Deprecated/Science/esp_sample_station.xml¶
Mission ID: esp_sample_station
Mission Path: Deprecated/Science/esp_sample_station.xml
This mission yoyos in a circle around a specified location.
Arguments¶
MissionTimeout¶
MissionTimeout = 24 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 45 minute
Transit surface communications. Elapsed time after previous surface comms when vehicle will begin to ascend for additional surface communications
LapRepeat¶
LapRepeat = 1 count
Number of times to repeat the waypoint trajectory. NOTE: When setting the LapRepeat > 1 and running WPs in a loop, omit last/return waypoint by setting LatX/LonX to NaN.
StartWaypoint¶
StartWaypoint = 1 count
Waypoint number to start the the waypoint trajectory with. The mission will start with the specified waypoint and cycle through all the subsequent waypoints.
TransitYoYoMinDepth¶
TransitYoYoMinDepth = 5 meter
Minimum YoYo depth while transiting to waypoint.
TransitYoYoMaxDepth¶
TransitYoYoMaxDepth = 50 meter
Maximum YoYo depth while while transiting to waypoint.
SampleYoYoMinDepth¶
SampleYoYoMinDepth = 5 meter
Minimum YoYo depth while sampling.
SampleYoYoMaxDepth¶
SampleYoYoMaxDepth = 50 meter
Maximum YoYo depth while sampling.
SampleTimeout¶
SampleTimeout = 3 hour
Max time duration allowed for a single sample.
SampleRepeat¶
SampleRepeat = 1 count
Number of ESP samples to take at each station (vehicle will surface for comms between samples).
SampleESP¶
SampleESP = true
When true, aqurie an ESP sample.
CartridgeType¶
CartridgeType = -6 count
Specifies ESP cartridge type code (defaults to archive_bac: -6)
SampleCANONSampler¶
SampleCANONSampler = false
When true, aqurie a CANON Sampler water sample.
CANONSamplerDelay¶
CANONSamplerDelay = 10 minute
How long to delay a CANON Sampler sample after an ESP sample is intiated.
Lat1¶
Lat1 = 36.797 degree
The latitude of the center of the circle (default: C1).
Lon1¶
Lon1 = -121.847 degree
The longitude of the center of the circle (default: C1).
Lat2¶
Lat2 = 36.8219 degree
The latitude of the center of the circle (default: NW).
Lon2¶
Lon2 = -121.8856 degree
The longitude of the center of the circle (default: NW).
Lat3¶
Lat3 = 36.766 degree
The latitude of the center of the circle (default: SW).
Lon3¶
Lon3 = -121.8649 degree
The longitude of the center of the circle (default: SW).
Lat4¶
Lat4 = NaN degree
The latitude of the center of the circle (spare). NOTE: Omit return waypoint if LapRepeat > 1 by setting it to NaN.
Lon4¶
Lon4 = NaN degree
The longitude of the center of the circle (spare). NOTE: Omit return waypoint if LapRepeat > 1 by setting it to NaN.
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
YoYoMinAltitude¶
YoYoMinAltitude = 7 meter
Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).
YoYoPitch¶
YoYoPitch = 20 degree
Pitch (plus and minus) for yo-yo behavior.
Radius¶
Radius = 15 meter
Radius to circle at
CircleMaxError¶
CircleMaxError = 100 meter
If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.
CircleTurnToPort¶
CircleTurnToPort = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
KwpHeading¶
KwpHeading = 0.010 radian_per_meter
Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)
MinAltitude¶
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 205 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
Output¶
Lat¶
Lat = 36.806966 degree
Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint. The latitude of the center of the circle.
Lon¶
Lon = -121.824326 degree
Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint. The longitude of the center of the circle.
WaypointCycle¶
WaypointCycle = 4 count
Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint.
WaypointObjective¶
WaypointObjective = 1 count
Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint. The mission's current waypoint objective.
Inserts¶
Insert/Science.xml¶
Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface.
Insert/NeedComms.xml¶
Insert/StandardEnvelopes.xml¶
Insert/Sample.xml¶
redefineArg SampleTimeout = SampleTimeout