Science/depth_sequence_sampling.xml
¶
Mission ID: DonutAtDepthSequence
Mission Path: Science/depth_sequence_sampling.xml
(No description)
Arguments¶
NumESPSamplers¶
NumESPSamplers = 9 count
Total number of ESP cartridges (Maximum 60. Set to a smaller number if not using all of them. Set to 0 to disable ESP sampling).
MissionTimeout¶
MissionTimeout = 20 hour
Maximum duration of mission
NeedCommsTimeInTransect¶
NeedCommsTimeInTransect = 60 minute
On yo-yo transects, how often to surface for commumications
AcousticTrackingTimeout¶
AcousticTrackingTimeout = 21 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.
MaxWaitNoFiring¶
MaxWaitNoFiring = 4 hour
If no firing after more than MaxWaitNoFiring, terminate mission.
CylinderTimeout¶
CylinderTimeout = 30 minute
Maximum duration of cylinder yoyo.
WaitDepthUndulation¶
WaitDepthUndulation = 10.0 minute
Wait duration for the depth undulation to damp down.
CylinderYoYo¶
CylinderYoYo = false
Whether to yoyo on cylinder centered at the sampling location. Initialized to True.
SpeedTransit¶
SpeedTransit = 1.0 meter_per_second
Vehicle speed when transiting.
SpeedDepthHoldingSampling¶
SpeedDepthHoldingSampling = 1.0 meter_per_second
Vehicle speed for holding and sampling at designated depth.
MaxDepth¶
MaxDepth = 100 meter
Maximum depth for the entire mission.
TransitYoYoMinDepth¶
TransitYoYoMinDepth = 1.5 meter
Minimum depth while performing the YoYo behavior during transit.
TransitYoYoMaxDepth¶
TransitYoYoMaxDepth = 30 meter
Maximum depth while performing the YoYo behavior during transit.
CylinderYoYoMinDep¶
CylinderYoYoMinDep = 1.5 meter
Minimum depth while performing the YoYo behavior on cylinder centered at the sampling location.
CylinderYoYoMaxDep¶
CylinderYoYoMaxDep = 30 meter
Maximum depth while performing the YoYo behavior on cylinder centered at the sampling location.
CylinderRadius¶
CylinderRadius = 200 meter
Radius of cylinder centered at the sampling location.
MaxCirclesOnCylinder¶
MaxCirclesOnCylinder = 1 count
Maximum number of circles on cylinder.
RepeatTransects¶
RepeatTransects = 1 count
Number of times the vehicle should try to cycle through waypoints..
Lat1¶
Lat1 = NaN degree
Latitude of waypoint 1. If nan, waypoint is skipped.
Lon1¶
Lon1 = NaN degree
Longitude of waypoint 1. If nan, waypoint is skipped.
Lat2¶
Lat2 = NaN degree
Latitude of waypoint 2. If nan, waypoint is skipped.
Lon2¶
Lon2 = NaN degree
Longitude of waypoint 2. If nan, waypoint is skipped.
Lat3¶
Lat3 = NaN degree
Latitude of waypoint 3. If nan, waypoint is skipped.
Lon3¶
Lon3 = NaN degree
Longitude of waypoint 3. If nan, waypoint is skipped.
Lat4¶
Lat4 = NaN degree
Latitude of waypoint 4. If nan, waypoint is skipped.
Lon4¶
Lon4 = NaN degree
Longitude of waypoint 4. If nan, waypoint is skipped.
Lat5¶
Lat5 = NaN degree
Latitude of waypoint 5. If nan, waypoint is skipped.
Lon5¶
Lon5 = NaN degree
Longitude of waypoint 5. If nan, waypoint is skipped.
Lat6¶
Lat6 = NaN degree
Latitude of waypoint 6. If nan, waypoint is skipped.
Lon6¶
Lon6 = NaN degree
Longitude of waypoint 6. If nan, waypoint is skipped.
Lat7¶
Lat7 = NaN degree
Latitude of waypoint 7. If nan, waypoint is skipped.
Lon7¶
Lon7 = NaN degree
Longitude of waypoint 7. If nan, waypoint is skipped.
Lat8¶
Lat8 = NaN degree
Latitude of waypoint 8. If nan, waypoint is skipped.
Lon8¶
Lon8 = NaN degree
Longitude of waypoint 8. If nan, waypoint is skipped.
Lat9¶
Lat9 = NaN degree
Latitude of waypoint 9. If nan, waypoint is skipped.
Lon9¶
Lon9 = NaN degree
Longitude of waypoint 9. If nan, waypoint is skipped.
