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Engineering/circle_sample_labtest.xml

Mission ID: Circle_sample_labtest

Mission Path: Engineering/circle_sample_labtest.xml

(No description)

Arguments

NumSamplers

NumSamplers = 5 count

Total number of ESP cartridges (Maximum 60).

StartIndex

StartIndex = 1 count

Start index in ESP settings. If re-running mission, can skip settings of already-completed samples. Default is 1 (no skipping).

MissionTimeout

MissionTimeout = 24 hour

Maximum duration of mission

AcousticTrackingTimeout

AcousticTrackingTimeout = 24 hour

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.

UseOtherLRAUVSignals

UseOtherLRAUVSignals = true

Whether to use the other LRAUV's sample start and completion signals to trigger sampling.

TrackAcousticTarget

TrackAcousticTarget = false

Whether to track an acoustic target.

AcousticTargetContactLabel

AcousticTargetContactLabel = 21 count

The acoustic address of the asset to be tracked

AcousticTargetDepth

AcousticTargetDepth = NaN meter

Depth of acoustic target if known and fixed (or nearly fixed). For example, if the acoustic target is a Wave Glider, set it to zero. This will improve 2D projected position estimates in the Earth reference frame. Defaults to NaN.

AcousticTargetContactTimeout

AcousticTargetContactTimeout = 15 minute

Only use a sufficiently fresh handshake to update the tracking center.

SendSampleResultToWG

SendSampleResultToWG = false

Whether to send sample result to Wave Glider.

ModemIDofWG

ModemIDofWG = 21 enum

Modem ID of Wave Glider. Initialized to 1.

ModemIDofOtherLRAUV

ModemIDofOtherLRAUV = 4 enum

Modem ID of the other LRAUV. Initialized to 4.

WaitBeforeFiring

WaitBeforeFiring = 1 minute

Wait time before firing the next sample to listen to the other LRAUV's sample start signal. No less than 5 minutes.

MaxWaitFirstSample

MaxWaitFirstSample = 3 minute

For the 1st sample, if not receiving the other LRAUV's sample start signal after longer than MaxWaitFirstSample, fire.

MaxWaitMustFire

MaxWaitMustFire = 6 minute

For all samples, if no firing MaxWaitMustFire after the last firing, fire.

MaxWaitStopMission

MaxWaitStopMission = 8 minute

If no firing after more than MaxWaitNoFiring, terminate mission.

MaxWaitNotAchievingDepth

MaxWaitNotAchievingDepth = 2 minute

Maximum wait time the vehicle cannot reach the targeted depth.

SpeedSampling

SpeedSampling = 1.0 meter_per_second

Vehicle speed when sampling on circle.

DepthCircle

DepthCircle = 5 meter

Circle depth.

CircleYoYoMinDepth

CircleYoYoMinDepth = NaN meter

Minimum yoyo depth while circling when not sampling. If NaN, then LRAUV will circle at DepthCircle.

CircleYoYoMaxDepth

CircleYoYoMaxDepth = NaN meter

Maximum yoyo depth while circling when not sampling. If NaN, then LRAUV will circle at DepthCircle.

MaxDepth

MaxDepth = 50 meter

Maximum depth for the entire mission.

CircleRadius

CircleRadius = 20 meter

Radius of circle centered at the Wave Glider latitude and longitude.

MaxNumCircles

MaxNumCircles = 10000 count

Maximum number of circles.

CenterLatitude

CenterLatitude = 36.80 degree

The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.

CenterLongitude

CenterLongitude = -121.82 degree

The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.

CartridgeTypeCommon

CartridgeTypeCommon = -1 count

Value common to all samples unless set diffently: cartridge type.

CartridgeType1

CartridgeType1 = NaN count

Sample 1. Cartridge type.

CartridgeType2

CartridgeType2 = NaN count

Sample 2.

CartridgeType3

CartridgeType3 = NaN count

Sample 3.

CartridgeType4

CartridgeType4 = NaN count

Sample 4.

CartridgeType5

CartridgeType5 = NaN count

Sample 5.

