Science/front_sampling.tl¶
Mission ID: front_sampling
Mission Path: Science/front_sampling.tl
Detect the front and take samples at the front and on both sides of the front.
Arguments¶
NumSamplers¶
NumSamplers = 1 count
Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0 to disable sampling.
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 = 12 hour
Maximum duration of mission
MaxDepth¶
MaxDepth = 50 meter
Maximum depth for the entire mission.
RepeatTransects¶
RepeatTransects = 3 count
Number of times the vehicle should try to cycle through waypoints.
NeedCommsTimeTransit¶
NeedCommsTimeTransit = 60 minute
How often to surface for commumications
NeedCommsSampling¶
NeedCommsSampling = 3 hour
How often to surface for commumications during each sampling, in case something goes wrong during 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.
FrontAutonomousDetection¶
FrontAutonomousDetection = true
Whether front detection is autonomous.
FromStratifiedToUpwelling¶
FromStratifiedToUpwelling = true
Used only when FrontAutonomousDetection is False. The starting direction.
LonFrontMinDesignated¶
LonFrontMinDesignated = NaN degree
Used only when FrontAutonomousDetection is False. When the vehicle longitude falls within [LonFrontMinDesignated LonFrontMaxDesignated], front is detection is flagged.
LonFrontMaxDesignated¶
LonFrontMaxDesignated = NaN degree
Used only when FrontAutonomousDetection is False. When the vehicle longitude falls within [LonFrontMinDesignated LonFrontMaxDesignated], front is detection is flagged.
Lat1¶
Lat1 = NaN degree
Latitude of the start waypoint of the 1st transect.
Lon1¶
Lon1 = NaN degree
Longitude of the start waypoint of the 1st transect.
Lat2¶
Lat2 = NaN degree
Latitude of the end waypoint of the 1st transect.
Lon2¶
Lon2 = NaN degree
Longitude of the end waypoint of the 1st transect.
LatUpwellingEnd¶
LatUpwellingEnd = NaN degree
Latitude of the far end of upwelling water.
LonUpwellingEnd¶
LonUpwellingEnd = NaN degree
Longitude of the far end of upwelling water.
DeltaLatUpwellingSide1¶
DeltaLatUpwellingSide1 = NaN degree
Latitude of stratified-water side sampling location 1 = front latitude + DeltaLatUpwellingSide1. If NaN, this point is skipped.
DeltaLonUpwellingSide1¶
DeltaLonUpwellingSide1 = NaN degree
Longitude of stratified-water side sampling location 1 = front longitude + DeltaLonUpwellingSide1. If NaN, this point is skipped.
DeltaLatUpwellingSide2¶
DeltaLatUpwellingSide2 = NaN degree
For stratified-water side sampling location 2
DeltaLonUpwellingSide2¶
DeltaLonUpwellingSide2 = NaN degree
For stratified-water side sampling location 2
DeltaLatUpwellingSide3¶
DeltaLatUpwellingSide3 = NaN degree
For stratified-water side sampling location 3
DeltaLonUpwellingSide3¶
DeltaLonUpwellingSide3 = NaN degree
For stratified-water side sampling location 3
DeltaLatUpwellingSide4¶
DeltaLatUpwellingSide4 = NaN degree
For stratified-water side sampling location 4
DeltaLonUpwellingSide4¶
DeltaLonUpwellingSide4 = NaN degree
For stratified-water side sampling location 4
LatStratifiedEnd¶
LatStratifiedEnd = NaN degree
Latitude of the far end of stratified water.
LonStratifiedEnd¶
LonStratifiedEnd = NaN degree
Longitude of the far end of stratified water.
DeltaLatStratifiedSide1¶
DeltaLatStratifiedSide1 = NaN degree
Latitude of stratified-water side sampling location 1 = front latitude + DeltaLatStratifiedSide1. If NaN, this point is skipped.
DeltaLonStratifiedSide1¶
DeltaLonStratifiedSide1 = NaN degree
Longitude of stratified-water side sampling location 1 = front longitude + DeltaLonStratifiedSide1. If NaN, this point is skipped.
DeltaLatStratifiedSide2¶
DeltaLatStratifiedSide2 = NaN degree
For stratified-water side sampling location 2
DeltaLonStratifiedSide2¶
DeltaLonStratifiedSide2 = NaN degree
For stratified-water side sampling location 2
DeltaLatStratifiedSide3¶
DeltaLatStratifiedSide3 = NaN degree
For stratified-water side sampling location 3
DeltaLonStratifiedSide3¶
DeltaLonStratifiedSide3 = NaN degree
For stratified-water side sampling location 3
DeltaLatStratifiedSide4¶
DeltaLatStratifiedSide4 = NaN degree
For stratified-water side sampling location 4
DeltaLonStratifiedSide4¶
DeltaLonStratifiedSide4 = NaN degree
For stratified-water side sampling location 4
InitialDiveDuration¶
InitialDiveDuration = 1.0 minute
On the first dive for looking for the chl max, run at SpeedInitialDive for this duration (e.g., 1 m/s spiral to dive fast).
