Science/isotherm_depth_sampling.tl¶
Mission ID: IsothermDepthSampling
Mission Path: Science/isotherm_depth_sampling.tl
(No description)
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).
CANONSamplerRotateOnly¶
CANONSamplerRotateOnly = 0 bool
MissionTimeout¶
MissionTimeout = 20 hour
Maximum duration of mission
NeedCommsTimeInTransect¶
NeedCommsTimeInTransect = 60 minute
On yo-yo transects, how often to surface for commumications
AcousticTrackingTimeout¶
AcousticTrackingTimeout = 240 hour
If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications. Set longer than MissionTimeout to effectively disable.
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.
CommsAtEndOfTransit¶
CommsAtEndOfTransit = false
Whether to go to surface for comms before the initial dive.
SendSampleStatusAndData¶
SendSampleStatusAndData = true
Whether to senddata to acoustic modem.
SendDataToMultipleModems¶
SendDataToMultipleModems = true
Whether to senddata to more than one modem.
modemId1¶
modemId1 = 1 enum
Modem ID1. Initialized to 1.
modemId2¶
modemId2 = 4 enum
Modem ID2. Initialized to 4.
CylinderTimeout¶
CylinderTimeout = 30 minute
Maximum duration of cylinder yoyo.
FindHighChlLocation¶
FindHighChlLocation = false
Whether to search for the location of high chl.
CylinderYoYo¶
CylinderYoYo = false
Whether to yoyo on cylinder centered at the sampling location. Initialized to True.
SampleAtPeakChl¶
SampleAtPeakChl = false
Whether to sample at peak-chl
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).
DriveFromWallOrShoreDuration¶
DriveFromWallOrShoreDuration = 5.0 minute
When driving away from a wall and the distance exceeds MinDistFromPolygonSides, continue for this duration to add a margin.
SpeedTransit¶
SpeedTransit = 1.0 meter_per_second
Vehicle speed when transiting.
SpeedInitialDive¶
SpeedInitialDive = 1.0 meter_per_second
Vehicle speed during initial dive (for looking for the chl max). 0.0 for drift mode (prop off); 1.0 for spiral mode (prop on). Initialized to 1 m/s.
SpeedSampling¶
SpeedSampling = 1.0 meter_per_second
Vehicle speed during sampling: 0.0 for drift mode (prop off); 1.0 for donut mode (prop on). Initialized to 1 m/s.
RudderAngleInitialDive¶
RudderAngleInitialDive = 9 degree
Rudder angle in initial spiral-down to leave surface. Initialized to 9 degrees.
RudderAngleDonutSampling¶
RudderAngleDonutSampling = 13 degree
Rudder angle during donut sampling.
HeadingLeavingShore¶
HeadingLeavingShore = 270 degree
Heading leaving the shore
HeadingLeavingSide0¶
HeadingLeavingSide0 = 180 degree
Heading leaving polygon side 0.
HeadingLeavingSide1¶
HeadingLeavingSide1 = 270 degree
Heading leaving polygon side 1.
HeadingLeavingSide2¶
HeadingLeavingSide2 = 0 degree
Heading leaving polygon side 2.
HeadingLeavingSide3¶
HeadingLeavingSide3 = 90 degree
Heading leaving polygon side 3.
HeadingLeavingSide4¶
HeadingLeavingSide4 = NaN degree
Heading leaving polygon side 4.
HeadingLeavingSide5¶
HeadingLeavingSide5 = NaN degree
Heading leaving polygon side 5.
HeadingLeavingSide6¶
HeadingLeavingSide6 = NaN degree
Heading leaving polygon side 6.
HeadingLeavingSide7¶
HeadingLeavingSide7 = NaN degree
Heading leaving polygon side 7.
MaxDepth¶
MaxDepth = 50 meter
Maximum depth for the entire mission.
MinAltitude¶
MinAltitude = 7 meter
Minimum altitude for the entire mission.
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
MarginMinOffshore¶
MarginMinOffshore = 100 meter
If closer than MinOffshore+MarginMinOffshore, turn back from shore.
MinDistFromPolygonSides¶
MinDistFromPolygonSides = 200 meter
If a operational safety polygon is specified and the vehicle is closer than this minimum distance to the polygon sides, turn back.
DeepBoundSampler¶
DeepBoundSampler = 45 meter
Deep depth bound for sampling operation
ShallowBoundChl¶
ShallowBoundChl = 3 meter
Shallow depth bound for chl-peak detection.
DeepBoundChl¶
DeepBoundChl = 20 meter
Deep depth bound for chl-peak detection.
TransitYoYoMinDepth¶
TransitYoYoMinDepth = 2 meter
Minimum depth while performing the YoYo behavior.
TransitYoYoMaxDepth¶
TransitYoYoMaxDepth = 30 meter
Maximum depth while performing the YoYo behavior.
LeaveWallOrShoreYoYoMinDepth¶
LeaveWallOrShoreYoYoMinDepth = 4.5 meter
Minimum depth while performing the YoYo behavior.
LeaveWallOrShoreYoYoMaxDepth¶
LeaveWallOrShoreYoYoMaxDepth = 10 meter
Maximum depth while performing the YoYo behavior.
YoYoMinAltitude¶
YoYoMinAltitude = 9 meter
Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).
CylinderYoYoMinDep¶
CylinderYoYoMinDep = 4.5 meter
Minimum depth while performing the YoYo behavior on cylinder centered at the sampling location.
CylinderYoYoMaxDep¶
CylinderYoYoMaxDep = 27 meter
Maximum depth while performing the YoYo behavior on cylinder centered at the sampling location.
CylinderRadius¶
CylinderRadius = 200 meter
Radius of cylinder centered at the sampling location.
MaxCirclesOnCylinder¶
MaxCirclesOnCylinder = 1 count
Maximum number of circles on cylinder.
RepeatTransects¶
RepeatTransects = 1 count
Number of times the vehicle should try to cycle through waypoints.
Lat1¶
Lat1 = NaN degree
Latitude of waypoint 1. If nan, waypoint is skipped. If FindHighChlLocation is True, the search-for-hichl distance needs to be at least 4 yoyo profiles.
Lon1¶
Lon1 = NaN degree
Longitude of waypoint 1. If nan, waypoint is skipped. If FindHighChlLocation is True, the search-for-hichl distance needs to be at least 4 yoyo profiles.
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.
CartridgeTypeCommon¶
CartridgeTypeCommon = -6 count
Cartridge type value common to all samples unless set differently. Initialized to -6.
CartridgeType1¶
CartridgeType1 = NaN count
Cartridge 1.
CartridgeType2¶
CartridgeType2 = NaN count
Cartridge 2.
CartridgeType3¶
CartridgeType3 = NaN count
Cartridge 3.
CartridgeType4¶
CartridgeType4 = NaN count
Cartridge 4.
CartridgeType5¶
CartridgeType5 = NaN count
Cartridge 5.
CartridgeType6¶
CartridgeType6 = NaN count
Cartridge 6.
CartridgeType7¶
CartridgeType7 = NaN count
Cartridge 7.
CartridgeType8¶
CartridgeType8 = NaN count
Cartridge 8.
CartridgeType9¶
CartridgeType9 = NaN count
Cartridge 9.
