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Insert/SampleAtPeakDepOrTemp.tl

Aggregate ID: SampleAtPeakChlDepOrTemp

Aggregate Path: Insert/SampleAtPeakDepOrTemp.tl

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Inserted by:

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 depth (or isotherm)

SampleAtPeakPlanktivoreHMavgROI

SampleAtPeakPlanktivoreHMavgROI = false

Whether to sample at peak-PlanktivoreHMavgROI depth (or isotherm)

InitialDiveDuration

InitialDiveDuration = 1.0 minute

On the first dive for looking for the peak-signal depth, 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 peak signal depth). 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.

Shallowbnd

Shallowbnd = 3 meter

Shallow depth bound for peak detection.

Deepbnd

Deepbnd = 20 meter

Deep depth bound for peak detection.

CartridgeCommon

CartridgeCommon = NaN count

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

CartridgeType1

CartridgeType1 = NaN count

Sample 1.

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.

TempDiffFromPeak

TempDiffFromPeak = NaN kelvin

Target temperature difference from the peak-signal temperature.

TempDesignated

TempDesignated = NaN celsius

Pre-designated temperature.

DepDiffFromPeak

DepDiffFromPeak = NaN meter

Depth difference (positive: deeper; negative: shallower) from the peak-signal 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 signal 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. 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.

CartType

CartType = -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 (DepDiffFromPeak 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

PlanktivoreHMavgROILogged

PlanktivoreHMavgROILogged = 0.0 count_per_second

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.

FlagPeakDepthSet

FlagPeakDepthSet = false

Flag of peak-signal depth having been set (set to true when the peak-signal depth has been set. Initialized to false).

FlagPeakTempSet

FlagPeakTempSet = false

Flag of peak-signal temperature having been set (set to true when the peak-signal temperature has been set. Initialized to false).

FlagSamplingOngoing

FlagSamplingOngoing = false

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

PeakDepthSet

PeakDepthSet = 10.0 meter

Peak-signal depth detected on a dive. Initialized to 10 meters.

PeakTemperatureSet

PeakTemperatureSet = NaN kelvin

Peak-signal temperature detected on a dive, and set for peak-signal holding. Initialized to NaN.

PeakChlSet

PeakChlSet = 0.0 microgram_per_liter

Peak-chl value detected on a dive.

PeakPlanktivoreHMavgROISet

PeakPlanktivoreHMavgROISet = 0.0 count_per_second

Peak-PlanktivoreHMavgROI 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 PeakDetectPlanktivoreHMavgROIActive = SampleAtPeakPlanktivoreHMavgROI
redefineArg LowPassWindowLength = LPWindowLength
redefineArg MedianFilterLen = MedianFilterLength
redefineArg PeakShallowBound = Shallowbnd
redefineArg PeakDeepBound = Deepbnd
redefineArg DepChangeThreshForAttitudeFlip = DepChangeThreshAttitudeFlip

Insert/SampleAtDepth.tl

redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth

Invoked Module Behaviors

Guidance:Buoyancy

Guidance:DepthServo

Guidance:Execute

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Wait

Science:ESPCartridgeSelect

Sensor:SendDirect