SpeedTransit¶
SpeedTransit = 1 meter_per_second
Speed while performing the YoYo behavior.
SpeedInitialDive¶
SpeedInitialDive = 1 meter_per_second
Vehicle speed during initial dive (for looking for the chl max over depth).
SpeedFindChlPeakAndSample¶
SpeedFindChlPeakAndSample = 1 meter_per_second
Vehicle speed when looking for the chl max over depth.
RudderAngleInitialDive¶
RudderAngleInitialDive = 9 degree
Rudder angle in initial spiral-down to leave surface. Initialized to 9 degrees.
RudderAngleFindChlPeakAndSample¶
RudderAngleFindChlPeakAndSample = 13 degree
Rudder angle spiraling looking for the chl max over depth.
ShallowBoundChl¶
ShallowBoundChl = 3 meter
Shallow depth bound for chl-peak detection.
DeepBoundChl¶
DeepBoundChl = 20 meter
Deep depth bound for chl-peak detection.
YoYoMinDepth¶
YoYoMinDepth = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMaxDepth¶
YoYoMaxDepth = 30 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.
MinAltitude¶
MinAltitude = 7 meter
Minimum height above the sea floor for the entire mission.
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
WaitDepthUndulation¶
WaitDepthUndulation = 10 minute
Wait duration for the depth undulation to damp down. Initialized to 10 minutes.
CartridgeType1¶
CartridgeType1 = -6 count
Sample 1. Cartridge type.
CartridgeType2¶
CartridgeType2 = -6 count
CartridgeType3¶
CartridgeType3 = -6 count
CartridgeType4¶
CartridgeType4 = -6 count
CartridgeType5¶
CartridgeType5 = -6 count
CartridgeType6¶
CartridgeType6 = -6 count
CartridgeType7¶
CartridgeType7 = -6 count
CartridgeType8¶
CartridgeType8 = -6 count
CartridgeType9¶
CartridgeType9 = -6 count
CartridgeType10¶
CartridgeType10 = -6 count
CartridgeType11¶
CartridgeType11 = -6 count
CartridgeType12¶
CartridgeType12 = -6 count
CartridgeType13¶
CartridgeType13 = -6 count
CartridgeType14¶
CartridgeType14 = -6 count
CartridgeType15¶
CartridgeType15 = -6 count
CartridgeType16¶
CartridgeType16 = -6 count
CartridgeType17¶
CartridgeType17 = -6 count
CartridgeType18¶
CartridgeType18 = -6 count
CartridgeType19¶
CartridgeType19 = -6 count
CartridgeType20¶
CartridgeType20 = -6 count
CartridgeType21¶
CartridgeType21 = -6 count
CartridgeType22¶
CartridgeType22 = -6 count
CartridgeType23¶
CartridgeType23 = -6 count
CartridgeType24¶
CartridgeType24 = -6 count
CartridgeType25¶
CartridgeType25 = -6 count
CartridgeType26¶
CartridgeType26 = -6 count
CartridgeType27¶
CartridgeType27 = -6 count
CartridgeType28¶
CartridgeType28 = -6 count
CartridgeType29¶
CartridgeType29 = -6 count
CartridgeType30¶
CartridgeType30 = -6 count
CartridgeType31¶
CartridgeType31 = -6 count
CartridgeType32¶
CartridgeType32 = -6 count
CartridgeType33¶
CartridgeType33 = -6 count
CartridgeType34¶
CartridgeType34 = -6 count
CartridgeType35¶
CartridgeType35 = -6 count
CartridgeType36¶
CartridgeType36 = -6 count
CartridgeType37¶
CartridgeType37 = -6 count
CartridgeType38¶
CartridgeType38 = -6 count
CartridgeType39¶
CartridgeType39 = -6 count
CartridgeType40¶
CartridgeType40 = -6 count
CartridgeType41¶
CartridgeType41 = -6 count
CartridgeType42¶
CartridgeType42 = -6 count
CartridgeType43¶
CartridgeType43 = -6 count
CartridgeType44¶
CartridgeType44 = -6 count
CartridgeType45¶
CartridgeType45 = -6 count
CartridgeType46¶
CartridgeType46 = -6 count
CartridgeType47¶
CartridgeType47 = -6 count
CartridgeType48¶
CartridgeType48 = -6 count
CartridgeType49¶
CartridgeType49 = -6 count
CartridgeType50¶
CartridgeType50 = -6 count
CartridgeType51¶
CartridgeType51 = -6 count
CartridgeType52¶
CartridgeType52 = -6 count
CartridgeType53¶
CartridgeType53 = -6 count
CartridgeType54¶
CartridgeType54 = -6 count
CartridgeType55¶
CartridgeType55 = -6 count
CartridgeType56¶
CartridgeType56 = -6 count
CartridgeType57¶
CartridgeType57 = -6 count
CartridgeType58¶
CartridgeType58 = -6 count
CartridgeType59¶
CartridgeType59 = -6 count
CartridgeType60¶
CartridgeType60 = -6 count
MassDefault¶
MassDefault = Control:VerticalControl.massDefault
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.
