Science/sci2_circle_hotspot.tl¶
Mission ID: sci2_circle_hotspot
Mission Path: Science/sci2_circle_hotspot.tl
(No description)
Arguments¶
MissionTimeout¶
MissionTimeout = 1 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 30 minute
On yo-yo transit to waypoint or yoyo-circling at the hotspot, how often to surface for commumications.
Speed¶
Speed = 1.0 meter_per_second
Vehicle speed when transiting or yoyo-circling at the hotspot.
MaxDepth¶
MaxDepth = 50 meter
Maximum depth for the entire mission.
RudderAngleYoyoCircle¶
RudderAngleYoyoCircle = 5 degree
YoYoMinDepth¶
YoYoMinDepth = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMaxDepth¶
YoYoMaxDepth = 20 meter
Maximum depth while performing the YoYo behavior.
ValidLegDeepThresh¶
ValidLegDeepThresh = NaN meter
Flip-to-ascent depth needs to be deeper than this threshold to be considered a valid leg for peak reporting.
Lat1¶
Lat1 = NaN degree
Latitude of waypoint 1. If NaN, skipped.
Lon1¶
Lon1 = NaN degree
Longitude of waypoint 1. If NaN, skipped.
Lat2¶
Lat2 = NaN degree
Latitude of waypoint 2. If NaN, skipped.
Lon2¶
Lon2 = NaN degree
Longitude of waypoint 2. If NaN, skipped.
Lat3¶
Lat3 = NaN degree
Latitude of waypoint 3. If NaN, skipped.
Lon3¶
Lon3 = NaN degree
Longitude of waypoint 3. If NaN, skipped.
Lat4¶
Lat4 = NaN degree
Latitude of waypoint 4. If NaN, skipped.
Lon4¶
Lon4 = NaN degree
Longitude of waypoint 4. If NaN, skipped.
Lat5¶
Lat5 = NaN degree
Latitude of waypoint 5. If NaN, skipped.
Lon5¶
Lon5 = NaN degree
Longitude of waypoint 5. If NaN, skipped.
Lat6¶
Lat6 = NaN degree
Latitude of waypoint 6. If NaN, skipped.
Lon6¶
Lon6 = NaN degree
Longitude of waypoint 6. If NaN, skipped.
Lat7¶
Lat7 = NaN degree
Latitude of waypoint 7. If NaN, skipped.
Lon7¶
Lon7 = NaN degree
Longitude of waypoint 7. If NaN, skipped.
Lat8¶
Lat8 = NaN degree
Latitude of waypoint 8. If NaN, skipped.
Lon8¶
Lon8 = NaN degree
Longitude of waypoint 8. If NaN, skipped.
Lat9¶
Lat9 = NaN degree
Latitude of waypoint 9. If NaN, skipped.
Lon9¶
Lon9 = NaN degree
Longitude of waypoint 9. If NaN, skipped.
Lat10¶
Lat10 = NaN degree
Latitude of waypoint 10. If NaN, skipped.
Lon10¶
Lon10 = NaN degree
Longitude of waypoint 10. If NaN, skipped.
ModemIDDestination¶
ModemIDDestination = 0 enum
ID of destination modem to send acoustic messages to. Defaults to the same as ContactLabel but doesn't have to be the same modem as that being tracked.
NumProfilesAvgPeakDepth¶
NumProfilesAvgPeakDepth = 1 count
Number of yoyo profiles for averaging the max-per-profile peak depths.
PeakDetectChl¶
PeakDetectChl = false
Whether to enable peak chl detection on each yo-yo profile
SendMessageTransitOrNot¶
SendMessageTransitOrNot = true
Whether to report this vehicle's maneuver mode (0 = spiral, 1 = transit) to the other LRAUV.
MsgTransitOrNotPeriod¶
MsgTransitOrNotPeriod = 10 minute
Time interval of sending transit-or-not message to the other LRAUV.
SendPeakDepthAvgProfilesChl¶
SendPeakDepthAvgProfilesChl = false
Whether to report profiles-averaged max-per-profile depth of chlorophyll: _.peakdepth.
