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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.tl

redefineArg SurfacePitch = 20 degree
redefineArg SurfaceSpeed = 1 meter_per_second
redefineArg UnpackSplitAtSurface = true

Insert/Surface.tl

redefineArg SurfacePitch = 20 degree
redefineArg SurfaceSpeed = 1 meter_per_second

Insert/Science.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:OffshoreEnvelope

Guidance:Pitch

Guidance:SetSpeed

Guidance:WaterDepthEnvelope

Guidance:Waypoint

Trigger:PeakDetectHorizontal