CartridgeType10¶
CartridgeType10 = NaN count
Cartridge 10.
CartridgeType11¶
CartridgeType11 = NaN count
Cartridge 11.
CartridgeType12¶
CartridgeType12 = NaN count
Cartridge 12.
CartridgeType13¶
CartridgeType13 = NaN count
Cartridge 13.
CartridgeType14¶
CartridgeType14 = NaN count
Cartridge 14.
CartridgeType15¶
CartridgeType15 = NaN count
Cartridge 15.
CartridgeType16¶
CartridgeType16 = NaN count
Cartridge 16.
CartridgeType17¶
CartridgeType17 = NaN count
Cartridge 17.
CartridgeType18¶
CartridgeType18 = NaN count
Cartridge 18.
CartridgeType19¶
CartridgeType19 = NaN count
Cartridge 19.
CartridgeType20¶
CartridgeType20 = NaN count
Cartridge 20.
CartridgeType21¶
CartridgeType21 = NaN count
Cartridge 21.
CartridgeType22¶
CartridgeType22 = NaN count
Cartridge 22.
CartridgeType23¶
CartridgeType23 = NaN count
Cartridge 23.
CartridgeType24¶
CartridgeType24 = NaN count
Cartridge 24.
CartridgeType25¶
CartridgeType25 = NaN count
Cartridge 25.
CartridgeType26¶
CartridgeType26 = NaN count
Cartridge 26.
CartridgeType27¶
CartridgeType27 = NaN count
Cartridge 27.
CartridgeType28¶
CartridgeType28 = NaN count
Cartridge 28.
CartridgeType29¶
CartridgeType29 = NaN count
Cartridge 29.
CartridgeType30¶
CartridgeType30 = NaN count
Cartridge 30.
CartridgeType31¶
CartridgeType31 = NaN count
Cartridge 31.
CartridgeType32¶
CartridgeType32 = NaN count
Cartridge 32.
CartridgeType33¶
CartridgeType33 = NaN count
Cartridge 33.
CartridgeType34¶
CartridgeType34 = NaN count
Cartridge 34.
CartridgeType35¶
CartridgeType35 = NaN count
Cartridge 35.
CartridgeType36¶
CartridgeType36 = NaN count
Cartridge 36.
CartridgeType37¶
CartridgeType37 = NaN count
Cartridge 37.
CartridgeType38¶
CartridgeType38 = NaN count
Cartridge 38.
CartridgeType39¶
CartridgeType39 = NaN count
Cartridge 39.
CartridgeType40¶
CartridgeType40 = NaN count
Cartridge 40.
CartridgeType41¶
CartridgeType41 = NaN count
Cartridge 41.
CartridgeType42¶
CartridgeType42 = NaN count
Cartridge 42.
CartridgeType43¶
CartridgeType43 = NaN count
Cartridge 43.
CartridgeType44¶
CartridgeType44 = NaN count
Cartridge 44.
CartridgeType45¶
CartridgeType45 = NaN count
Cartridge 45.
CartridgeType46¶
CartridgeType46 = NaN count
Cartridge 46.
CartridgeType47¶
CartridgeType47 = NaN count
Cartridge 47.
CartridgeType48¶
CartridgeType48 = NaN count
Cartridge 48.
CartridgeType49¶
CartridgeType49 = NaN count
Cartridge 49.
CartridgeType50¶
CartridgeType50 = NaN count
Cartridge 50.
CartridgeType51¶
CartridgeType51 = NaN count
Cartridge 51.
CartridgeType52¶
CartridgeType52 = NaN count
Cartridge 52.
CartridgeType53¶
CartridgeType53 = NaN count
Cartridge 53.
CartridgeType54¶
CartridgeType54 = NaN count
Cartridge 54.
CartridgeType55¶
CartridgeType55 = NaN count
Cartridge 55.
CartridgeType56¶
CartridgeType56 = NaN count
Cartridge 56.
CartridgeType57¶
CartridgeType57 = NaN count
Cartridge 57.
CartridgeType58¶
CartridgeType58 = NaN count
Cartridge 58.
CartridgeType59¶
CartridgeType59 = NaN count
Cartridge 59.
CartridgeType60¶
CartridgeType60 = NaN count
Cartridge 60.
TempDiffFromPeakChlCommon¶
TempDiffFromPeakChlCommon = NaN kelvin
Value common to all samples unless set differently: target temperature difference from the peak-chl temperature. Initialized to NaN.
TempDiffFromPeakChl1¶
TempDiffFromPeakChl1 = NaN kelvin
Sample 1.
TempDiffFromPeakChl2¶
TempDiffFromPeakChl2 = NaN kelvin
Sample 2.
TempDiffFromPeakChl3¶
TempDiffFromPeakChl3 = NaN kelvin
Sample 3.
TempDiffFromPeakChl4¶
TempDiffFromPeakChl4 = NaN kelvin
Sample 4.
TempDiffFromPeakChl5¶
TempDiffFromPeakChl5 = NaN kelvin
Sample 5.
TempDiffFromPeakChl6¶
TempDiffFromPeakChl6 = NaN kelvin
Sample 6.
TempDiffFromPeakChl7¶
TempDiffFromPeakChl7 = NaN kelvin
Sample 7.
TempDiffFromPeakChl8¶
TempDiffFromPeakChl8 = NaN kelvin
Sample 8.
TempDiffFromPeakChl9¶
TempDiffFromPeakChl9 = NaN kelvin
Sample 9.
TempDiffFromPeakChl10¶
TempDiffFromPeakChl10 = NaN kelvin
Sample 10.
TempDiffFromPeakChl11¶
TempDiffFromPeakChl11 = NaN kelvin
Sample 11.
TempDiffFromPeakChl12¶
TempDiffFromPeakChl12 = NaN kelvin
Sample 12.
TempDiffFromPeakChl13¶
TempDiffFromPeakChl13 = NaN kelvin
Sample 13.
TempDiffFromPeakChl14¶
TempDiffFromPeakChl14 = NaN kelvin
Sample 14.
TempDiffFromPeakChl15¶
TempDiffFromPeakChl15 = NaN kelvin
Sample 15.
TempDiffFromPeakChl16¶
TempDiffFromPeakChl16 = NaN kelvin
Sample 16.
TempDiffFromPeakChl17¶
TempDiffFromPeakChl17 = NaN kelvin
Sample 17.
TempDiffFromPeakChl18¶
TempDiffFromPeakChl18 = NaN kelvin
Sample 18.
TempDiffFromPeakChl19¶
TempDiffFromPeakChl19 = NaN kelvin
Sample 19.
TempDiffFromPeakChl20¶
TempDiffFromPeakChl20 = NaN kelvin
Sample 20.
TempDiffFromPeakChl21¶
TempDiffFromPeakChl21 = NaN kelvin
Sample 21.
TempDiffFromPeakChl22¶
TempDiffFromPeakChl22 = NaN kelvin
Sample 22.
TempDiffFromPeakChl23¶
TempDiffFromPeakChl23 = NaN kelvin
Sample 23.
TempDiffFromPeakChl24¶
TempDiffFromPeakChl24 = NaN kelvin
Sample 24.
TempDiffFromPeakChl25¶
TempDiffFromPeakChl25 = NaN kelvin
Sample 25.
