Science/mapPatch.xml¶
Mission ID: mapPatch
Mission Path: Science/mapPatch.xml
Vehicle yo-yos with patch detect enabled for oil concentration. NOTE: oil concentrations may vary strongly with depth! Suggested settings for simulaton: Config/sim/[username]/Simulator.cfg: oceanModelData = "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3"; eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; // vel x wrto LV Config/sim/[username]/workSite.cfg: initLat = 71.2225805280196 arcdeg; // Initial latitude initLon = -163.5093252100575 arcdeg; // Initial longitude Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool; WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool; WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial = "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7 1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count; WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count; WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count; WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb; WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count; WetLabsSeaOWL_UV_A.darkCountsChl = 50 count; WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l; WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count; WetLabsSeaOWL_UV_A.darkCountsOil = 50 count; WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts = "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM";
Arguments¶
MissionTimeout¶
MissionTimeout = 12 hour
Timeout for the entire mission
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
CommsAtMissionStart¶
CommsAtMissionStart = true
Whether to do comms at start of mission.
PeakDetectChl¶
PeakDetectChl = false
Chlorophyll patch mapping.
PeakDetectSalinity¶
PeakDetectSalinity = false
Salinity patch mapping.
PeakDetectOil¶
PeakDetectOil = true
Oil patch mapping.
DetectTheTrough¶
DetectTheTrough = false
Whether to track a trough. If false, track peak; if true, track trough. Default is false.
MinAltitude¶
MinAltitude = 5 meter
Minimum altitude for the entire mission.
MaxDepth¶
MaxDepth = 50 meter
Maximum depth for the entire mission.
MinWaterDepth¶
MinWaterDepth = 10 meter
Minimum water depth for the entire mission.
MinOffshore¶
MinOffshore = 2000 meter
Minimum offshore distance for the entire mission.
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.
NeedCommsTimeInTransit¶
NeedCommsTimeInTransit = 60 minute
Maximum time between surfacings for communications during transit
NeedCommsTimePatchMapping¶
NeedCommsTimePatchMapping = 60 minute
Maximum time between surfacings for communications during patch mapping. This is checked only on every NumRoundsBtnCrossLegSurfacings rounds of CrossLeg or every NumRoundsBtnInLegSurfacings InLeg.
ElapsedTimeSinceLastGPSForCheckingOutsidePolygon¶
ElapsedTimeSinceLastGPSForCheckingOutsidePolygon = 60 minute
Check whether vehicle is outside of polygon only after the elapsed time since last GPS is greater than this parameter.
CheckNaNTimeout¶
CheckNaNTimeout = 10 minute
If the patch peak value is NaN by this time, stop mission.
TimePastOffPeakThreshold¶
TimePastOffPeakThreshold = 60 minute
Time to swim past off-peak threshold point, in order to cover low-value regions.
WaitAfterHittingWall¶
WaitAfterHittingWall = 3 minute
After the vehicle bounces off the boundary (defined by the shortest distance to polygon sides), wait this long before re-checking the distance.
LatPatchMappingStart¶
LatPatchMappingStart = NaN degree
Latitude of patch mapping start location. If nan, transit is skipped.
LonPatchMappingStart¶
LonPatchMappingStart = NaN degree
Longitude of patch mapping start location. If nan, transit is skipped.
Repeat¶
Repeat = 100 count
Maximum number of legs. Set to a large number.
WpMaxDistance¶
WpMaxDistance = 4000 meter
Maximum length of each mapping leg
WpTimeoutBase¶
WpTimeoutBase = 4000 second
Maximum duration of each mapping leg
TransitYoYoMinDepth¶
TransitYoYoMinDepth = 2 meter
Minimum depth while performing the YoYo behavior during transit.
TransitYoYoMaxDepth¶
TransitYoYoMaxDepth = 30 meter
Maximum depth while performing the YoYo behavior during transit.