Lat10¶
Lat10 = NaN degree
Latitude of waypoint 10. If nan, waypoint is skipped.
Lon10¶
Lon10 = NaN degree
Longitude of waypoint 10. If nan, waypoint is skipped.
Lat11¶
Lat11 = NaN degree
Latitude of waypoint 11. If nan, waypoint is skipped.
Lon11¶
Lon11 = NaN degree
Longitude of waypoint 11. If nan, waypoint is skipped.
Lat12¶
Lat12 = NaN degree
Latitude of waypoint 12. If nan, waypoint is skipped.
Lon12¶
Lon12 = NaN degree
Longitude of waypoint 12. If nan, waypoint is skipped.
Lat13¶
Lat13 = NaN degree
Latitude of waypoint 13. If nan, waypoint is skipped.
Lon13¶
Lon13 = NaN degree
Longitude of waypoint 13. If nan, waypoint is skipped.
Lat14¶
Lat14 = NaN degree
Latitude of waypoint 14. If nan, waypoint is skipped.
Lon14¶
Lon14 = NaN degree
Longitude of waypoint 14. If nan, waypoint is skipped.
Lat15¶
Lat15 = NaN degree
Latitude of waypoint 15. If nan, waypoint is skipped.
Lon15¶
Lon15 = NaN degree
Longitude of waypoint 15. If nan, waypoint is skipped.
Lat16¶
Lat16 = NaN degree
Latitude of waypoint 16. If nan, waypoint is skipped.
Lon16¶
Lon16 = NaN degree
Longitude of waypoint 16. If nan, waypoint is skipped.
Lat17¶
Lat17 = NaN degree
Latitude of waypoint 17. If nan, waypoint is skipped.
Lon17¶
Lon17 = NaN degree
Longitude of waypoint 17. If nan, waypoint is skipped.
Lat18¶
Lat18 = NaN degree
Latitude of waypoint 18. If nan, waypoint is skipped.
Lon18¶
Lon18 = NaN degree
Longitude of waypoint 18. If nan, waypoint is skipped.
Lat19¶
Lat19 = NaN degree
Latitude of waypoint 19. If nan, waypoint is skipped.
Lon19¶
Lon19 = NaN degree
Longitude of waypoint 19. If nan, waypoint is skipped.
Lat20¶
Lat20 = NaN degree
Latitude of waypoint 20. If nan, waypoint is skipped.
Lon20¶
Lon20 = NaN degree
Longitude of waypoint 20. If nan, waypoint is skipped.
Lat21¶
Lat21 = NaN degree
Latitude of waypoint 21. If nan, waypoint is skipped.
Lon21¶
Lon21 = NaN degree
Longitude of waypoint 21. If nan, waypoint is skipped.
Lat22¶
Lat22 = NaN degree
Latitude of waypoint 22. If nan, waypoint is skipped.
Lon22¶
Lon22 = NaN degree
Longitude of waypoint 22. If nan, waypoint is skipped.
Lat23¶
Lat23 = NaN degree
Latitude of waypoint 23. If nan, waypoint is skipped.
Lon23¶
Lon23 = NaN degree
Longitude of waypoint 23. If nan, waypoint is skipped.
Lat24¶
Lat24 = NaN degree
Latitude of waypoint 24. If nan, waypoint is skipped.
Lon24¶
Lon24 = NaN degree
Longitude of waypoint 24. If nan, waypoint is skipped.
Lat25¶
Lat25 = NaN degree
Latitude of waypoint 25. If nan, waypoint is skipped.
Lon25¶
Lon25 = NaN degree
Longitude of waypoint 25. If nan, waypoint is skipped.
Lat26¶
Lat26 = NaN degree
Latitude of waypoint 26. If nan, waypoint is skipped.
Lon26¶
Lon26 = NaN degree
Longitude of waypoint 26. If nan, waypoint is skipped.
Lat27¶
Lat27 = NaN degree
Latitude of waypoint 27. If nan, waypoint is skipped.
Lon27¶
Lon27 = NaN degree
Longitude of waypoint 27. If nan, waypoint is skipped.
Lat28¶
Lat28 = NaN degree
Latitude of waypoint 28. If nan, waypoint is skipped.
Lon28¶
Lon28 = NaN degree
Longitude of waypoint 28. If nan, waypoint is skipped.
Lat29¶
Lat29 = NaN degree
Latitude of waypoint 29. If nan, waypoint is skipped.