TempDiffFromPeakChl26¶
TempDiffFromPeakChl26 = NaN kelvin
Sample 26.
TempDiffFromPeakChl27¶
TempDiffFromPeakChl27 = NaN kelvin
Sample 27.
TempDiffFromPeakChl28¶
TempDiffFromPeakChl28 = NaN kelvin
Sample 28.
TempDiffFromPeakChl29¶
TempDiffFromPeakChl29 = NaN kelvin
Sample 29.
TempDiffFromPeakChl30¶
TempDiffFromPeakChl30 = NaN kelvin
Sample 30.
TempDiffFromPeakChl31¶
TempDiffFromPeakChl31 = NaN kelvin
Sample 31.
TempDiffFromPeakChl32¶
TempDiffFromPeakChl32 = NaN kelvin
Sample 32.
TempDiffFromPeakChl33¶
TempDiffFromPeakChl33 = NaN kelvin
Sample 33.
TempDiffFromPeakChl34¶
TempDiffFromPeakChl34 = NaN kelvin
Sample 34.
TempDiffFromPeakChl35¶
TempDiffFromPeakChl35 = NaN kelvin
Sample 35.
TempDiffFromPeakChl36¶
TempDiffFromPeakChl36 = NaN kelvin
Sample 36.
TempDiffFromPeakChl37¶
TempDiffFromPeakChl37 = NaN kelvin
Sample 37.
TempDiffFromPeakChl38¶
TempDiffFromPeakChl38 = NaN kelvin
Sample 38.
TempDiffFromPeakChl39¶
TempDiffFromPeakChl39 = NaN kelvin
Sample 39.
TempDiffFromPeakChl40¶
TempDiffFromPeakChl40 = NaN kelvin
Sample 40.
TempDiffFromPeakChl41¶
TempDiffFromPeakChl41 = NaN kelvin
Sample 41.
TempDiffFromPeakChl42¶
TempDiffFromPeakChl42 = NaN kelvin
Sample 42.
TempDiffFromPeakChl43¶
TempDiffFromPeakChl43 = NaN kelvin
Sample 43.
TempDiffFromPeakChl44¶
TempDiffFromPeakChl44 = NaN kelvin
Sample 44.
TempDiffFromPeakChl45¶
TempDiffFromPeakChl45 = NaN kelvin
Sample 45.
TempDiffFromPeakChl46¶
TempDiffFromPeakChl46 = NaN kelvin
Sample 46.
TempDiffFromPeakChl47¶
TempDiffFromPeakChl47 = NaN kelvin
Sample 47.
TempDiffFromPeakChl48¶
TempDiffFromPeakChl48 = NaN kelvin
Sample 48.
TempDiffFromPeakChl49¶
TempDiffFromPeakChl49 = NaN kelvin
Sample 49.
TempDiffFromPeakChl50¶
TempDiffFromPeakChl50 = NaN kelvin
Sample 50.
TempDiffFromPeakChl51¶
TempDiffFromPeakChl51 = NaN kelvin
Sample 51.
TempDiffFromPeakChl52¶
TempDiffFromPeakChl52 = NaN kelvin
Sample 52.
TempDiffFromPeakChl53¶
TempDiffFromPeakChl53 = NaN kelvin
Sample 53.
TempDiffFromPeakChl54¶
TempDiffFromPeakChl54 = NaN kelvin
Sample 54.
TempDiffFromPeakChl55¶
TempDiffFromPeakChl55 = NaN kelvin
Sample 55.
TempDiffFromPeakChl56¶
TempDiffFromPeakChl56 = NaN kelvin
Sample 56.
TempDiffFromPeakChl57¶
TempDiffFromPeakChl57 = NaN kelvin
Sample 57.
TempDiffFromPeakChl58¶
TempDiffFromPeakChl58 = NaN kelvin
Sample 58.
TempDiffFromPeakChl59¶
TempDiffFromPeakChl59 = NaN kelvin
Sample 59.
TempDiffFromPeakChl60¶
TempDiffFromPeakChl60 = NaN kelvin
Sample 60.
TempCommon¶
TempCommon = NaN celsius
Value common to all samples unless set differently: pre-designated temperature. Initialized to NaN.
Temp1¶
Temp1 = NaN celsius
Sample 1.
Temp2¶
Temp2 = NaN celsius
Sample 2.
Temp3¶
Temp3 = NaN celsius
Sample 3.
Temp4¶
Temp4 = NaN celsius
Sample 4.
Temp5¶
Temp5 = NaN celsius
Sample 5.
Temp6¶
Temp6 = NaN celsius
Sample 6.
Temp7¶
Temp7 = NaN celsius
Sample 7.
Temp8¶
Temp8 = NaN celsius
Sample 8.
Temp9¶
Temp9 = NaN celsius
Sample 9.
Temp10¶
Temp10 = NaN celsius
Sample 10.
Temp11¶
Temp11 = NaN celsius
Sample 11.
Temp12¶
Temp12 = NaN celsius
Sample 12.
Temp13¶
Temp13 = NaN celsius
Sample 13.
Temp14¶
Temp14 = NaN celsius
Sample 14.
Temp15¶
Temp15 = NaN celsius
Sample 15.
Temp16¶
Temp16 = NaN celsius
Sample 16.
Temp17¶
Temp17 = NaN celsius
Sample 17.
Temp18¶
Temp18 = NaN celsius
Sample 18.
Temp19¶
Temp19 = NaN celsius
Sample 19.
Temp20¶
Temp20 = NaN celsius
Sample 20.
Temp21¶
Temp21 = NaN celsius
Sample 21.
Temp22¶
Temp22 = NaN celsius
Sample 22.
Temp23¶
Temp23 = NaN celsius
Sample 23.
Temp24¶
Temp24 = NaN celsius
Sample 24.
Temp25¶
Temp25 = NaN celsius
Sample 25.
Temp26¶
Temp26 = NaN celsius
Sample 26.
Temp27¶
Temp27 = NaN celsius
Sample 27.
Temp28¶
Temp28 = NaN celsius
Sample 28.
Temp29¶
Temp29 = NaN celsius
Sample 29.
Temp30¶
Temp30 = NaN celsius
Sample 30.
Temp31¶
Temp31 = NaN celsius
Sample 31.
Temp32¶
Temp32 = NaN celsius
Sample 32.
Temp33¶
Temp33 = NaN celsius
Sample 33.
Temp34¶
Temp34 = NaN celsius
Sample 34.
Temp35¶
Temp35 = NaN celsius
Sample 35.
Temp36¶
Temp36 = NaN celsius
Sample 36.
Temp37¶
Temp37 = NaN celsius
Sample 37.
Temp38¶
Temp38 = NaN celsius
Sample 38.
Temp39¶
Temp39 = NaN celsius
Sample 39.
Temp40¶
Temp40 = NaN celsius
Sample 40.
Temp41¶
Temp41 = NaN celsius
Sample 41.
Temp42¶
Temp42 = NaN celsius
Sample 42.
Temp43¶
Temp43 = NaN celsius
Sample 43.
Temp44¶
Temp44 = NaN celsius
Sample 44.
Temp45¶
Temp45 = NaN celsius
Sample 45.
