Deprecated/Science/trackStarOil.xml¶
Mission ID: trackStarOil
Mission Path: Deprecated/Science/trackStarOil.xml
Vehicle tracks patch identified by oil 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 = 240 minute
Maximum time between surfacings for communications
MissionTimeout¶
MissionTimeout = 9 day
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.
Depth¶
Depth = 3.0 meter
Depth during sampling.
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
WpMaxDistance¶
WpMaxDistance = 7500 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 = 200 count
Maximum number of tracking legs
Turn¶
Turn = 144 degree
Amount to turn at each leg 144 degrees for a pentagram 154.286 degrees for a heptagram
TwoPi¶
TwoPi = 360 degree
Applied to stop run-up of angles
FilterWidth¶
FilterWidth = 200 count
Width of boxcar filter used in horizontal patch detection
BeginThreshold¶
BeginThreshold = 0.001 kilogram_per_cubic_meter
If non-NaN, sets threshold for starting horizontal patch detection
OffPeakFraction¶
OffPeakFraction = 50 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.
TurnNow¶
TurnNow = Turn
Amount to turn at at current leg. Nominally Turn * +/-1
WpBearing¶
WpBearing = -90 degree
Bearing being followed in the current leg. Set this to initialize start direction of patch tracking.
Output¶
PatchDetected¶
PatchDetected = false
Mission sets this to false when it's time to look for a patch. It is set to true when a patch is found
PatchMissed¶
PatchMissed = false
Mission sets this to false when it's time to look for a patch. It is set to true when a waypoint is reached without finding the peak
PatchDetectState¶
PatchDetectState = -0 enum
State corresponds to where we are in the pathch tracking routine: 0-looking for a patch 1-found first sign of patch 2-confirmed patch
WpDone¶
WpDone = false
Mission sets this to true when the cross-patch waypoint has been reached.
LastPatchOil¶
LastPatchOil = NaN microgram_per_liter
PatchOil¶
PatchOil = NaN microgram_per_liter
PatchOilDepth¶
PatchOilDepth = NaN meter
PatchOilLatitude¶
PatchOilLatitude = NaN degree
PatchOilLongitude¶
PatchOilLongitude = NaN degree
PatchOilDistance¶
PatchOilDistance = 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