Lon29¶
Lon29 = NaN degree
Longitude of waypoint 29. If nan, waypoint is skipped.
Lat30¶
Lat30 = NaN degree
Latitude of waypoint 30. If nan, waypoint is skipped.
Lon30¶
Lon30 = NaN degree
Longitude of waypoint 30. If nan, waypoint is skipped.
Lat31¶
Lat31 = NaN degree
Latitude of waypoint 31. If nan, waypoint is skipped.
Lon31¶
Lon31 = NaN degree
Longitude of waypoint 31. If nan, waypoint is skipped.
Lat32¶
Lat32 = NaN degree
Latitude of waypoint 32. If nan, waypoint is skipped.
Lon32¶
Lon32 = NaN degree
Longitude of waypoint 32. If nan, waypoint is skipped.
Lat33¶
Lat33 = NaN degree
Latitude of waypoint 33. If nan, waypoint is skipped.
Lon33¶
Lon33 = NaN degree
Longitude of waypoint 33. If nan, waypoint is skipped.
Lat34¶
Lat34 = NaN degree
Latitude of waypoint 34. If nan, waypoint is skipped.
Lon34¶
Lon34 = NaN degree
Longitude of waypoint 34. If nan, waypoint is skipped.
Lat35¶
Lat35 = NaN degree
Latitude of waypoint 35. If nan, waypoint is skipped.
Lon35¶
Lon35 = NaN degree
Longitude of waypoint 35. If nan, waypoint is skipped.
Lat36¶
Lat36 = NaN degree
Latitude of waypoint 36. If nan, waypoint is skipped.
Lon36¶
Lon36 = NaN degree
Longitude of waypoint 36. If nan, waypoint is skipped.
Lat37¶
Lat37 = NaN degree
Latitude of waypoint 37. If nan, waypoint is skipped.
Lon37¶
Lon37 = NaN degree
Longitude of waypoint 37. If nan, waypoint is skipped.
Lat38¶
Lat38 = NaN degree
Latitude of waypoint 38. If nan, waypoint is skipped.
Lon38¶
Lon38 = NaN degree
Longitude of waypoint 38. If nan, waypoint is skipped.
Lat39¶
Lat39 = NaN degree
Latitude of waypoint 39. If nan, waypoint is skipped.
Lon39¶
Lon39 = NaN degree
Longitude of waypoint 39. If nan, waypoint is skipped.
Lat40¶
Lat40 = NaN degree
Latitude of waypoint 40. If nan, waypoint is skipped.
Lon40¶
Lon40 = NaN degree
Longitude of waypoint 40. If nan, waypoint is skipped.
Lat41¶
Lat41 = NaN degree
Latitude of waypoint 41. If nan, waypoint is skipped.
Lon41¶
Lon41 = NaN degree
Longitude of waypoint 41. If nan, waypoint is skipped.
Lat42¶
Lat42 = NaN degree
Latitude of waypoint 42. If nan, waypoint is skipped.
Lon42¶
Lon42 = NaN degree
Longitude of waypoint 42. If nan, waypoint is skipped.
Lat43¶
Lat43 = NaN degree
Latitude of waypoint 43. If nan, waypoint is skipped.
Lon43¶
Lon43 = NaN degree
Longitude of waypoint 44. If nan, waypoint is skipped.
Lat44¶
Lat44 = NaN degree
Latitude of waypoint 44. If nan, waypoint is skipped.
Lon44¶
Lon44 = NaN degree
Longitude of waypoint 44. If nan, waypoint is skipped.
Lat45¶
Lat45 = NaN degree
Latitude of waypoint 45. If nan, waypoint is skipped.
Lon45¶
Lon45 = NaN degree
Longitude of waypoint 45. If nan, waypoint is skipped.
Lat46¶
Lat46 = NaN degree
Latitude of waypoint 46. If nan, waypoint is skipped.
Lon46¶
Lon46 = NaN degree
Longitude of waypoint 46. If nan, waypoint is skipped.
Lat47¶
Lat47 = NaN degree
Latitude of waypoint 47. If nan, waypoint is skipped.
Lon47¶
Lon47 = NaN degree
Longitude of waypoint 47. If nan, waypoint is skipped.
Lat48¶
Lat48 = NaN degree
Latitude of waypoint 48. If nan, waypoint is skipped.
Lon48¶
Lon48 = NaN degree
Longitude of waypoint 48. If nan, waypoint is skipped.
Lat49¶
Lat49 = NaN degree
Latitude of waypoint 49. If nan, waypoint is skipped.
