Insert/SampleAtPeakChlDepOrTemp.tl¶
Aggregate ID: SampleAtPeakChlDepOrTemp
Aggregate Path: Insert/SampleAtPeakChlDepOrTemp.tl
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Arguments¶
NumSamplers¶
NumSamplers = 0 count
Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0 to disable sampling.
MaxWaitNoFiring¶
MaxWaitNoFiring = 2 hour
If no firing after more than MaxWaitNoFiring, terminate mission.
MaxWaitNotAchievingDepth¶
MaxWaitNotAchievingDepth = 0.5 hour
Maximum wait time the vehicle cannot reach the targeted depth.
SendSampleStatusAndData¶
SendSampleStatusAndData = false
Whether to senddata to acoustic modem.
SendDataToMultipleModems¶
SendDataToMultipleModems = false
Whether to senddata to more than one modem.
modemId1¶
modemId1 = 1 enum
Modem ID1. Initialized to 1.
modemId2¶
modemId2 = 4 enum
Modem ID2. Initialized to 4.
SampleAtPeakChl¶
SampleAtPeakChl = false
Whether to sample at peak-chl
InitialDiveDuration¶
InitialDiveDuration = 1.0 minute
On the first dive for looking for the chl max, run at SpeedInitialDive for this duration (e.g., 1 m/s spiral to dive fast).
SpeedInitialDive¶
SpeedInitialDive = 1.0 meter_per_second
Vehicle speed during initial dive (for looking for the chl max). 0.0 for drift mode (prop off); 1.0 for spiral mode (prop on). Initialized to 1 m/s.
SpeedSampling¶
SpeedSampling = 1.0 meter_per_second
Vehicle speed during sampling: 0.0 for drift mode (prop off); 1.0 for donut mode (prop on). Initialized to 1 m/s.
RudderAngleInitialDive¶
RudderAngleInitialDive = 9 degree
Rudder angle in initial spiral-down to leave surface. Initialized to 9 degrees.
RudderAngleDonutSampling¶
RudderAngleDonutSampling = 13 degree
Rudder angle during donut sampling.
TriggerThreshChl¶
TriggerThreshChl = 2.5 microgram_per_liter
If non-NaN, sets threshold for triggering sampling. Chl value of 2.5 mug/L corresponds to HS2 fluorescence reading of 0.001 on Dorado.
ShallowbndChl¶
ShallowbndChl = 3 meter
Shallow depth bound for chl-peak detection.
DeepbndChl¶
DeepbndChl = 20 meter
Deep depth bound for chl-peak detection.
CartridgeCommon¶
CartridgeCommon = NaN 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.
TempDiffFromPeakChl¶
TempDiffFromPeakChl = NaN kelvin
Target temperature difference from the peak-chl temperature.
TempDesignated¶
TempDesignated = NaN celsius
Pre-designated temperature.
DepDiffFromPeakChl¶
DepDiffFromPeakChl = NaN meter
Depth difference (positive: deeper; negative: shallower) from the peak-chl depth for taking comparison samples. Initialized to NaN.
DepDesignated¶
DepDesignated = NaN meter
Pre-designated depth.
WaitDepUndulationCommon¶
WaitDepUndulationCommon = 5.0 minute
Value common to all samples unless set differently: Wait duration for the depth undulation to damp down.
WaitDepUndulation1¶
WaitDepUndulation1 = 10.0 minute
For the 1st sample: wait duration for the depth undulation to damp down.
UpRate¶
UpRate = -0.05 meter_per_second
Go-up depth rate (Negative depth rate means going up).
DownRate¶
DownRate = 0.2 meter_per_second
Go-down depth rate (Positive depth rate means going down).
UseESP¶
UseESP = Science:ESPComponent.loadAtStartup
Whether to use ESP to sample.
UseCANONSampler¶
UseCANONSampler = Science:CANONSampler.loadAtStartup
Whether to use CANON Sampler to sample.
CANONSamplerRotateOnly¶
CANONSamplerRotateOnly = 0 bool
CANONSamplerTriggerTimeout¶
CANONSamplerTriggerTimeout = 3 minute
How long to wait for a CANON Sampler sample to start.
CANONSamplerTimeout¶
CANONSamplerTimeout = Science:CANONSampler.sampleTimeout
How long to wait for a CANON Sampler sample to complete.
RiseFromTurningDep¶
RiseFromTurningDep = 5 meter
The peak chl detected on the initial dive is reported when the vehicle has turned from the deepest depth (i.e., the turning depth) onto the ascending profile at a depth that is RiseFromDeepTurningPoint shallower than the turning depth. For robustness, RiseFromTurningDep = DepChangeThreshAttitudeFlip + 2 meters.
DepChangeThreshAttitudeFlip¶
DepChangeThreshAttitudeFlip = 3 meter
Depth change threshold for determining vehicle attitude flip.
LPWindowLength¶
LPWindowLength = 20 count
Low-pass window length (based on depth sensor sampling interval 0.4 second) for low-pass filtering.
MedianFilterLength¶
MedianFilterLength = 5 count
Median filter length (only for chlorophyll fluorescence which tends to have spikes). The median-filtered signal enters the succeeding low-pass filter. If set to 1, then no median filtering, i.e., the raw fluorescence signal directly enters the low-pass filter.
