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`Science/circle_sample.tl`¶

Mission ID: CircleSample

Mission Path: Science/circle_sample.tl

(No description)

Arguments¶

NumSamplers¶

NumSamplers = 1 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.

NeedCommsTimeVeryLong¶

NeedCommsTimeVeryLong = 240 hour

How often to surface for commumications during sampling. Huge number to disable needcomms during sampling.

NeedCommsMissionStart¶

NeedCommsMissionStart = true

Whether to run NeedComms at start of mission.

UseOtherLRAUVSignals¶

UseOtherLRAUVSignals = false

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

TrackAcousticTarget¶

TrackAcousticTarget = true

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 = true

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 = 5 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 = 10 minute

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

MaxWaitMustFire¶

MaxWaitMustFire = 20 minute

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

MaxWaitStopMission¶

MaxWaitStopMission = 2.5 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.

SpeedSampling¶

SpeedSampling = 1.0 meter_per_second

Vehicle speed when sampling on circle.

DepthCircle¶

DepthCircle = NaN 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 = NaN 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 = NaN 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

Cartridge 1.

CartridgeType2¶

CartridgeType2 = NaN count

Cartridge 2.

CartridgeType3¶

CartridgeType3 = NaN count

Cartridge 3.

CartridgeType4¶

CartridgeType4 = NaN count

Cartridge 4.

CartridgeType5¶

CartridgeType5 = NaN count

Cartridge 5.

CartridgeType6¶

CartridgeType6 = NaN count

Cartridge 6.

CartridgeType7¶

CartridgeType7 = NaN count

Cartridge 7.

CartridgeType8¶

CartridgeType8 = NaN count

Cartridge 8.

CartridgeType9¶

CartridgeType9 = NaN count

Cartridge 9.

CartridgeType10¶

CartridgeType10 = NaN count

Cartridge 10.

CartridgeType11¶

CartridgeType11 = NaN count

Cartridge 11.

CartridgeType12¶

CartridgeType12 = NaN count

Cartridge 12.

CartridgeType13¶

CartridgeType13 = NaN count

Cartridge 13.

CartridgeType14¶

CartridgeType14 = NaN count

Cartridge 14.

CartridgeType15¶

CartridgeType15 = NaN count

Cartridge 15.

CartridgeType16¶

CartridgeType16 = NaN count

Cartridge 16.

CartridgeType17¶

CartridgeType17 = NaN count

Cartridge 17.

CartridgeType18¶

CartridgeType18 = NaN count

Cartridge 18.

CartridgeType19¶

CartridgeType19 = NaN count

Cartridge 19.

CartridgeType20¶

CartridgeType20 = NaN count

Cartridge 20.

CartridgeType21¶

CartridgeType21 = NaN count

Cartridge 21.

CartridgeType22¶

CartridgeType22 = NaN count

Cartridge 22.

CartridgeType23¶

CartridgeType23 = NaN count

Cartridge 23.

CartridgeType24¶

CartridgeType24 = NaN count

Cartridge 24.

CartridgeType25¶

CartridgeType25 = NaN count

Cartridge 25.

CartridgeType26¶

CartridgeType26 = NaN count

Cartridge 26.

CartridgeType27¶

CartridgeType27 = NaN count

Cartridge 27.

CartridgeType28¶

CartridgeType28 = NaN count

Cartridge 28.

CartridgeType29¶

CartridgeType29 = NaN count

Cartridge 29.

CartridgeType30¶

CartridgeType30 = NaN count

Cartridge 30.

CartridgeType31¶

CartridgeType31 = NaN count

Cartridge 31.

CartridgeType32¶

CartridgeType32 = NaN count

Cartridge 32.

CartridgeType33¶

CartridgeType33 = NaN count

Cartridge 33.

CartridgeType34¶

CartridgeType34 = NaN count

Cartridge 34.

CartridgeType35¶

CartridgeType35 = NaN count

Cartridge 35.

CartridgeType36¶

CartridgeType36 = NaN count

Cartridge 36.

CartridgeType37¶

CartridgeType37 = NaN count

Cartridge 37.

CartridgeType38¶

CartridgeType38 = NaN count

Cartridge 38.

CartridgeType39¶

CartridgeType39 = NaN count

Cartridge 39.

CartridgeType40¶

CartridgeType40 = NaN count

Cartridge 40.

CartridgeType41¶

CartridgeType41 = NaN count

Cartridge 41.

CartridgeType42¶

CartridgeType42 = NaN count

Cartridge 42.

CartridgeType43¶

CartridgeType43 = NaN count

Cartridge 43.

CartridgeType44¶

CartridgeType44 = NaN count

Cartridge 44.

CartridgeType45¶

CartridgeType45 = NaN count

Cartridge 45.

CartridgeType46¶

CartridgeType46 = NaN count

Cartridge 46.

CartridgeType47¶

CartridgeType47 = NaN count

Cartridge 47.

CartridgeType48¶

CartridgeType48 = NaN count

Cartridge 48.

CartridgeType49¶

CartridgeType49 = NaN count

Cartridge 49.

CartridgeType50¶

CartridgeType50 = NaN count

Cartridge 50.

CartridgeType51¶

CartridgeType51 = NaN count

Cartridge 51.

CartridgeType52¶

CartridgeType52 = NaN count

Cartridge 52.

CartridgeType53¶

CartridgeType53 = NaN count

Cartridge 53.

CartridgeType54¶

CartridgeType54 = NaN count

Cartridge 54.

CartridgeType55¶

CartridgeType55 = NaN count

Cartridge 55.

CartridgeType56¶

CartridgeType56 = NaN count

Cartridge 56.

CartridgeType57¶

CartridgeType57 = NaN count

Cartridge 57.

CartridgeType58¶

CartridgeType58 = NaN count

Cartridge 58.

CartridgeType59¶

CartridgeType59 = NaN count

Cartridge 59.

CartridgeType60¶

CartridgeType60 = NaN count

Cartridge 60.

SettleCommon¶

SettleCommon = 1 minute

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

Settle1¶

Settle1 = 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 = 1 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 1, corresponding to 15 s 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.

CartType¶

CartType = -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 = false

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

redefineArg AcousticTimeout = AcousticTrackingTimeout

`Insert/SampleAtDepth.tl`¶

redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth

Science/circle_sample.tl¶