ThreshChl¶
ThreshChl = NaN microgram_per_liter
Threshold for qualifying as a hotspot.
PeakDetectPlanktivoreLMavgROI¶
PeakDetectPlanktivoreLMavgROI = false
Whether to enable peak PlanktivoreLMavgROI detection on each yo-yo profile
SendPeakDepthAvgProfilesPlanktivoreLMavgROI¶
SendPeakDepthAvgProfilesPlanktivoreLMavgROI = false
Whether to report profiles-averaged max-per-profile depth of PlanktivoreLMavgROI: _.peakdepth.
ThreshPlanktivoreLMavgROI¶
ThreshPlanktivoreLMavgROI = 10 count_per_second
Threshold for qualifying as a hotspot.
ThreshHighSignalCounts¶
ThreshHighSignalCounts = 1 count
When in transit, if CountsHighSignal exceeds this threshold, exit transit to enter yoyo-circle.
ThreshLowSignalCounts¶
ThreshLowSignalCounts = 1 count
When in yoyo-circle, if CountsLowSignal exceeds this threshold, exit yoyo-circle to run the transit.
ListenToTerminateMissionMsg¶
ListenToTerminateMissionMsg = false
Whether to listen to the _.terminateMission acoustic message.
IntervalRestartLogs¶
IntervalRestartLogs = 24 hour
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
MinAltitude¶
MinAltitude = 7 meter
Minimum altitude for the entire mission.
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.
LowPassWindowLengthVertical¶
LowPassWindowLengthVertical = 20 count
Low-pass window length (based on depth sensor sampling interval 0.4 second) for low-pass filtering.
MaxNumLaps¶
MaxNumLaps = 20 count
Maximum number of laps.
Output¶
PeakDepthAvgOverProfiles¶
PeakDepthAvgOverProfiles = 0 meter
The peak signal depth averaged over NumProfilesAvgPeakDepth of profiles.
InTransit¶
InTransit = true
Initialized to true
InYoyoCircle¶
InYoyoCircle = false
Initialized to false
CountsHighSignal¶
CountsHighSignal = 0 count
CountsLowSignal¶
CountsLowSignal = 0 count
WaypointReached1¶
WaypointReached1 = false
Initialized to false
WaypointReached2¶
WaypointReached2 = false
Initialized to false
WaypointReached3¶
WaypointReached3 = false
Initialized to false
WaypointReached4¶
WaypointReached4 = false
Initialized to false
WaypointReached5¶
WaypointReached5 = false
Initialized to false
WaypointReached6¶
WaypointReached6 = false
Initialized to false
WaypointReached7¶
WaypointReached7 = false
Initialized to false
WaypointReached8¶
WaypointReached8 = false
Initialized to false
WaypointReached9¶
WaypointReached9 = false
Initialized to false
WaypointReached10¶
WaypointReached10 = false
Initialized to false
ElapsedSinceLastMsgTransitOrNot¶
ElapsedSinceLastMsgTransitOrNot = 0 hour
Inserts¶
Insert/NeedComms.tl¶
Insert/StandardEnvelopes.tl¶
Insert/BackseatDriver.tl¶
Insert/PowerOnly.tl¶
Insert/TerminateMissionByMsg.tl¶
Insert/Science.tl¶
redefineArg PeakDetectChlActive = PeakDetectChl
redefineArg PeakDepthAvgProfilesChlActive = SendPeakDepthAvgProfilesChl
redefineArg PeakDetectPlanktivoreLMavgROIActive = PeakDetectPlanktivoreLMavgROI
redefineArg PeakDepthAvgProfilesPlanktivoreLMavgROIActive = SendPeakDepthAvgProfilesPlanktivoreLMavgROI
redefineArg LowPassWindowLength = LowPassWindowLengthVertical
redefineArg FilterWidthHorizontal = NumProfilesAvgPeakDepth
redefineArg ShallowBound = YoYoMinDepth
redefineArg DeepBound = YoYoMaxDepth
redefineArg DeepThreshValidLeg = ValidLegDeepThresh