GainProportional¶
GainProportional = 1 none
Proportional gain for temperature holding control loop.
GainIntegral¶
GainIntegral = 0 none
Integral gain for temperature holding control loop.
GainDerivative¶
GainDerivative = 0 none
Derivative gain for temperature holding control loop.
VariationPerMeter¶
VariationPerMeter = 0.2 reciprocal_meter
Expected temperature change per meter.
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
Output¶
FlagGoDown¶
FlagGoDown = true
Go-down flag (set to true when going down. Initialized to true).
EnableElapsedSinceStartOrLastSample¶
EnableElapsedSinceStartOrLastSample = false
Enable clock checking of ElapsedSinceStartOrLastSample (Initialized to false).
ElapsedSinceStartOrLastSample¶
ElapsedSinceStartOrLastSample = 0 hour
The mission sets this variable to reset the sample timer.
ElapsedTime¶
ElapsedTime = 0 hour
Only for syslog.
CartridgeType¶
CartridgeType = -6 count
Cartridge type. Initialized to -6.
CartridgeTypeIndividual¶
CartridgeTypeIndividual = -6 count
Initialized to -6.
TempSet¶
TempSet = NaN kelvin
Temperature for sampling. Initialized to NaN.
DepthSet¶
DepthSet = 10.0 meter
Depth for sampling. Initialized to 10 m.
WaitDepthUndulation¶
WaitDepthUndulation = 10.0 minute
Wait duration for the depth undulation to damp down. Initialized to 10 minutes.
SampleCountIncreased¶
SampleCountIncreased = true
Sample count is increased.
SampleOptionsSet¶
SampleOptionsSet = false
Sample options (DepDiffFromPeakChl etc.) already set. Initialized to false.
SampleCompleted¶
SampleCompleted = false
Sampling completed. Initialized to false.
StoppedForNoFiringForTooLong¶
StoppedForNoFiringForTooLong = false
Mission stopped because of no firing for too long. Initialized to false.
DepthLogged¶
DepthLogged = 0.0 meter
TempLogged¶
TempLogged = 0.0 celsius
ChlLogged¶
ChlLogged = 0.0 microgram_per_liter
FlagTempSet¶
FlagTempSet = false
Flag of target temperature having been set. Initialized to false.
FlagTargetDepthSet¶
FlagTargetDepthSet = false
Flag of target depth having been set. Initialized to false.
FlagGoUp¶
FlagGoUp = false
Go-up flag (set to true when going up. Initialized to false).
FlagInitialDiveCompleted¶
FlagInitialDiveCompleted = false
Flag of initial dive completed. Initialized to false.
FlagPeakChlDepthSet¶
FlagPeakChlDepthSet = false
Flag of peak-chl depth having been set (set to true when the chl-peak depth has been set. Initialized to false).
FlagPeakChlTempSet¶
FlagPeakChlTempSet = false
Flag of peak-chl temperature having been set (set to true when the chl-peak temperature has been set. Initialized to false).
FlagSamplingOngoing¶
FlagSamplingOngoing = false
Flag of water sampling in process (initialized to false).
PeakChlDepthSet¶
PeakChlDepthSet = 10.0 meter
Peak-chl depth detected on a dive. Initialized to 10 meters.
PeakChlTemperatureSet¶
PeakChlTemperatureSet = NaN kelvin
Peak-chl temperature detected on a dive, and set for chl-peak holding. Initialized to NaN.
PeakChlSet¶
PeakChlSet = 0.0 microgram_per_liter
Peak-chl value detected on a dive.
SyslogGoUp¶
SyslogGoUp = false
Flag of logging "GoUp" in syslog (initialized to false).
SyslogGoDown¶
SyslogGoDown = false
Flag of logging "GoDown" in syslog (initialized to false).
CntSamples¶
CntSamples = 1 count
Count of water samples (initilized to 1).
SendDataCntSamplesCompleted¶
SendDataCntSamplesCompleted = false
Initialized to false.
SendDataESPSampleNumberCompleted¶
SendDataESPSampleNumberCompleted = false
Initialized to false.
SendDataESPCartridgeTypeCompleted¶
SendDataESPCartridgeTypeCompleted = false
Initialized to false.
SendDataESPSampleVolumeCompleted¶
SendDataESPSampleVolumeCompleted = false
Initialized to false.
SendDataSampleDepCompleted¶
SendDataSampleDepCompleted = false
Initialized to false.
SendDataSampleTempCompleted¶
SendDataSampleTempCompleted = false
Initialized to false.
SendDataSampleChlCompleted¶
SendDataSampleChlCompleted = false
Initialized to false.
SendDataAllCompleted¶
SendDataAllCompleted = false
Initialized to false.
CallSendData¶
CallSendData = true
Initialized to true.
ModemID¶
ModemID = 1 enum
Modem ID. Set to modemId1 or modemId2. Initialized to 1.
Inserts¶
Insert/Science.tl¶
redefineArg PeakDetectChlActive = SampleAtPeakChl
redefineArg LowPassWindowLength = LPWindowLength
redefineArg MedianFilterLen = MedianFilterLength
redefineArg PeakShallowBound = ShallowbndChl
redefineArg PeakDeepBound = DeepbndChl
redefineArg DepChangeThreshForAttitudeFlip = DepChangeThreshAttitudeFlip
Insert/SampleAtDepth.tl¶
redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth