Science/sci2_peak_layer_yoyo.tl¶
Mission ID: sci2_peak_layer_yoyo
Mission Path: Science/sci2_peak_layer_yoyo.tl
Vehicle yo-yo's to the specified waypoints, with science turned on.
Arguments¶
MissionTimeout¶
MissionTimeout = 2 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 60 minute
How often to surface for communications
Repeat¶
Repeat = 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.
Lon1¶
Lon1 = NaN degree
Longitude of waypoint 1. If nan, waypoint is skipped.
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.
Lat5¶
Lat5 = NaN degree
Latitude of waypoint 5. If nan, waypoint is skipped.
Lon5¶
Lon5 = NaN degree
Longitude of waypoint 5. If nan, waypoint is skipped.
Lat6¶
Lat6 = NaN degree
Latitude of waypoint 6. If nan, waypoint is skipped.
Lon6¶
Lon6 = NaN degree
Longitude of waypoint 6. If nan, waypoint is skipped.
Lat7¶
Lat7 = NaN degree
Latitude of waypoint 7. If nan, waypoint is skipped.
Lon7¶
Lon7 = NaN degree
Longitude of waypoint 7. If nan, waypoint is skipped.
Speed¶
Speed = 1 meter_per_second
Speed while performing the YoYo behavior.
YoYoMinDepth1¶
YoYoMinDepth1 = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMinDepth2¶
YoYoMinDepth2 = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMinDepth3¶
YoYoMinDepth3 = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMinDepth4¶
YoYoMinDepth4 = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMinDepth5¶
YoYoMinDepth5 = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMinDepth6¶
YoYoMinDepth6 = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMinDepth7¶
YoYoMinDepth7 = 2 meter
Minimum depth while performing the YoYo behavior.
YoYoMaxDepth1¶
YoYoMaxDepth1 = 20 meter
Maximum depth while performing the YoYo behavior.
YoYoMaxDepth2¶
YoYoMaxDepth2 = 20 meter
Maximum depth while performing the YoYo behavior.
YoYoMaxDepth3¶
YoYoMaxDepth3 = 20 meter
Maximum depth while performing the YoYo behavior.
YoYoMaxDepth4¶
YoYoMaxDepth4 = 20 meter
Maximum depth while performing the YoYo behavior.
YoYoMaxDepth5¶
YoYoMaxDepth5 = 20 meter
Maximum depth while performing the YoYo behavior.
YoYoMaxDepth6¶
YoYoMaxDepth6 = 20 meter
Maximum depth while performing the YoYo behavior.
YoYoMaxDepth7¶
YoYoMaxDepth7 = 20 meter
Maximum depth while performing the YoYo behavior.
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.
SurfaceDiveSpeed¶
SurfaceDiveSpeed = NaN meter_per_second
Vehicle speed to get off of surface, same as speed if skipped
SurfaceThreshold¶
SurfaceThreshold = Control:VerticalControl.surfaceThreshold
Depth at which to return to normal speed, skipped if SurfaceDiveSpeed NaN
YoYoLightTerminate¶
YoYoLightTerminate = false
Set true to terminate dive once PAR value falls below threshold.
YoYoLightTerminateThreshold¶
YoYoLightTerminateThreshold = 0.1 micromole_per_second_per_square_meter
Threshold of PAR output at which pitch command will flip positive if vehicle is pitched down.
EdgeDetectChl¶
EdgeDetectChl = true
Whether to enable chl edge detection on each yo-yo profile
EdgeDetectPlanktivoreLMavgROI¶
EdgeDetectPlanktivoreLMavgROI = false
Whether to enable PlanktivoreLMavgROI edge detection on each yo-yo profile
EdgeDetectPlanktivoreHMavgROI¶
EdgeDetectPlanktivoreHMavgROI = false
Whether to enable PlanktivoreHMavgROI edge detection on each yo-yo profile
EdgeDetectPlanktivoreDiatoms¶
EdgeDetectPlanktivoreDiatoms = false
Whether to enable PlanktivoreDiatoms edge detection on each yo-yo profile
EdgeDetectPlanktivoreDinoflagellates¶
EdgeDetectPlanktivoreDinoflagellates = false
Whether to enable PlanktivoreDinoflagellates edge detection on each yo-yo profile
ChlThreshTrigger¶
ChlThreshTrigger = false
Whether to enable chl threshold triggering
ChlLowerThreshold¶
ChlLowerThreshold = NaN microgram_per_liter
Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChllowerThreshold is ignored if NaN.