Temp46¶
Temp46 = NaN celsius
Sample 46.
Temp47¶
Temp47 = NaN celsius
Sample 47.
Temp48¶
Temp48 = NaN celsius
Sample 48.
Temp49¶
Temp49 = NaN celsius
Sample 49.
Temp50¶
Temp50 = NaN celsius
Sample 50.
Temp51¶
Temp51 = NaN celsius
Sample 51.
Temp52¶
Temp52 = NaN celsius
Sample 52.
Temp53¶
Temp53 = NaN celsius
Sample 53.
Temp54¶
Temp54 = NaN celsius
Sample 54.
Temp55¶
Temp55 = NaN celsius
Sample 55.
Temp56¶
Temp56 = NaN celsius
Sample 56.
Temp57¶
Temp57 = NaN celsius
Sample 57.
Temp58¶
Temp58 = NaN celsius
Sample 58.
Temp59¶
Temp59 = NaN celsius
Sample 59.
Temp60¶
Temp60 = NaN celsius
Sample 60.
DepDiffFromPeakChlCommon¶
DepDiffFromPeakChlCommon = NaN meter
Value common to all samples unless set differently: depth difference (positive: deeper; negative: shallower) from the peak-chl depth for taking comparison samples. Initialized to NaN.
DepDiffFromPeakChl1¶
DepDiffFromPeakChl1 = NaN meter
Sample 1.
DepDiffFromPeakChl2¶
DepDiffFromPeakChl2 = NaN meter
Sample 2.
DepDiffFromPeakChl3¶
DepDiffFromPeakChl3 = NaN meter
Sample 3.
DepDiffFromPeakChl4¶
DepDiffFromPeakChl4 = NaN meter
Sample 4.
DepDiffFromPeakChl5¶
DepDiffFromPeakChl5 = NaN meter
Sample 5.
DepDiffFromPeakChl6¶
DepDiffFromPeakChl6 = NaN meter
Sample 6.
DepDiffFromPeakChl7¶
DepDiffFromPeakChl7 = NaN meter
Sample 7.
DepDiffFromPeakChl8¶
DepDiffFromPeakChl8 = NaN meter
Sample 8.
DepDiffFromPeakChl9¶
DepDiffFromPeakChl9 = NaN meter
Sample 9.
DepDiffFromPeakChl10¶
DepDiffFromPeakChl10 = NaN meter
Sample 10.
DepDiffFromPeakChl11¶
DepDiffFromPeakChl11 = NaN meter
Sample 11.
DepDiffFromPeakChl12¶
DepDiffFromPeakChl12 = NaN meter
Sample 12.
DepDiffFromPeakChl13¶
DepDiffFromPeakChl13 = NaN meter
Sample 13.
DepDiffFromPeakChl14¶
DepDiffFromPeakChl14 = NaN meter
Sample 14.
DepDiffFromPeakChl15¶
DepDiffFromPeakChl15 = NaN meter
Sample 15.
DepDiffFromPeakChl16¶
DepDiffFromPeakChl16 = NaN meter
Sample 16.
DepDiffFromPeakChl17¶
DepDiffFromPeakChl17 = NaN meter
Sample 17.
DepDiffFromPeakChl18¶
DepDiffFromPeakChl18 = NaN meter
Sample 18.
DepDiffFromPeakChl19¶
DepDiffFromPeakChl19 = NaN meter
Sample 19.
DepDiffFromPeakChl20¶
DepDiffFromPeakChl20 = NaN meter
Sample 20.
DepDiffFromPeakChl21¶
DepDiffFromPeakChl21 = NaN meter
Sample 21.
DepDiffFromPeakChl22¶
DepDiffFromPeakChl22 = NaN meter
Sample 22.
DepDiffFromPeakChl23¶
DepDiffFromPeakChl23 = NaN meter
Sample 23.
DepDiffFromPeakChl24¶
DepDiffFromPeakChl24 = NaN meter
Sample 24.
DepDiffFromPeakChl25¶
DepDiffFromPeakChl25 = NaN meter
Sample 25.
DepDiffFromPeakChl26¶
DepDiffFromPeakChl26 = NaN meter
Sample 26.
DepDiffFromPeakChl27¶
DepDiffFromPeakChl27 = NaN meter
Sample 27.
DepDiffFromPeakChl28¶
DepDiffFromPeakChl28 = NaN meter
Sample 28.
DepDiffFromPeakChl29¶
DepDiffFromPeakChl29 = NaN meter
Sample 29.
DepDiffFromPeakChl30¶
DepDiffFromPeakChl30 = NaN meter
Sample 30.
DepDiffFromPeakChl31¶
DepDiffFromPeakChl31 = NaN meter
Sample 31.
DepDiffFromPeakChl32¶
DepDiffFromPeakChl32 = NaN meter
Sample 32.
DepDiffFromPeakChl33¶
DepDiffFromPeakChl33 = NaN meter
Sample 33.
DepDiffFromPeakChl34¶
DepDiffFromPeakChl34 = NaN meter
Sample 34.
DepDiffFromPeakChl35¶
DepDiffFromPeakChl35 = NaN meter
Sample 35.
DepDiffFromPeakChl36¶
DepDiffFromPeakChl36 = NaN meter
Sample 36.
DepDiffFromPeakChl37¶
DepDiffFromPeakChl37 = NaN meter
Sample 37.
DepDiffFromPeakChl38¶
DepDiffFromPeakChl38 = NaN meter
Sample 38.
DepDiffFromPeakChl39¶
DepDiffFromPeakChl39 = NaN meter
Sample 39.
DepDiffFromPeakChl40¶
DepDiffFromPeakChl40 = NaN meter
Sample 40.
DepDiffFromPeakChl41¶
DepDiffFromPeakChl41 = NaN meter
Sample 41.
DepDiffFromPeakChl42¶
DepDiffFromPeakChl42 = NaN meter
Sample 42.
DepDiffFromPeakChl43¶
DepDiffFromPeakChl43 = NaN meter
Sample 43.
DepDiffFromPeakChl44¶
DepDiffFromPeakChl44 = NaN meter
Sample 44.
DepDiffFromPeakChl45¶
DepDiffFromPeakChl45 = NaN meter
Sample 45.
DepDiffFromPeakChl46¶
DepDiffFromPeakChl46 = NaN meter
Sample 46.
DepDiffFromPeakChl47¶
DepDiffFromPeakChl47 = NaN meter
Sample 47.
DepDiffFromPeakChl48¶
DepDiffFromPeakChl48 = NaN meter
Sample 48.
DepDiffFromPeakChl49¶
DepDiffFromPeakChl49 = NaN meter
Sample 49.
DepDiffFromPeakChl50¶
DepDiffFromPeakChl50 = NaN meter
Sample 50.
DepDiffFromPeakChl51¶
DepDiffFromPeakChl51 = NaN meter
Sample 51.
DepDiffFromPeakChl52¶
DepDiffFromPeakChl52 = NaN meter
Sample 52.
DepDiffFromPeakChl53¶
DepDiffFromPeakChl53 = NaN meter
Sample 53.
DepDiffFromPeakChl54¶
DepDiffFromPeakChl54 = NaN meter
Sample 54.
