Deprecated/Science/trackPatchFDOM.xml
¶
Mission ID: trackPatchFDOM
Mission Path: Deprecated/Science/trackPatchFDOM.xml
Vehicle runs yo-yos, with patch detect enabled for FDOM concentration_of_colored_dissolved_organic_matter_in_sea_water concentration.
Arguments¶
MinAltitude¶
MinAltitude = 5 meter
Minimum altitude for the entire mission.
MaxDepth¶
MaxDepth = 65 meter
Maximum depth for the entire mission.
MinWaterDepth¶
MinWaterDepth = 10 meter
Minimum water depth for the entire mission.
MinOffshore¶
MinOffshore = 2000 meter
Minimum offshore distance for the entire mission.
NeedCommsTime¶
NeedCommsTime = 180 minute
Maximum time between surfacings for communications
MissionTimeout¶
MissionTimeout = 56 hour
Timeout for the entire mission
MassDefault¶
MassDefault = Control:VerticalControl.massDefault
Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file.
BuoyancyNeutral¶
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file.
YoYoMinDepth¶
YoYoMinDepth = 5.0 meter
Minimum depth during yo-yo's.
YoYoMaxDepth¶
YoYoMaxDepth = 25.0 meter
Maximum depth during yo-yo's.
YoYoUpPitch¶
YoYoUpPitch = 20.0 degree
Pitch when yo-yo's are ascending.
YoYoDownPitch¶
YoYoDownPitch = -20.0 degree
Pitch when yo-yo's are descending.
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
WpMaxDistance¶
WpMaxDistance = 1000 meter
Maximum length of each tracking leg
WpTimeout¶
WpTimeout = 8000 second
Maximum duration of each tracking leg
WaterFrame¶
WaterFrame = true
Set WaterFrame true to drive towards waypoints in the water frame of reference
Repeat¶
Repeat = 20 count
Maximum number of tracking legs
Turn¶
Turn = 144 degree
Amount to turn at each leg
Reverse¶
Reverse = 180 degree
Change in bearing which reverses vehicle direction
TwoPi¶
TwoPi = 360 degree
Applied to stop run-up of angles
TimeWindowPeakRpt¶
TimeWindowPeakRpt = NaN minute
If greater than zero, report a peak every window. If NaN or zero, this variable is ignored.
LowPassWindowLen¶
LowPassWindowLen = 20 count
Low-pass window length (based on depth sensor sampling interval 0.4 second) for low-pass filtering.
PeakShallowBnd¶
PeakShallowBnd = 2 meter
Shallow depth bound for detecting peak on each descent or ascent profile.
PeakDeepBnd¶
PeakDeepBnd = 4 meter
Deep depth bound for detecting peak on each descent or ascent profile.
FilterWidth¶
FilterWidth = 4 count
Width of boxcar filter used in horizontal patch detection
BeginThreshold¶
BeginThreshold = NaN microgram_per_liter
If non-NaN, sets threshold for starting horizontal patch detection
OffPeakFraction¶
OffPeakFraction = 80 percent
When filtered horizontal value is this fraction of the peak, consider it outside the patch.
PatchMode¶
PatchMode = false
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.
PatchTrackingHorizontal¶
PatchTrackingHorizontal = true
Set true to turn on horizontal patch tracking
WpBearing¶
WpBearing = -90 degree
Bearing being followed in the current leg. Set this to initialize start direction of patch tracking.
Output¶
PatchDetectOn¶
PatchDetectOn = false
Mission sets this to true when the patch has been crossed.
WpDone¶
WpDone = false
Mission sets this to true when the cross-patch waypoint has been reached.
PatchFDOM¶
PatchFDOM = NaN microgram_per_liter
PatchFDOMDepth¶
PatchFDOMDepth = NaN meter
PatchFDOMLatitude¶
PatchFDOMLatitude = NaN degree
PatchFDOMLongitude¶
PatchFDOMLongitude = NaN degree
PatchFDOMDistance¶
PatchFDOMDistance = 0 meter
Inserts¶
Insert/Surface.xml
¶
redefineArg SurfacePitch = 20 degree
redefineArg SurfaceSpeed = 1 meter_per_second
redefineArg UnpackSplitAtSurface = true
Insert/Surface.xml
¶
redefineArg SurfacePitch = 20 degree
redefineArg SurfaceSpeed = 1 meter_per_second
Insert/Science.xml
¶
redefineArg PeakDetectFDOMActive = true
redefineArg TimeWindowPeakReport = TimeWindowPeakRpt
redefineArg PatchTracking = true
redefineArg LowPassWindowLength = LowPassWindowLen
redefineArg PeakShallowBound = PeakShallowBnd
redefineArg PeakDeepBound = PeakDeepBnd
redefineArg OffPeakFractionHorizontal = OffPeakFraction