PatchMappingYoYoMinDepth¶
PatchMappingYoYoMinDepth = 0.3 meter
Minimum depth while performing the YoYo behavior during patch mapping.
PatchMappingYoYoMaxDepth¶
PatchMappingYoYoMaxDepth = 10 meter
Maximum depth while performing the YoYo behavior during patch mapping.
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.
PeakShallowBnd¶
PeakShallowBnd = 0.3 meter
Shallow depth bound for detecting peak on each descent or ascent profile.
PeakDeepBnd¶
PeakDeepBnd = 10 meter
Deep depth bound for detecting peak on each descent or ascent profile.
BeginThresholdChl¶
BeginThresholdChl = 1.0 microgram_per_liter
If non-NaN, sets chlorophyll threshold for starting horizontal patch detection
BeginThresholdSalt¶
BeginThresholdSalt = 33.0 psu
If non-NaN, sets salinity threshold for starting horizontal patch detection
BeginThresholdOil¶
BeginThresholdOil = 0.1 kilogram_per_cubic_meter
If non-NaN, sets threshold for starting horizontal patch detection
Side0InwardDirection¶
Side0InwardDirection = 180 degree
Inward direction of polygon side 0.
Side1InwardDirection¶
Side1InwardDirection = 270 degree
Inward direction of polygon side 1.
Side2InwardDirection¶
Side2InwardDirection = 0 degree
Inward direction of polygon side 2.
Side3InwardDirection¶
Side3InwardDirection = 90 degree
Inward direction of polygon side 3.
Side4InwardDirection¶
Side4InwardDirection = NaN degree
Inward direction of polygon side 4.
Side5InwardDirection¶
Side5InwardDirection = NaN degree
Inward direction of polygon side 5.
Side6InwardDirection¶
Side6InwardDirection = NaN degree
Inward direction of polygon side 6.
Side7InwardDirection¶
Side7InwardDirection = NaN degree
Inward direction of polygon side 7.
WpBearing¶
WpBearing = 30 degree
Bearing being followed in the current leg. Set this to initialize start direction of patch mapping.
OffPeakFraction¶
OffPeakFraction = 10 percent
When filtered horizontal value is this fraction of the peak, consider it outside the patch.
DetectionTimeout¶
DetectionTimeout = 30 minute
Look for signal for this long. If none found within this timeout, switch to the next leg.
TimeWindowPeakRpt¶
TimeWindowPeakRpt = NaN minute
If greater than zero, report a peak every such time window has elapsed. If NaN or zero, this variable is ignored.
LowPassWindowLen¶
LowPassWindowLen = 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.
NumOfProfilesSlidingwindow¶
NumOfProfilesSlidingwindow = 50 count
Length of horizontal sliding window. The highest per-yoyo peak (after low-pass filtering by a filter of length FilterWidthHorizontal) is picked out within this window.
FilterWidthHorizontal¶
FilterWidthHorizontal = 4 count
Width of boxcar filter used in horizontal patch detection
DepChangeThreshAttitudeFlip¶
DepChangeThreshAttitudeFlip = 2.0 meter
Depth change threshold for determining vehicle attitude flip.
WaterFrame¶
WaterFrame = true
Set WaterFrame true to drive towards waypoints in the water frame of reference
PatchMode¶
PatchMode = false
If true, use center of "in peak" range as the turn-around point. If false use maximum horizontal peak location as the turn-around point.
TurnAngleBase¶
TurnAngleBase = 120 degree
Zigzag turn angle.
Reverse¶
Reverse = 180 degree
Change in bearing which reverses vehicle direction
MassDefault¶
MassDefault = Control:VerticalControl.massDefault
Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file.
BuoyancyNeutral¶
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file.
Output¶
AngleDifference¶
AngleDifference = NaN degree
TwoPi¶
TwoPi = 360 degree
Applied to stop run-up of angles
PeakFoundNotContinuedFlightLowEnabled¶
PeakFoundNotContinuedFlightLowEnabled = true
Initialized to True.