DepDiffFromPeakChl55¶
DepDiffFromPeakChl55 = NaN meter
Sample 55.
DepDiffFromPeakChl56¶
DepDiffFromPeakChl56 = NaN meter
Sample 56.
DepDiffFromPeakChl57¶
DepDiffFromPeakChl57 = NaN meter
Sample 57.
DepDiffFromPeakChl58¶
DepDiffFromPeakChl58 = NaN meter
Sample 58.
DepDiffFromPeakChl59¶
DepDiffFromPeakChl59 = NaN meter
Sample 59.
DepDiffFromPeakChl60¶
DepDiffFromPeakChl60 = NaN meter
Sample 60.
DepCommon¶
DepCommon = NaN meter
Value common to all samples unless set differently: Pre-designated depth. Initialized to NaN.
Dep1¶
Dep1 = NaN meter
Sample 1.
Dep2¶
Dep2 = NaN meter
Sample 2.
Dep3¶
Dep3 = NaN meter
Sample 3.
Dep4¶
Dep4 = NaN meter
Sample 4.
Dep5¶
Dep5 = NaN meter
Sample 5.
Dep6¶
Dep6 = NaN meter
Sample 6.
Dep7¶
Dep7 = NaN meter
Sample 7.
Dep8¶
Dep8 = NaN meter
Sample 8.
Dep9¶
Dep9 = NaN meter
Sample 9.
Dep10¶
Dep10 = NaN meter
Sample 10.
Dep11¶
Dep11 = NaN meter
Sample 11.
Dep12¶
Dep12 = NaN meter
Sample 12.
Dep13¶
Dep13 = NaN meter
Sample 13.
Dep14¶
Dep14 = NaN meter
Sample 14.
Dep15¶
Dep15 = NaN meter
Sample 15.
Dep16¶
Dep16 = NaN meter
Sample 16.
Dep17¶
Dep17 = NaN meter
Sample 17.
Dep18¶
Dep18 = NaN meter
Sample 18.
Dep19¶
Dep19 = NaN meter
Sample 19.
Dep20¶
Dep20 = NaN meter
Sample 20.
Dep21¶
Dep21 = NaN meter
Sample 21.
Dep22¶
Dep22 = NaN meter
Sample 22.
Dep23¶
Dep23 = NaN meter
Sample 23.
Dep24¶
Dep24 = NaN meter
Sample 24.
Dep25¶
Dep25 = NaN meter
Sample 25.
Dep26¶
Dep26 = NaN meter
Sample 26.
Dep27¶
Dep27 = NaN meter
Sample 27.
Dep28¶
Dep28 = NaN meter
Sample 28.
Dep29¶
Dep29 = NaN meter
Sample 29.
Dep30¶
Dep30 = NaN meter
Sample 30.
Dep31¶
Dep31 = NaN meter
Sample 31.
Dep32¶
Dep32 = NaN meter
Sample 32.
Dep33¶
Dep33 = NaN meter
Sample 33.
Dep34¶
Dep34 = NaN meter
Sample 34.
Dep35¶
Dep35 = NaN meter
Sample 35.
Dep36¶
Dep36 = NaN meter
Sample 36.
Dep37¶
Dep37 = NaN meter
Sample 37.
Dep38¶
Dep38 = NaN meter
Sample 38.
Dep39¶
Dep39 = NaN meter
Sample 39.
Dep40¶
Dep40 = NaN meter
Sample 40.
Dep41¶
Dep41 = NaN meter
Sample 41.
Dep42¶
Dep42 = NaN meter
Sample 42.
Dep43¶
Dep43 = NaN meter
Sample 43.
Dep44¶
Dep44 = NaN meter
Sample 44.
Dep45¶
Dep45 = NaN meter
Sample 45.
Dep46¶
Dep46 = NaN meter
Sample 46.
Dep47¶
Dep47 = NaN meter
Sample 47.
Dep48¶
Dep48 = NaN meter
Sample 48.
Dep49¶
Dep49 = NaN meter
Sample 49.
Dep50¶
Dep50 = NaN meter
Sample 50.
Dep51¶
Dep51 = NaN meter
Sample 51.
Dep52¶
Dep52 = NaN meter
Sample 52.
Dep53¶
Dep53 = NaN meter
Sample 53.
Dep54¶
Dep54 = NaN meter
Sample 54.
Dep55¶
Dep55 = NaN meter
Sample 55.
Dep56¶
Dep56 = NaN meter
Sample 56.
Dep57¶
Dep57 = NaN meter
Sample 57.
Dep58¶
Dep58 = NaN meter
Sample 58.
Dep59¶
Dep59 = NaN meter
Sample 59.
Dep60¶
Dep60 = NaN meter
Sample 60.
WaitDepUndulation1¶
WaitDepUndulation1 = 10.0 minute
Sample 1.
WaitDepUndulation2¶
WaitDepUndulation2 = 5.0 minute
Sample 2.
WaitDepUndulation3¶
WaitDepUndulation3 = 5.0 minute
Sample 3.
WaitDepUndulation4¶
WaitDepUndulation4 = 5.0 minute
Sample 4.
WaitDepUndulation5¶
WaitDepUndulation5 = 5.0 minute
Sample 5.
WaitDepUndulation6¶
WaitDepUndulation6 = 5.0 minute
Sample 6.
WaitDepUndulation7¶
WaitDepUndulation7 = 5.0 minute
Sample 7.
WaitDepUndulation8¶
WaitDepUndulation8 = 5.0 minute
Sample 8.
WaitDepUndulation9¶
WaitDepUndulation9 = 5.0 minute
Sample 9.
WaitDepUndulation10¶
WaitDepUndulation10 = 5.0 minute
Sample 10.
WaitDepUndulation11¶
WaitDepUndulation11 = 5.0 minute
Sample 11.
WaitDepUndulation12¶
WaitDepUndulation12 = 5.0 minute
Sample 12.
WaitDepUndulation13¶
WaitDepUndulation13 = 5.0 minute
Sample 13.
WaitDepUndulation14¶
WaitDepUndulation14 = 5.0 minute
Sample 14.
WaitDepUndulation15¶
WaitDepUndulation15 = 5.0 minute
Sample 15.
WaitDepUndulation16¶
WaitDepUndulation16 = 5.0 minute
Sample 16.
WaitDepUndulation17¶
WaitDepUndulation17 = 5.0 minute
Sample 17.
WaitDepUndulation18¶
WaitDepUndulation18 = 5.0 minute
Sample 18.
WaitDepUndulation19¶
WaitDepUndulation19 = 5.0 minute
Sample 19.
WaitDepUndulation20¶
WaitDepUndulation20 = 5.0 minute
Sample 20.
WaitDepUndulation21¶
WaitDepUndulation21 = 5.0 minute
Sample 21.
WaitDepUndulation22¶
WaitDepUndulation22 = 5.0 minute
Sample 22.
WaitDepUndulation23¶
WaitDepUndulation23 = 5.0 minute
Sample 23.
WaitDepUndulation24¶
WaitDepUndulation24 = 5.0 minute
Sample 24.
WaitDepUndulation25¶
WaitDepUndulation25 = 5.0 minute
Sample 25.
WaitDepUndulation26¶
WaitDepUndulation26 = 5.0 minute
Sample 26.
