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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

Insert/SampleAtDepth.xml

Insert/Science.xml

Insert/NeedComms.xml

Insert/NeedComms.xml

Invoked Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:Circle

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Waypoint

Guidance:YoYo