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Science/front_sampling.xml

Mission ID: front_sampling

Mission Path: Science/front_sampling.xml

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

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint

Guidance:YoYo

Sample:AbortSample