WaitDepUndulation27¶
WaitDepUndulation27 = 5.0 minute
Sample 27.
WaitDepUndulation28¶
WaitDepUndulation28 = 5.0 minute
Sample 28.
WaitDepUndulation29¶
WaitDepUndulation29 = 5.0 minute
Sample 29.
WaitDepUndulation30¶
WaitDepUndulation30 = 5.0 minute
Sample 30.
WaitDepUndulation31¶
WaitDepUndulation31 = 5.0 minute
Sample 31.
WaitDepUndulation32¶
WaitDepUndulation32 = 5.0 minute
Sample 32.
WaitDepUndulation33¶
WaitDepUndulation33 = 5.0 minute
Sample 33.
WaitDepUndulation34¶
WaitDepUndulation34 = 5.0 minute
Sample 34.
WaitDepUndulation35¶
WaitDepUndulation35 = 5.0 minute
Sample 35.
WaitDepUndulation36¶
WaitDepUndulation36 = 5.0 minute
Sample 36.
WaitDepUndulation37¶
WaitDepUndulation37 = 5.0 minute
Sample 37.
WaitDepUndulation38¶
WaitDepUndulation38 = 5.0 minute
Sample 38.
WaitDepUndulation39¶
WaitDepUndulation39 = 5.0 minute
Sample 39.
WaitDepUndulation40¶
WaitDepUndulation40 = 5.0 minute
Sample 40.
WaitDepUndulation41¶
WaitDepUndulation41 = 5.0 minute
Sample 41.
WaitDepUndulation42¶
WaitDepUndulation42 = 5.0 minute
Sample 42.
WaitDepUndulation43¶
WaitDepUndulation43 = 5.0 minute
Sample 43.
WaitDepUndulation44¶
WaitDepUndulation44 = 5.0 minute
Sample 44.
WaitDepUndulation45¶
WaitDepUndulation45 = 5.0 minute
Sample 45.
WaitDepUndulation46¶
WaitDepUndulation46 = 5.0 minute
Sample 46.
WaitDepUndulation47¶
WaitDepUndulation47 = 5.0 minute
Sample 47.
WaitDepUndulation48¶
WaitDepUndulation48 = 5.0 minute
Sample 48.
WaitDepUndulation49¶
WaitDepUndulation49 = 5.0 minute
Sample 49.
WaitDepUndulation50¶
WaitDepUndulation50 = 5.0 minute
Sample 50.
WaitDepUndulation51¶
WaitDepUndulation51 = 5.0 minute
Sample 51.
WaitDepUndulation52¶
WaitDepUndulation52 = 5.0 minute
Sample 52.
WaitDepUndulation53¶
WaitDepUndulation53 = 5.0 minute
Sample 53.
WaitDepUndulation54¶
WaitDepUndulation54 = 5.0 minute
Sample 54.
WaitDepUndulation55¶
WaitDepUndulation55 = 5.0 minute
Sample 55.
WaitDepUndulation56¶
WaitDepUndulation56 = 5.0 minute
Sample 56.
WaitDepUndulation57¶
WaitDepUndulation57 = 5.0 minute
Sample 57.
WaitDepUndulation58¶
WaitDepUndulation58 = 5.0 minute
Sample 58.
WaitDepUndulation59¶
WaitDepUndulation59 = 5.0 minute
Sample 59.
WaitDepUndulation60¶
WaitDepUndulation60 = 5.0 minute
Sample 60.
Reacq1¶
Reacq1 = false
Sample 1.
Reacq2¶
Reacq2 = false
Sample 2.
Reacq3¶
Reacq3 = false
Sample 3.
Reacq4¶
Reacq4 = false
Sample 4.
Reacq5¶
Reacq5 = false
Sample 5.
Reacq6¶
Reacq6 = false
Sample 6.
Reacq7¶
Reacq7 = false
Sample 7.
Reacq8¶
Reacq8 = false
Sample 8.
Reacq9¶
Reacq9 = false
Sample 9.
Reacq10¶
Reacq10 = false
Sample 10.
Reacq11¶
Reacq11 = false
Sample 11.
Reacq12¶
Reacq12 = false
Sample 12.
Reacq13¶
Reacq13 = false
Sample 13.
Reacq14¶
Reacq14 = false
Sample 14.
Reacq15¶
Reacq15 = false
Sample 15.
Reacq16¶
Reacq16 = false
Sample 16.
Reacq17¶
Reacq17 = false
Sample 17.
Reacq18¶
Reacq18 = false
Sample 18.
Reacq19¶
Reacq19 = false
Sample 19.
Reacq20¶
Reacq20 = false
Sample 20.
Reacq21¶
Reacq21 = false
Sample 21.
Reacq22¶
Reacq22 = false
Sample 22.
Reacq23¶
Reacq23 = false
Sample 23.
Reacq24¶
Reacq24 = false
Sample 24.
Reacq25¶
Reacq25 = false
Sample 25.
Reacq26¶
Reacq26 = false
Sample 26.
Reacq27¶
Reacq27 = false
Sample 27.
Reacq28¶
Reacq28 = false
Sample 28.
Reacq29¶
Reacq29 = false
Sample 29.
Reacq30¶
Reacq30 = false
Sample 30.
Reacq31¶
Reacq31 = false
Sample 31.
Reacq32¶
Reacq32 = false
Sample 32.
Reacq33¶
Reacq33 = false
Sample 33.
Reacq34¶
Reacq34 = false
Sample 34.
Reacq35¶
Reacq35 = false
Sample 35.
Reacq36¶
Reacq36 = false
Sample 36.
Reacq37¶
Reacq37 = false
Sample 37.
Reacq38¶
Reacq38 = false
Sample 38.
Reacq39¶
Reacq39 = false
Sample 39.
Reacq40¶
Reacq40 = false
Sample 40.
Reacq41¶
Reacq41 = false
Sample 41.
Reacq42¶
Reacq42 = false
Sample 42.
Reacq43¶
Reacq43 = false
Sample 43.
Reacq44¶
Reacq44 = false
Sample 44.
Reacq45¶
Reacq45 = false
Sample 45.
Reacq46¶
Reacq46 = false
Sample 46.
Reacq47¶
Reacq47 = false
Sample 47.
Reacq48¶
Reacq48 = false
Sample 48.
Reacq49¶
Reacq49 = false
Sample 49.
Reacq50¶
Reacq50 = false
Sample 50.
Reacq51¶
Reacq51 = false
Sample 51.
Reacq52¶
Reacq52 = false
Sample 52.
Reacq53¶
Reacq53 = false
Sample 53.
Reacq54¶
Reacq54 = false
Sample 54.
Reacq55¶
Reacq55 = false
Sample 55.
Reacq56¶
Reacq56 = false
Sample 56.
Reacq57¶
Reacq57 = false
Sample 57.
Reacq58¶
Reacq58 = false
Sample 58.
Reacq59¶
Reacq59 = false
Sample 59.
Reacq60¶
Reacq60 = false
Sample 60.
RptSurface1¶
RptSurface1 = false
Sample 1.
RptSurface2¶
RptSurface2 = false
Sample 2.
RptSurface3¶
RptSurface3 = false
Sample 3.
RptSurface4¶
RptSurface4 = false
Sample 4.