CartridgeType6

CartridgeType6 = NaN count

Sample 6.

CartridgeType7

CartridgeType7 = NaN count

Sample 7.

CartridgeType8

CartridgeType8 = NaN count

Sample 8.

CartridgeType9

CartridgeType9 = NaN count

Sample 9.

CartridgeType10

CartridgeType10 = NaN count

Sample 10.

CartridgeType11

CartridgeType11 = NaN count

Sample 11.

CartridgeType12

CartridgeType12 = NaN count

Sample 12.

CartridgeType13

CartridgeType13 = NaN count

Sample 13.

CartridgeType14

CartridgeType14 = NaN count

Sample 14.

CartridgeType15

CartridgeType15 = NaN count

Sample 15.

CartridgeType16

CartridgeType16 = NaN count

Sample 16.

CartridgeType17

CartridgeType17 = NaN count

Sample 17.

CartridgeType18

CartridgeType18 = NaN count

Sample 18.

CartridgeType19

CartridgeType19 = NaN count

Sample 19.

CartridgeType20

CartridgeType20 = NaN count

Sample 20.

CartridgeType21

CartridgeType21 = NaN count

Sample 21.

CartridgeType22

CartridgeType22 = NaN count

Sample 22.

CartridgeType23

CartridgeType23 = NaN count

Sample 23.

CartridgeType24

CartridgeType24 = NaN count

Sample 24.

CartridgeType25

CartridgeType25 = NaN count

Sample 25.

CartridgeType26

CartridgeType26 = NaN count

Sample 26.

CartridgeType27

CartridgeType27 = NaN count

Sample 27.

CartridgeType28

CartridgeType28 = NaN count

Sample 28.

CartridgeType29

CartridgeType29 = NaN count

Sample 29.

CartridgeType30

CartridgeType30 = NaN count

Sample 30.

CartridgeType31

CartridgeType31 = NaN count

Sample 31.

CartridgeType32

CartridgeType32 = NaN count

Sample 32.

CartridgeType33

CartridgeType33 = NaN count

Sample 33.

CartridgeType34

CartridgeType34 = NaN count

Sample 34.

CartridgeType35

CartridgeType35 = NaN count

Sample 35.

CartridgeType36

CartridgeType36 = NaN count

Sample 36.

CartridgeType37

CartridgeType37 = NaN count

Sample 37.

CartridgeType38

CartridgeType38 = NaN count

Sample 38.

CartridgeType39

CartridgeType39 = NaN count

Sample 39.

CartridgeType40

CartridgeType40 = NaN count

Sample 40.

CartridgeType41

CartridgeType41 = NaN count

Sample 41.

CartridgeType42

CartridgeType42 = NaN count

Sample 42.

CartridgeType43

CartridgeType43 = NaN count

Sample 43.

CartridgeType44

CartridgeType44 = NaN count

Sample 44.

CartridgeType45

CartridgeType45 = NaN count

Sample 45.

CartridgeType46

CartridgeType46 = NaN count

Sample 46.

CartridgeType47

CartridgeType47 = NaN count

Sample 47.

CartridgeType48

CartridgeType48 = NaN count

Sample 48.

CartridgeType49

CartridgeType49 = NaN count

Sample 49.

CartridgeType50

CartridgeType50 = NaN count

Sample 50.

CartridgeType51

CartridgeType51 = NaN count

Sample 51.

CartridgeType52

CartridgeType52 = NaN count

Sample 52.

CartridgeType53

CartridgeType53 = NaN count

Sample 53.

CartridgeType54

CartridgeType54 = NaN count

Sample 54.

CartridgeType55

CartridgeType55 = NaN count

Sample 55.

CartridgeType56

CartridgeType56 = NaN count

Sample 56.

CartridgeType57

CartridgeType57 = NaN count

Sample 57.

CartridgeType58

CartridgeType58 = NaN count

Sample 58.

CartridgeType59

CartridgeType59 = NaN count

Sample 59.

CartridgeType60

CartridgeType60 = NaN count

Sample 60.