ChlUpperThreshold¶
ChlUpperThreshold = NaN microgram_per_liter
Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
ChlPeakThreshold¶
ChlPeakThreshold = 2 microgram_per_liter
In vertical-dimension edge detection, threshold for qualifying as a peak.
PlanktivoreLMavgROIPeakThreshold¶
PlanktivoreLMavgROIPeakThreshold = 0 count_per_second
In vertical-dimension edge detection, threshold for qualifying as an peak.
PlanktivoreHMavgROIPeakThreshold¶
PlanktivoreHMavgROIPeakThreshold = 0 count_per_second
In vertical-dimension edge detection, threshold for qualifying as an peak.
PlanktivoreDiatomsPeakThreshold¶
PlanktivoreDiatomsPeakThreshold = 0 count_per_milliliter
In vertical-dimension edge detection, threshold for qualifying as an peak.
PlanktivoreDinoflagellatesPeakThreshold¶
PlanktivoreDinoflagellatesPeakThreshold = 0 count_per_milliliter
In vertical-dimension edge detection, threshold for qualifying as an peak.
NumLayers¶
NumLayers = 1 count
Expected number of high-signal layers.
VerticalOffPeakFractionAscent¶
VerticalOffPeakFractionAscent = 50 percent
When the filtered signal falls below this fraction of the peak when vehicle is on ascent, edge is detected.
VerticalOffPeakFractionDescent¶
VerticalOffPeakFractionDescent = 50 percent
When the filtered signal falls below this fraction of the peak when vehicle is on Descent, edge is detected.
NumProfilesThreshold¶
NumProfilesThreshold = 5 count
Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
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
MinAltitude¶
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 50 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
IntervalRestartLogs¶
IntervalRestartLogs = 24 hour
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 EdgeDetectChlActive = EdgeDetectChl
redefineArg EdgeDetectPlanktivoreLMavgROIActive = EdgeDetectPlanktivoreLMavgROI
redefineArg EdgeDetectPlanktivoreHMavgROIActive = EdgeDetectPlanktivoreHMavgROI
redefineArg EdgeDetectPlanktivoreDiatomsActive = EdgeDetectPlanktivoreDiatoms
redefineArg EdgeDetectPlanktivoreDinoflagellatesActive = EdgeDetectPlanktivoreDinoflagellates
redefineArg ShallowBound = YoYoMinDepth[1]
redefineArg DeepBound = YoYoMaxDepth[1]
redefineArg ChlThreshTriggerActive = ChlThreshTrigger
redefineArg ChlLowerThresh = ChlLowerThreshold
redefineArg ChlUpperThresh = ChlUpperThreshold
redefineArg NumProfilesThresh = NumProfilesThreshold
redefineArg OffPeakFractionVerticalAscent = VerticalOffPeakFractionAscent
redefineArg OffPeakFractionVerticalDescent = VerticalOffPeakFractionDescent
redefineArg ChlPeakThresh = ChlPeakThreshold
redefineArg PlanktivoreLMavgROIPeakThresh = PlanktivoreLMavgROIPeakThreshold
redefineArg PlanktivoreHMavgROIPeakThresh = PlanktivoreHMavgROIPeakThreshold
redefineArg PlanktivoreDiatomsPeakThresh = PlanktivoreDiatomsPeakThreshold
redefineArg PlanktivoreDinoflagellatesPeakThresh = PlanktivoreDinoflagellatesPeakThreshold
redefineArg NumberOfLayers = NumLayers