RptSurface5¶
RptSurface5 = false
Sample 5.
RptSurface6¶
RptSurface6 = false
Sample 6.
RptSurface7¶
RptSurface7 = false
Sample 7.
RptSurface8¶
RptSurface8 = false
Sample 8.
RptSurface9¶
RptSurface9 = false
Sample 9.
RptSurface10¶
RptSurface10 = false
Sample 10.
RptSurface11¶
RptSurface11 = false
Sample 11.
RptSurface12¶
RptSurface12 = false
Sample 12.
RptSurface13¶
RptSurface13 = false
Sample 13.
RptSurface14¶
RptSurface14 = false
Sample 14.
RptSurface15¶
RptSurface15 = false
Sample 15.
RptSurface16¶
RptSurface16 = false
Sample 16.
RptSurface17¶
RptSurface17 = false
Sample 17.
RptSurface18¶
RptSurface18 = false
Sample 18.
RptSurface19¶
RptSurface19 = false
Sample 19.
RptSurface20¶
RptSurface20 = false
Sample 20.
RptSurface21¶
RptSurface21 = false
Sample 21.
RptSurface22¶
RptSurface22 = false
Sample 22.
RptSurface23¶
RptSurface23 = false
Sample 23.
RptSurface24¶
RptSurface24 = false
Sample 24.
RptSurface25¶
RptSurface25 = false
Sample 25.
RptSurface26¶
RptSurface26 = false
Sample 26.
RptSurface27¶
RptSurface27 = false
Sample 27.
RptSurface28¶
RptSurface28 = false
Sample 28.
RptSurface29¶
RptSurface29 = false
Sample 29.
RptSurface30¶
RptSurface30 = false
Sample 30.
RptSurface31¶
RptSurface31 = false
Sample 31.
RptSurface32¶
RptSurface32 = false
Sample 32.
RptSurface33¶
RptSurface33 = false
Sample 33.
RptSurface34¶
RptSurface34 = false
Sample 34.
RptSurface35¶
RptSurface35 = false
Sample 35.
RptSurface36¶
RptSurface36 = false
Sample 36.
RptSurface37¶
RptSurface37 = false
Sample 37.
RptSurface38¶
RptSurface38 = false
Sample 38.
RptSurface39¶
RptSurface39 = false
Sample 39.
RptSurface40¶
RptSurface40 = false
Sample 40.
RptSurface41¶
RptSurface41 = false
Sample 41.
RptSurface42¶
RptSurface42 = false
Sample 42.
RptSurface43¶
RptSurface43 = false
Sample 43.
RptSurface44¶
RptSurface44 = false
Sample 44.
RptSurface45¶
RptSurface45 = false
Sample 45.
RptSurface46¶
RptSurface46 = false
Sample 46.
RptSurface47¶
RptSurface47 = false
Sample 47.
RptSurface48¶
RptSurface48 = false
Sample 48.
RptSurface49¶
RptSurface49 = false
Sample 49.
RptSurface50¶
RptSurface50 = false
Sample 50.
RptSurface51¶
RptSurface51 = false
Sample 51.
RptSurface52¶
RptSurface52 = false
Sample 52.
RptSurface53¶
RptSurface53 = false
Sample 53.
RptSurface54¶
RptSurface54 = false
Sample 54.
RptSurface55¶
RptSurface55 = false
Sample 55.
RptSurface56¶
RptSurface56 = false
Sample 56.
RptSurface57¶
RptSurface57 = false
Sample 57.
RptSurface58¶
RptSurface58 = false
Sample 58.
RptSurface59¶
RptSurface59 = false
Sample 59.
RptSurface60¶
RptSurface60 = false
Sample 60.
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).
IntervalRestartLogs¶
IntervalRestartLogs = 24 hour
UseCANONSampler¶
UseCANONSampler = Science:CANONSampler.loadAtStartup
Whether to use CANON Sampler to sample.
UseESP¶
UseESP = Science:ESPComponent.loadAtStartup
Whether to use ESP to sample.
CANONSamplerTriggerTimeout¶
CANONSamplerTriggerTimeout = 1 minute
How long to wait for a CANON Sampler sample to start.
CANONSamplerTimeout¶
CANONSamplerTimeout = Science:CANONSampler.sampleTimeout
How long to wait for a CANON Sampler sample to complete.
VerticalPerturbation¶
VerticalPerturbation = 6.0 meter
Vertical perturbation (going up or down) for reacquiring the peak.
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.
CylinderCircleMaxError¶
CylinderCircleMaxError = 100 meter
If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.
CylinderCircleTurnToPort¶
CylinderCircleTurnToPort = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
KwpHeading¶
KwpHeading = 0.010 radian_per_meter
Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)
YoYoUpPitch¶
YoYoUpPitch = 20 degree
Vehicle up pitch while performing the YoYo behavior.
YoYoDownPitch¶
YoYoDownPitch = -20 degree
Vehicle down pitch while performing the YoYo behavior.
NumberOfProfilesSlidingwindow¶
NumberOfProfilesSlidingwindow = 100 count
Length of horizontal sliding window. Picks the highest yoyo-wise chl peak (after low-pass filtering by a filter of length FilterWidthHorizontal) within this window. Ignore older highs because ocean is changing.
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.
GainProportional¶
GainProportional = 1 none
Proportional gain for temperature holding control loop.
GainIntegral¶
GainIntegral = 0 none
Integral gain for temperature holding control loop.
GainDerivative¶
GainDerivative = 0 none
Derivative gain for temperature holding control loop.
VariationPerMeter¶
VariationPerMeter = 0.2 reciprocal_meter
Expected temperature change per meter.
BuoyDiveAccel¶
BuoyDiveAccel = 0.0025 meter_per_second_squared
In buoyancy-only mode, maxBuoyDiveAccel needs to be set at least an order of magnitude higher than that in Control.cfg.
SurfacePitch¶
SurfacePitch = 20 degree
Pitch to maintain while ascending
SurfaceDepthRate¶
SurfaceDepthRate = NaN meter_per_second
Depth rate to maintain while ascending. Set to NaN if using pitch
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
Output¶
SetFinalWaypointToWaypoint1Completed¶
SetFinalWaypointToWaypoint1Completed = false
Initialized to false.
SetFinalWaypointToWaypoint2Completed¶
SetFinalWaypointToWaypoint2Completed = false
Initialized to false.
SetFinalWaypointToWaypoint3Completed¶
SetFinalWaypointToWaypoint3Completed = false
Initialized to false.
SetFinalWaypointToWaypoint4Completed¶
SetFinalWaypointToWaypoint4Completed = false
Initialized to false.
ElapsedSinceStartOrLastSample¶
ElapsedSinceStartOrLastSample = 0 hour
The mission sets this variable to reset the sample timer.
ElapsedTime¶
ElapsedTime = 0 hour
Only for syslog.
YoYoMinDepth¶
YoYoMinDepth = 4.5 meter
Minimum depth while performing the YoYo behavior. Program will set to TransitYoYoMinDepth, and then CylinderYoYoMinDep, and then possibly LeaveWallOrShoreYoYoMinDep.