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 (only for chlorophyll fluorescence which tends to have spikes). 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.
RiseFromTurningDepth¶
RiseFromTurningDepth = 5 meter
The peak chl 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, RiseFromTurningDepth = DepChangeThreshAttitudeFlip + 2 meters.
DepChangeThreshAttitudeFlip¶
DepChangeThreshAttitudeFlip = 3 meter
Depth change threshold for determining vehicle attitude flip.
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).
Output¶
ElapsedSinceStartOrLastSample¶
ElapsedSinceStartOrLastSample = 0 hour
The mission sets this variable to reset the sample timer.
ElapsedTime¶
ElapsedTime = 0 hour
Only for syslog.
CartridgeType¶
CartridgeType = -6 count
Cartridge type. Initialized to -6.
Lat3¶
Lat3 = NaN degree
Lon3¶
Lon3 = NaN degree
Lat4¶
Lat4 = NaN degree
Lon4¶
Lon4 = NaN degree
Lat5¶
Lat5 = NaN degree
Lon5¶
Lon5 = NaN degree
Lat6¶
Lat6 = NaN degree
Lon6¶
Lon6 = NaN degree
LatitudeFront¶
LatitudeFront = NaN degree
Initialized to NaN.
LongitudeFront¶
LongitudeFront = NaN degree
Initialized to NaN.
FirstPass¶
FirstPass = true
FrontDetectionEnabled¶
FrontDetectionEnabled = true
Initialized to True.
FrontCrossed¶
FrontCrossed = false
Initialized to False.
FlagPeakChlDepthSet¶
FlagPeakChlDepthSet = false
Flag of peak-chl depth having been set (set to true when the chl-peak depth has been set. Initialized to false).
FlagFirstDive¶
FlagFirstDive = true
Flag of first dive to find the peak-chl (true only for the first dive; false afterwards).
FlagSamplingOngoing¶
FlagSamplingOngoing = false
Flag of water sampling in process (initialized to false).
PeakChlDepthSet¶
PeakChlDepthSet = 10.0 meter
Peak-chl depth detected on a dive. Initialized to 10 meters.
PeakChlSet¶
PeakChlSet = 0.0 microgram_per_liter
Peak-chl value detected on a dive.
FlagGoUp¶
FlagGoUp = false
Go-up flag (set to true when going up. Initialized to false).
FlagGoDown¶
FlagGoDown = true
Go-down flag (set to true when going down. Initialized to True).
SyslogGoUp¶
SyslogGoUp = false
Flag of logging "GoUp" in syslog (initialized to false).
SyslogGoDown¶
SyslogGoDown = false
Flag of logging "GoDown" in syslog (initialized to false).
FlagInitialDiveCompleted¶
FlagInitialDiveCompleted = false
Flag of initial dive completed. Initialized to false.
DepthLogged¶
DepthLogged = 0.0 meter
ChlLogged¶
ChlLogged = 0.0 microgram_per_liter
CntSamples¶
CntSamples = 1 count
Count of water samples (initilized to 1).
SampleOptionsSet¶
SampleOptionsSet = false
Sample options (DepDiffFromPeakChl, 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.
SampleCountIncreased¶
SampleCountIncreased = false
Sample count is increased. Initialized to False.
ReachedWpt1¶
ReachedWpt1 = false
Sampling completed. Initialized to false.
ReachedWpt2¶
ReachedWpt2 = false
Sampling completed. Initialized to false.
ReachedWpt3¶
ReachedWpt3 = false
Sampling completed. Initialized to false.
ReachedWpt4¶
ReachedWpt4 = false
Sampling completed. Initialized to false.
Inserts¶
Insert/NeedComms.tl¶
Insert/StandardEnvelopes.tl¶
Insert/SampleAtDepth.tl¶
redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth
Insert/Science.tl¶
redefineArg PeakDetectChlActive = true
redefineArg LowPassWindowLength = LPWindowLength
redefineArg MedianFilterLen = MedianFilterLength
redefineArg PeakShallowBound = ShallowBoundChl
redefineArg PeakDeepBound = DeepBoundChl
redefineArg DepChangeThreshForAttitudeFlip = DepChangeThreshAttitudeFlip