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