YoYoMaxDepth¶
YoYoMaxDepth = 27 meter
Maximum depth while performing the YoYo behavior. Program will set to TransitYoYoMaxDepth, and then CylinderYoYoMaxDep, and then possibly LeaveWallOrShoreYoYoMaxDep.
CartType¶
CartType = -6 count
Cartridge type. Initialized to -6.
CartridgeTypeIndividual¶
CartridgeTypeIndividual = NaN count
Initialized to NaN.
WaypointLat¶
WaypointLat = NaN degree
Latitude of cylinder center if set to a waypoint. Initialized to NaN.
WaypointLon¶
WaypointLon = NaN degree
Longitude of cylinder center if set to a waypoint. Initialized to NaN.
TempSet¶
TempSet = NaN kelvin
Temperature for sampling. Initialized to NaN.
TempDesignated¶
TempDesignated = NaN kelvin
Temperature if pre-designated. Initialized to NaN.
TempIndividual¶
TempIndividual = NaN kelvin
Initialized to NaN.
TempDiffPeakChl¶
TempDiffPeakChl = NaN kelvin
Temp difference if setting relative to peak-chl temperature. Initialized to NaN.
TempDiffFromPeakChlIndividual¶
TempDiffFromPeakChlIndividual = NaN kelvin
Initialized to NaN.
DepthSet¶
DepthSet = 10.0 meter
Depth for sampling. Initialized to 10 m.
DepthDesignated¶
DepthDesignated = NaN meter
Depth if pre-designated. Initialized to NaN.
DepIndividual¶
DepIndividual = NaN meter
Initialized to NaN.
DepDiffPeakChl¶
DepDiffPeakChl = NaN meter
Depth difference (positive: deeper; negative: shallower) from the peak-chl depth for taking comparison samples. Initialized to NaN.
DepDiffFromPeakChlIndividual¶
DepDiffFromPeakChlIndividual = NaN meter
Depth difference (positive: deeper; negative: shallower) from the peak-chl depth for taking comparison samples. Initialized to NaN.
WaitDepthUndulation¶
WaitDepthUndulation = 5.0 minute
Wait duration for the depth undulation to damp down. Initialized to 5 minutes.
WaitDepUndulationIndividual¶
WaitDepUndulationIndividual = 5.0 minute
Wait duration for the depth undulation to damp down. Initialized to 5 minutes.
SampleCountIncreased¶
SampleCountIncreased = true
Sample count is increased.
ReportAtSurface¶
ReportAtSurface = false
When sampling is completed, go to surface to report. Initialized to false.
ReportAtSurfaceDone¶
ReportAtSurfaceDone = false
Have completed surface reporting. Initialized to False.
ReportAtSurfaceToUse¶
ReportAtSurfaceToUse = false
For next sample. When sampling is completed, go to surface to report. Initialized to false.
ReportAtSurfaceToUseIndividual¶
ReportAtSurfaceToUseIndividual = false
For next sample. When sampling is completed, go to surface to report. Initialized to false.
ReacquirePeak¶
ReacquirePeak = false
Before sampling, maneuver vertically to reacquire chl peak. Initialized to false.
ReacquirePeakIndividual¶
ReacquirePeakIndividual = false
Before sampling, maneuver vertically to reacquire chl peak. Initialized to false.
SampleOptionsSet¶
SampleOptionsSet = false
Sample options (DepDiffPeakChl, etc.) 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.
StoppedForBeingOutsideOfPolygon¶
StoppedForBeingOutsideOfPolygon = false
Mission stopped because the vehicle is outside of the polygon. Initialized to False.
DepthLogged¶
DepthLogged = 0.0 meter
TempLogged¶
TempLogged = 0.0 celsius
ChlLogged¶
ChlLogged = 0.0 microgram_per_liter
MissionStartCommsCompleted¶
MissionStartCommsCompleted = false
Initialized to false.
TransitCompleted¶
TransitCompleted = false
Initialized to false.
DistanceFromWallsAndShoreChecked¶
DistanceFromWallsAndShoreChecked = false
Initialized to False.
DriveAwayFromWallOrShore¶
DriveAwayFromWallOrShore = false
Initialized to False.
StartVerticalManeuver¶
StartVerticalManeuver = false
Start vertical maneuver and sampling (initialized to false).
Surfacing¶
Surfacing = false
Surfacing for communications (set to true when going down. Initialized to false).
FlagTempSet¶
FlagTempSet = false
Flag of target temperature having been set. Initialized to false.
FlagTargetDepthSet¶
FlagTargetDepthSet = false
Flag of target depth having been set. Initialized to false.
FlagGoUp¶
FlagGoUp = false
Go-up flag (set to true when going up. Initialized to false).
FlagGoDown¶
FlagGoDown = false
Go-down flag (set to true when going down. Initialized to false).
FlagInitialDiveCompleted¶
FlagInitialDiveCompleted = false
Flag of initial dive completed. 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).
FlagPeakChlTempSet¶
FlagPeakChlTempSet = false
Flag of peak-chl temperature having been set (set to true when the chl-peak temperature has been set. Initialized to false).
EnableSettingPeakDepth¶
EnableSettingPeakDepth = true
Enables setting peak-chl depth. Initialized to true.
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.
PeakChlTemperatureSet¶
PeakChlTemperatureSet = NaN kelvin
Peak-chl temperature detected on a dive, and set for chl-peak holding. Initialized to NaN.
PeakChlSet¶
PeakChlSet = 0.0 microgram_per_liter
Peak-chl value detected on a dive.
SyslogGoUp¶
SyslogGoUp = false
Flag of logging "GoUp" in syslog (initialized to false).
SyslogGoDown¶
SyslogGoDown = false
Flag of logging "GoDown" in syslog (initialized to false).
CylinderLat¶
CylinderLat = NaN degree
Latitude of cylinder center. Initialized to NaN.
CylinderLon¶
CylinderLon = NaN degree
Longitude of cylinder center. Initialized to NaN.
CntSamples¶
CntSamples = 1 count
Count of water samples (initilized to 1).
SendDataAllCompleted¶
SendDataAllCompleted = false
Initialized to false.
CallSendData¶
CallSendData = true
Initialized to true.
TouchedDeepBoundSampler¶
TouchedDeepBoundSampler = false
Initialized to false.
TouchedDeepBoundSamplerFlagSet¶
TouchedDeepBoundSamplerFlagSet = false
Initialized to false.
ModemID¶
ModemID = 1 enum
Modem ID. Set to modemId1 or modemId2. Initialized to 1.
Inserts¶
Insert/StandardEnvelopes.tl¶
Insert/AbortDrift.tl¶
redefineArg AcousticTimeout = AcousticTrackingTimeout
Insert/SampleAtDepth.tl¶
redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth
Insert/Science.tl¶
redefineArg PeakDetectChlActive = SampleAtPeakChl
redefineArg HighestChlPeakReportActive = FindHighChlLocation
redefineArg LowPassWindowLength = LPWindowLength
redefineArg MedianFilterLen = MedianFilterLength
redefineArg NumProfilesSlidingwindow = NumberOfProfilesSlidingwindow
redefineArg PeakShallowBound = ShallowBoundChl
redefineArg PeakDeepBound = DeepBoundChl
redefineArg DepChangeThreshForAttitudeFlip = DepChangeThreshAttitudeFlip