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Science/front_tracking_2D.tl

Mission ID: front_tracking_2D

Mission Path: Science/front_tracking_2D.tl

Vehicle nominally yo-yo's zigzagging across an upwelling front, with science turned on. Each time a front edge is detected, the vehicle turns around and samples across the front again. Front edge is defined by difference in temperature between several depths.

Arguments

MissionTimeout

MissionTimeout = 14 day

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 60 minute

How often to surface for commumications

TimePastFront

TimePastFront = 40 minute

Time to swim past front when tracking.

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.

Speed

Speed = 1 meter_per_second

Speed while performing the YoYo behavior.

YoYoMinDepth

YoYoMinDepth = 3 meter

Minimum depth while performing the YoYo behavior.

YoYoMaxDepth

YoYoMaxDepth = 50 meter

Maximum depth while performing the YoYo behavior.

YoYoMinAltitude

YoYoMinAltitude = 7 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.

HeadingNorth

HeadingNorth = 0.0 degree

HeadingSouth

HeadingSouth = 180.0 degree

HeadingEast

HeadingEast = 90.0 degree

HeadingWest

HeadingWest = 270.0 degree

HeadingNortheast

HeadingNortheast = 45.0 degree

HeadingNorthwest

HeadingNorthwest = 315.0 degree

HeadingSoutheast

HeadingSoutheast = 135.0 degree

HeadingSouthwest

HeadingSouthwest = 225.0 degree

SearchHeading

SearchHeading = 270.0 degree

Initialized to the starting heading (default 270.0). Will be updated when detecting front or hitting wall.

ShapeZ

ShapeZ = true

Is the front-tracking in Z shape on north-south sweeps (versus reverse-Z shape)? Initialized to True.

ShapeN

ShapeN = true

Is the front-tracking in N shape on east-west sweeps (versus reverse-N shape)? Initialized to False.

FlagNorthSouthSweep

FlagNorthSouthSweep = true

Initialized to True.

FlagNorthwardSweep

FlagNorthwardSweep = true

Initialized to True.

FlagEastwardSweep

FlagEastwardSweep = false

Initialized to False.

LonEastWall

LonEastWall = -121.82 degree

LonWestWall

LonWestWall = -122.0 degree

LatNorthWall

LatNorthWall = 36.9 degree

LatSouthWall

LatSouthWall = 36.80 degree

MinAltitude

MinAltitude = 7 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 205 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

Output

None defined

Inserts

Insert/Science.tl

Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface.

redefineArg PeakDetectChlActive = true

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:FrontTracking

Guidance:Pitch

Guidance:SetSpeed

Guidance:YoYo