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
20
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
On yo-yo transects, how often to surface for commumications
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
During tracking, 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
If no firing after more than MaxWaitNoFiring, terminate mission.
2
Maximum wait time the vehicle cannot reach the targeted depth.
0.5
Latitude of patch tracking start location. If nan, transit is skipped.
NaN
Longitude of patch tracking start location. If nan, transit is skipped.
NaN
Whether to senddata to acoustic modem.
Whether to senddata to more than one modem.
Modem ID1. Initialized to 1.
1
Modem ID2. Initialized to 4.
4
Whether to sample at peak-chl
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
Vehicle speed when transiting.
1.0
Vehicle speed during initial dive (for looking for the chl max). 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 in initial spiral-down to leave surface. Initialized to 9
degrees.
9
Rudder angle during donut sampling.
13
Maximum depth for the entire mission.
50
Minimum water depth for the entire mission.
10
Minimum altitude for the entire mission.
7
Minimum offshore distance for the entire mission.
2
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
Deep depth bound for sampling operation
45
Shallow depth bound for chl-peak detection.
4.5
Deep depth bound for chl-peak detection.
17
Deep bound for vertical chl-peak finding maneuver = DeepBoundChl +
VertMargin.
3
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
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
Look for signal for this long. If none found within this timeout, switch
to the next leg.
30
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
Value common to all samples unless set diffently: cartridge type.
-6
Sample 1. Cartridge type.
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: 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.
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
Go-up depth rate (Negative depth rate means going up).
-0.04
Go-down depth rate (Positive depth rate means going down).
0.2
24
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.
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.
2.5
Depth change threshold for determining vehicle attitude flip.
2.0
Vehicle up pitch while performing the YoYo behavior.
20
Vehicle down pitch while performing the YoYo behavior.
-20
Amount to turn at each leg
90
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
Width of boxcar filter used in horizontal patch detection
4
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
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
Change in bearing which reverses vehicle direction
180
Applied to stop run-up of angles
360
Count of sweep rounds (initilized to 1).
1
Initialized to False.
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.
Flag of turning back from shore. Initialized to False.
Initialized to False.
Initialized to False.
The mission sets this variable to reset the sample timer.
0
Only for syslog.
0
Cartridge type. Initialized to -6.
-6
Initialized to -6.
-6
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.
Sample option settings already set. Initialized to false.
Sampling completed. Initialized to false.
Mission stopped because the vehicle is outside of the polygon.
Initialized to False.
Mission stopped because of no firing for too long. Initialized to false.
Mission stopped because of no firing for too long. Initialized to false.
The mission sets this variable to reset the timer for checking distance
to shore and polygon sides.
0
NaN
NaN
NaN
NaN
NaN
NaN
0
0.0
0.0
0.0
Initialized to false.
Start vertical maneuver and sampling (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 completed. 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).
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 false.
Initialized to true.
Initialized to false.
Initialized to false.
Modem ID. Set to modemId1 or modemId2. Initialized 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.
Restarting logs.
restart logs
0.0
WpMaxDistance reached. Patch peak value is NaN. Stopping mission.
stop
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 =
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 =
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. Switch to sampling.
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
Trigger sampling. DepthLogged, TempLogged, ChlLogged = , , .
Wait for ESP sampling to complete.
Trigger sampling. DepthLogged, TempLogged, ChlLogged = , , .
Timed out triggering CANONSampler. Stopping mission.
stop
Timed out sampling with CANONSampler. Stopping mission.
stop
Wait for the depth undulation to damp down.
ModemID =
modem
_.LRAUVcntSamples
count
TrackAndSample.CntSamples =
modem
_.ESPsampleNumber
count
modem
_.ESPcartridgeType
count
modem
_.ESPsampleVolume
milliliter
Science:ESPComponent.sample_number =
Science:ESPComponent.cartridge =
Science:ESPComponent.sampleVolume =
modem
_.CANONsampleNumber
count
Science:CANONSampler.sample_number =
modem
_.sampleDepth
meter
modem
_.sampleTemperature
celsius
modem
_.sampleChlorophyll
microgram_per_liter
Universal:depth =
Universal:sea_water_temperature =
Universal:mass_concentration_of_chlorophyll_in_sea_water =
Set ModemID to .
Set ModemID to .
Set ModemID to .
Set CartridgeType (if ESP), TempDiffFromPeakChl, DepDiffFromPeakChl, TempDesignated, DepthDesignated, WaitDepthUndulation to , , , , , .
0
1
0.0
0.0
0.0
0.0
Go down from
Go up from
Set peak-chl depth and temp. DepthLogged, ChlLogged, PeakChlDepthSet, PeakChlTemperatureSet, PeakChlSet = , , , ,
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
Clamp depth to DeepBoundSampler = , because attempted temp is deeper.
Latitude = , longitude = . Outside of the polygon. Stopping mission.
stop
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 = .
If ESP, requesting ESP cartridge type:
0
Sample No. completed.
0
ESP sample skipped (because cartridge type is NaN).
Taking sample No.. Target depth = .
If ESP, requesting ESP cartridge type:
0
Sample No. completed.
0
ESP sample skipped (because cartridge type is NaN).
1