SettleCommon

SettleCommon = 0.5 minute

Settle time before firing. Value common to all samples except Sample 1.

Settle1

Settle1 = 0.5 minute

Settle time before firing. Sample 1.

YoYoMinAltitude

YoYoMinAltitude = 9 meter

Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).

MinAltitude

MinAltitude = 7 meter

Minimum altitude for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

IntervalRestartLogs

IntervalRestartLogs = 24 hour

TrackingUpdatePeriod

TrackingUpdatePeriod = 15 second

How long to wait between acoustic queries

NumberOfPings

NumberOfPings = 1 count

Number of return pings to request with each acoustic query (more than 1 will activate oneway mode)

NumberOfFixesLowPass

NumberOfFixesLowPass = 4 count

Number of fixes to average to produce smoothed lat/lon/dep output (initialized to 4).

NumberOfStartingFixesToIgnore

NumberOfStartingFixesToIgnore = 8 count

Number of fixes to ignore at the start of mission (as the vehicle just leaves surface, contact's location estimate especailly bearing can be erroneous. Initialized to 8, corresponding to 2 minutes if query interval TrackingUpdatePeriod = 15 s.

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.)

YoYoUpPitch

YoYoUpPitch = 20 degree

Vehicle up pitch while performing the YoYo behavior.

YoYoDownPitch

YoYoDownPitch = -20 degree

Vehicle down pitch while performing the YoYo behavior.

BuoyancyNeutral

BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral

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

MassDefault

MassDefault = Control:VerticalControl.massDefault

Static setting for mass during the mission. Set to NaN mm for active mass position

Output

CartridgeTypeIndividual

CartridgeTypeIndividual = NaN count

Cartridge type individual.

CartridgeType

CartridgeType = -6 count

Cartridge type. Initialized to -6.

ElapsedSinceStartOrLastFiring

ElapsedSinceStartOrLastFiring = 0 hour

The mission sets this variable to reset the ESP sample timer.

ElapsedSinceLastCenterUpdate

ElapsedSinceLastCenterUpdate = 0 hour

The mission sets this variable to reset the center update timer.

ElapsedTime

ElapsedTime = 0 hour

Only for syslog.

SettleDuration

SettleDuration = 5.0 minute

Settle time before firing a sample. Program will set for each sampler, e.g., Settle1 or SettleCommon.

StoppedForNoFiringForTooLong

StoppedForNoFiringForTooLong = false

Mission stopped because of no firing for too long. Initialized to false.

MissionStartCommsCompleted

MissionStartCommsCompleted = true

MissionStartComms is completed (initialized to false).

FlagSamplingOngoing

FlagSamplingOngoing = false

Flag of water sampling in process (initialized to false).

SampleCompleted

SampleCompleted = false

Sampling completed. Initialized to false.

SampleOptionsSet

SampleOptionsSet = false

Sample options (DepDiffFromPeakChl, ReportAtSurface, ReacquirePeak) already set. Initialized to false.

OtherLRAUVSampleStartReceived

OtherLRAUVSampleStartReceived = false

Whether the other LRAUV's sample start signal is received. Initialized to False.

OtherLRAUVSampleCompleteReceived

OtherLRAUVSampleCompleteReceived = false

Whether the other LRAUV's sample completed signal is received. Initialized to False.

CntSamples

CntSamples = 1 count

Count of water samples (initilized to 1).

TrueVar

TrueVar = true

A True boolean, defined as an arg because you can't directly place values in a call to SendData.

FiredOnMaxWait

FiredOnMaxWait = false

FiredOnReceivingOtherLRAUVSampleComplete

FiredOnReceivingOtherLRAUVSampleComplete = false

Inserts

Insert/StandardEnvelopes.tl

Insert/AbortDrift.tl

redefineArg AcousticTimeout = AcousticTrackingTimeout

Insert/SampleAtDepth.tl

redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth

Insert/Science.tl

Invoked Module Behaviors

Estimation:TrackAcousticContact

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:Circle

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:YoYo

Sample:AbortSample

Sensor:SendDirect