Lon49¶
Lon49 = NaN degree
Longitude of waypoint 49. If nan, waypoint is skipped.
Lat50¶
Lat50 = NaN degree
Latitude of waypoint 50. If nan, waypoint is skipped.
Lon50¶
Lon50 = NaN degree
Longitude of waypoint 50. If nan, waypoint is skipped.
Lat51¶
Lat51 = NaN degree
Latitude of waypoint 51. If nan, waypoint is skipped.
Lon51¶
Lon51 = NaN degree
Longitude of waypoint 51. If nan, waypoint is skipped.
Lat52¶
Lat52 = NaN degree
Latitude of waypoint 52. If nan, waypoint is skipped.
Lon52¶
Lon52 = NaN degree
Longitude of waypoint 52. If nan, waypoint is skipped.
Lat53¶
Lat53 = NaN degree
Latitude of waypoint 53. If nan, waypoint is skipped.
Lon53¶
Lon53 = NaN degree
Longitude of waypoint 54. If nan, waypoint is skipped.
Lat54¶
Lat54 = NaN degree
Latitude of waypoint 54. If nan, waypoint is skipped.
Lon54¶
Lon54 = NaN degree
Longitude of waypoint 55. If nan, waypoint is skipped.
Lat55¶
Lat55 = NaN degree
Latitude of waypoint 55. If nan, waypoint is skipped.
Lon55¶
Lon55 = NaN degree
Longitude of waypoint 55. If nan, waypoint is skipped.
Lat56¶
Lat56 = NaN degree
Latitude of waypoint 56. If nan, waypoint is skipped.
Lon56¶
Lon56 = NaN degree
Longitude of waypoint 56. If nan, waypoint is skipped.
Lat57¶
Lat57 = NaN degree
Latitude of waypoint 57. If nan, waypoint is skipped.
Lon57¶
Lon57 = NaN degree
Longitude of waypoint 57. If nan, waypoint is skipped.
Lat58¶
Lat58 = NaN degree
Latitude of waypoint 58. If nan, waypoint is skipped.
Lon58¶
Lon58 = NaN degree
Longitude of waypoint 58. If nan, waypoint is skipped.
Lat59¶
Lat59 = NaN degree
Latitude of waypoint 59. If nan, waypoint is skipped.
Lon59¶
Lon59 = NaN degree
Longitude of waypoint 59. If nan, waypoint is skipped.
Lat60¶
Lat60 = NaN degree
Latitude of waypoint 60. If nan, waypoint is skipped.
Lon60¶
Lon60 = NaN degree
Longitude of waypoint 60. If nan, waypoint is skipped.
Depth1¶
Depth1 = NaN meter
Sample 1. Sampling depth.
Depth2¶
Depth2 = NaN meter
Sample 2.
Depth3¶
Depth3 = NaN meter
Sample 3.
Depth4¶
Depth4 = NaN meter
Sample 4.
Depth5¶
Depth5 = NaN meter
Sample 5.
Depth6¶
Depth6 = NaN meter
Sample 6.
Depth7¶
Depth7 = NaN meter
Sample 7.
Depth8¶
Depth8 = NaN meter
Sample 8.
Depth9¶
Depth9 = NaN meter
Sample 9.
Depth10¶
Depth10 = NaN meter
Sample 10.
Depth11¶
Depth11 = NaN meter
Sample 11.
Depth12¶
Depth12 = NaN meter
Sample 12.
Depth13¶
Depth13 = NaN meter
Sample 13.
Depth14¶
Depth14 = NaN meter
Sample 14.
Depth15¶
Depth15 = NaN meter
Sample 15.
Depth16¶
Depth16 = NaN meter
Sample 16.
Depth17¶
Depth17 = NaN meter
Sample 17.
Depth18¶
Depth18 = NaN meter
Sample 18.
Depth19¶
Depth19 = NaN meter
Sample 19.
Depth20¶
Depth20 = NaN meter
Sample 20.
Depth21¶
Depth21 = NaN meter
Sample 21.
Depth22¶
Depth22 = NaN meter
Sample 22.
Depth23¶
Depth23 = NaN meter
Sample 23.
Depth24¶
Depth24 = NaN meter
Sample 24.
Depth25¶
Depth25 = NaN meter
Sample 25.
Depth26¶
Depth26 = NaN meter
Sample 26.
Depth27¶
Depth27 = NaN meter
Sample 27.
Depth28¶
Depth28 = NaN meter
Sample 28.
Depth29¶
Depth29 = NaN meter
Sample 29.
Depth30¶
Depth30 = NaN meter
Sample 30.
