Science/esp_sample_at_threshold.tl¶
Mission ID: esp_sample_at_threshold
Mission Path: Science/esp_sample_at_threshold.tl
This mission drives towards a waypoint until chl reading is above a threshold for the timeout. Then it stops and takes ESP samples at the designated depth. Originally this was meant to be a mashup of sci2 and esp_sample_at_depth.
Arguments¶
MissionTimeout¶
MissionTimeout = 6 hour
Maximum duration of mission.
NeedCommsTime¶
NeedCommsTime = 60 minute
How often to surface for commumications during transit to waypoint.
chlorophyllLowerBound¶
chlorophyllLowerBound = 3 microgram_per_liter
When WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll lies between chlorophyllLowerBound and chlorophyllUpperBound for the timeout, stop running waypoints and sample at depth.
chlorophyllUpperBound¶
chlorophyllUpperBound = 100 microgram_per_liter
When WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll lies between chlorophyllLowerBound and chlorophyllUpperBound for the timeout, stop running waypoints and sample at depth.
chlorophyllThresholdTimeout¶
chlorophyllThresholdTimeout = 1 minute
How long to wait to start sampling while chl is above the threshold.
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.
Speed¶
Speed = 1 meter_per_second
Speed while performing the YoYo behavior.
CaptureRadius¶
CaptureRadius = NaN meter
Speed while performing the YoYo behavior.
YoYoMinDepth¶
YoYoMinDepth = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMaxDepth¶
YoYoMaxDepth = 200 meter
Maximum depth while performing the YoYo behavior.
YoYoMinAltitude¶
YoYoMinAltitude = 9 meter
Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).
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
TargetDepth¶
TargetDepth = 3 meter
Depth to sample at. Initialized to 3 m.
ESPCartridgeType_1¶
ESPCartridgeType_1 = -4 count
Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
ESPCartridgeType_2¶
ESPCartridgeType_2 = -15 count
Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
ESPCartridgeType_3¶
ESPCartridgeType_3 = NaN count
Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
ESPCartridgeType_4¶
ESPCartridgeType_4 = NaN count
Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
SettleTime¶
SettleTime = 3 minute
How long to wait between samples. This starts before the first sample.
SpeedSampling¶
SpeedSampling = 0 meter_per_second
Vehicle speed while sampling. Set to zero to maintain depth using VBS (drift).
ApproachSettleTimePostDive¶
ApproachSettleTimePostDive = 1 minute
Time duration for the vehicle to settle AFTER reaching the target depth.
DepthDeadband¶
DepthDeadband = 0.01 meter
How much vertical drift from the specified depth is allowed while sampling.
MinAltitude¶
MinAltitude = 2 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 5 meter
Maximum allowable depth during the mission.
MinOffshore¶
MinOffshore = 1 kilometer
Minimum distance from the shoreline to maintain.
Output¶
ESPCartridgeType¶
ESPCartridgeType = NaN count
Mission parameter (don't change). Specifies ESP cartridge type code.
ChlThresholdReached¶
ChlThresholdReached = false
Indicates internally that the threshold has been reach and we should start a sample.
ChlThresholdReachedFlagSet¶
ChlThresholdReachedFlagSet = false
Indicates internally that the threshold-met flag is set.