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.
MissionTimeout = 24 hour
Maximum duration of mission
NeedCommsTime = 60 minute
How often to surface for commumications
TimePastFront = 40 minute
Time to swim past front when tracking.
MaxWaitNoFrontDetection = 2 hour
If no front detection after more than MaxWaitNoFrontDetetection, turn off backseat.
MassDefault = Control:VerticalControl.massDefault
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 = 1 meter_per_second
Speed while performing the YoYo behavior.
YoYoMinDepth = 3 meter
Minimum depth while performing the YoYo behavior.
YoYoMaxDepth = 50 meter
Maximum depth while performing the YoYo behavior.
YoYoMinAltitude = 7 meter
Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).
YoYoUpPitch = 20 degree
Vehicle up-pitch while performing the YoYo behavior.
YoYoDownPitch = -20 degree
Vehicle down-pitch while performing the YoYo behavior.
HeadingNorth = 0.0 degree
HeadingSouth = 180.0 degree
HeadingEast = 90.0 degree
HeadingWest = 270.0 degree
HeadingNortheast = 45.0 degree
HeadingNorthwest = 315.0 degree
HeadingSoutheast = 135.0 degree
HeadingSouthwest = 225.0 degree
SearchHeading = 270.0 degree
Initialized to the starting heading (default 270.0). Will be updated when detecting front or hitting wall.
ShapeZ = true
Is the front-tracking in Z shape on north-south sweeps (versus reverse-Z shape)? Initialized to True.
ShapeN = true
Is the front-tracking in N shape on east-west sweeps (versus reverse-N shape)? Initialized to False.
FlagNorthSouthSweep = true
Initialized to True.
FlagNorthwardSweep = true
Initialized to True.
FlagEastwardSweep = false
Initialized to False.
LonEastWall = -121.82 degree
LonWestWall = -122.0 degree
LatNorthWall = 36.9 degree
LatSouthWall = 36.80 degree
MinAltitude = 7 meter
Minimum height above the sea floor for the entire mission.
MaxDepth = 205 meter
Maximum depth for the entire mission.
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
FrontDetected = false
Flag of front detection. Initialized to false.
ElapsedSinceLastFrontDetection = MaxWaitNoFrontDetection
The mission sets this variable to reset the front detection timer.
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