PeakFoundNotContinuedFlightHighEnabled¶
PeakFoundNotContinuedFlightHighEnabled = true
Initialized to True.
PeakFoundContinuedFlightLowEnabled¶
PeakFoundContinuedFlightLowEnabled = true
Initialized to True.
PeakFoundContinuedFlightHighEnabled¶
PeakFoundContinuedFlightHighEnabled = true
Initialized to True.
LegNotContinuedFlightEnabled¶
LegNotContinuedFlightEnabled = true
Initialized to True.
LegContinuedFlightLowEnabled¶
LegContinuedFlightLowEnabled = true
Initialized to True.
LegContinuedFlightHighEnabled¶
LegContinuedFlightHighEnabled = true
Initialized to True.
PatchDetectOn¶
PatchDetectOn = true
Mission sets this to true when looking for the patch peak. Initialized to True.
ZigDone¶
ZigDone = false
Mission sets this to true when the zig transect has been completed. Initialized to False.
LegContinuedFlight¶
LegContinuedFlight = false
Initialized to False.
MissionStartCommsCompleted¶
MissionStartCommsCompleted = false
Initialized to False.
Turn¶
Turn = NaN degree
Initialized to NaN.
WpBearingAfterLastWallHit¶
WpBearingAfterLastWallHit = NaN degree
Initialized to NaN.
WpTimeout¶
WpTimeout = NaN second
Initialized to NaN.
SideLastHit¶
SideLastHit = NaN count
PatchPeakChl¶
PatchPeakChl = NaN microgram_per_liter
PatchPeakChlPriorToContinuedFlight¶
PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter
PatchPeakSalinity¶
PatchPeakSalinity = NaN psu
PatchPeakSalinityPriorToContinuedFlight¶
PatchPeakSalinityPriorToContinuedFlight = NaN psu
PatchPeakOil¶
PatchPeakOil = NaN kilogram_per_cubic_meter
PatchPeakOilPriorToContinuedFlight¶
PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter
PatchPeakDepth¶
PatchPeakDepth = NaN meter
PatchPeakLatitude¶
PatchPeakLatitude = NaN degree
PatchPeakLongitude¶
PatchPeakLongitude = NaN degree
PatchPeakDistance¶
PatchPeakDistance = 0 meter
StoppedForNaNPatchPeak¶
StoppedForNaNPatchPeak = false
Mission stopped because patch peak value is NaN. Initialized to False.
StoppedPolygonNotDefined¶
StoppedPolygonNotDefined = false
Mission stopped because the bounding polygon is not defined. Initialized to False.
StoppedForBeingOutsideOfPolygon¶
StoppedForBeingOutsideOfPolygon = false
Mission stopped because the vehicle is outside of the polygon. Initialized to False.
ElapsedSinceStart¶
ElapsedSinceStart = 0 hour
The mission sets this variable to reset the timer.
ElapsedSinceLastTurn¶
ElapsedSinceLastTurn = 0 hour
The mission sets this variable to reset the timer.
ElapsedSinceEndOfTransit¶
ElapsedSinceEndOfTransit = 0 hour
The mission sets this variable to reset the timer.
Inserts¶
Insert/NeedComms.tl¶
Insert/Science.tl¶
redefineArg PeakDetectChlActive = PeakDetectChl
redefineArg PeakDetectSalinityActive = PeakDetectSalinity
redefineArg PeakDetectOilActive = PeakDetectOil
redefineArg DetectTrough = DetectTheTrough
redefineArg TimeWindowPeakReport = TimeWindowPeakRpt
redefineArg LowPassWindowLength = LowPassWindowLen
redefineArg MedianFilterLen = MedianFilterLength
redefineArg PeakShallowBound = PeakShallowBnd
redefineArg PeakDeepBound = PeakDeepBnd
redefineArg DepChangeThreshForAttitudeFlip = DepChangeThreshAttitudeFlip