied to stop run-up of angles 360 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Change in bearing which reverses vehicle direction 180 Applied to stop run-up of angles 360 Count of sweep rounds (initilized to 1). 1 Mission sets this to true when the patch has been crossed. Initialized to False. Mission sets this to true when the cross-patch waypoint has been reached. Initialized to True. Initialized to False. Initialized to False. Initialized to False. Flag of turning back from shore. Initialized to False. NaN NaN NaN NaN NaN NaN 0 Mission stopped because patch peak value is NaN. Initialized to False. Mission stopped because the vehicle is outside of the polygon. Initialized to False. The mission sets this variable to reset the timer for checking distance to shore and polygon sides. 0 0.0 0.0 0.0 WpMaxDistance reached. Patch peak value is NaN. Stopping mission. stop 0.0 WpMaxDistance reached. Patch value is at ,, distance = 0.0 WpMaxDistance reached. Patch value is at ,, distance = 0.0 WpMaxDistance reached. Patch value is at ,, distance = Latitude = , longitude = . Turn back from shore because distance_from_shore () is less than OffshoreDistanceTurnBack (+). Patch value is at ,, distance = Latitude = , longitude = . Turn back from wall because shortest_distance_from_polygon_sides () to side is less than MinDistFromPolygonSides (). Patch value is at ,, distance = Latitude = , longitude = . Turn back from shore because distance_from_shore () is less than OffshoreDistanceTurnBack (+). Patch value is at ,, distance = Latitude = , longitude = . Turn back from wall because shortest_distance_from_polygon_sides () to side is less than MinDistFromPolygonSides (). Patch value is at ,, distance = Latitude = , longitude = . Turn back from shore because distance_from_shore () is less than OffshoreDistanceTurnBack (+). Patch value is at ,, distance = Latitude = , longitude = . Turn back from wall because shortest_distance_from_polygon_sides () to side is less than MinDistFromPolygonSides (). Patch value is at ,, distance = 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. 0 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. Latitude = , longitude = . The vehicle is outside of the polygon. Stopping mission. stop Peak found before WpMaxDistance is reached. Patch value is at ,, distance = Peak found before WpMaxDistance is reached. Patch value is at ,, distance = Peak found before WpMaxDistance is reached. Patch value is at ,, distance = This is a short run back to patch center. Bearing for CrossLeg: 0 0 0 0 Desired rounds of crosslegs completed and back to patch center. Terminate mission. This is a long run to the edge of the patch to search for the peak. Bearing for continued CrossLeg: 0 Bearing for InLeg: Simply drive back towards the patch center Bearing for OutLeg: 0 Drive outward until edge of patch is detected. 1 0