Depth31¶
Depth31 = NaN meter
Sample 31.
Depth32¶
Depth32 = NaN meter
Sample 32.
Depth33¶
Depth33 = NaN meter
Sample 33.
Depth34¶
Depth34 = NaN meter
Sample 34.
Depth35¶
Depth35 = NaN meter
Sample 35.
Depth36¶
Depth36 = NaN meter
Sample 36.
Depth37¶
Depth37 = NaN meter
Sample 37.
Depth38¶
Depth38 = NaN meter
Sample 38.
Depth39¶
Depth39 = NaN meter
Sample 39.
Depth40¶
Depth40 = NaN meter
Sample 40.
Depth41¶
Depth41 = NaN meter
Sample 41.
Depth42¶
Depth42 = NaN meter
Sample 42.
Depth43¶
Depth43 = NaN meter
Sample 43.
Depth44¶
Depth44 = NaN meter
Sample 44.
Depth45¶
Depth45 = NaN meter
Sample 45.
Depth46¶
Depth46 = NaN meter
Sample 46.
Depth47¶
Depth47 = NaN meter
Sample 47.
Depth48¶
Depth48 = NaN meter
Sample 48.
Depth49¶
Depth49 = NaN meter
Sample 49.
Depth50¶
Depth50 = NaN meter
Sample 50.
Depth51¶
Depth51 = NaN meter
Sample 51.
Depth52¶
Depth52 = NaN meter
Sample 52.
Depth53¶
Depth53 = NaN meter
Sample 53.
Depth54¶
Depth54 = NaN meter
Sample 54.
Depth55¶
Depth55 = NaN meter
Sample 55.
Depth56¶
Depth56 = NaN meter
Sample 56.
Depth57¶
Depth57 = NaN meter
Sample 57.
Depth58¶
Depth58 = NaN meter
Sample 58.
Depth59¶
Depth59 = NaN meter
Sample 59.
Depth60¶
Depth60 = NaN meter
Sample 60.
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.
VerticalTolerance¶
VerticalTolerance = 0.1 meter
Depth error allowed for being considered at/near the target depth.
CylinderCircleMaxError¶
CylinderCircleMaxError = 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.
CylinderCircleTurnToPort¶
CylinderCircleTurnToPort = 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.
RudderAngle¶
RudderAngle = 13 degree
Rudder angle to use while performing the donut cast.
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
YoYoMinDepth¶
YoYoMinDepth = 1.5 meter
Minimum depth while performing the YoYo behavior. Program will set to TransitYoYoMinDepth, and then CylinderYoYoMinDep.
YoYoMaxDepth¶
YoYoMaxDepth = 30 meter
Maximum depth while performing the YoYo behavior. Program will set to TransitYoYoMaxDepth, and then CylinderYoYoMaxDep.
SampleOptionsSet¶
SampleOptionsSet = false
Sample options (VertDistance, ReportAtSurface, ReacquirePeak) 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
ChlLogged¶
ChlLogged = 0.0 microgram_per_liter
MissionStartCommsCompleted¶
MissionStartCommsCompleted = false
MissionStartComms is completed (initialized to false).
StartDepthSampling¶
StartDepthSampling = false
Start depth sequence sampling (initialized to false).
FlagSamplingOngoing¶
FlagSamplingOngoing = false
Flag of water sampling in process (initialized to false).
FlagFiredAtSamplingLocation¶
FlagFiredAtSamplingLocation = false
Flag of sample fired at sampling location (initialized to false).
FromLastTimeFixToStartDepthSampling¶
FromLastTimeFixToStartDepthSampling = NaN minute
Elapsed time from last time-fix to StartDepthSampling.
FromLastTimeFixToNow¶
FromLastTimeFixToNow = NaN minute
Elapsed time from last time-fix to now.
FromLastTimeFixToLastFiring¶
FromLastTimeFixToLastFiring = NaN minute
Elapsed time from last time-fix to last firing.
LatSet¶
LatSet = NaN degree
Latitude of sampling location. Initialized to NaN.
LonSet¶
LonSet = NaN degree
Longitude of sampling location. Initialized to NaN.
DepthSet¶
DepthSet = 10.0 meter
Depth held for triggering sampling. Initialized to 10 meters.
CntSamples¶
CntSamples = 1 count
Count of water samples (initilized to 1).
Output¶
None defined
Inserts¶
Insert/StandardEnvelopes.xml
¶
Insert/AbortDrift.xml
¶
redefineArg AcousticTimeout = AcousticTrackingTimeout