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Science/sci2_sampling.tl

Mission ID: sci2_sampling

Mission Path: Science/sci2_sampling.tl

(No description)

Arguments

MissionTimeout

MissionTimeout = 20 hour

Maximum duration of mission

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.

NeedCommsTimeTransit

NeedCommsTimeTransit = 60 minute

On yo-yo transit to waypoint, how often to surface for commumications.

NeedCommsTimeProfileStation

NeedCommsTimeProfileStation = 30 minute

During profile-station at each waypoint, how often to surface for commumications.

NeedCommsTimeSampling

NeedCommsTimeSampling = 60 minute

Set to a very long duration to prevent surfacing during sampling. Note that ESP and sipper sampling times are very different.

SkipCommsWaypoint

SkipCommsWaypoint = true

Skip communications when reaching waypoint. Only surfaces to be prepared to dive to find the peak-signal depth.

SkipCommsEndOfProfileStation

SkipCommsEndOfProfileStation = true

Skip communications when profile-station (if included) is completed. Only surfaces to be prepared to dive to find the peak-signal depth.

ProfileStationAtWaypoint

ProfileStationAtWaypoint = false

Whether to profile-station at each waypoint.

MaxDurationProfileStation

MaxDurationProfileStation = 30 minute

Maximum duration of profile-station at each waypoint.

MaxWaitTimeNoFiring

MaxWaitTimeNoFiring = 0.5 hour

If no firing after more than MaxWaitTimeNoFiring, terminate mission. Note that ESP and sipper sampling times are very different. Also consider wait time between samplings.

MaxWaitTimeNotAchievingDepth

MaxWaitTimeNotAchievingDepth = 0.5 hour

Maximum wait time the vehicle cannot reach the targeted depth.

WaitSendMessage

WaitSendMessage = 2 minute

Wait time for transmitting the terminateMission message to the other LRAUV.

UseAcousticMessageTerminateProfileStation

UseAcousticMessageTerminateProfileStation = false

Whether to use acoustic message to terminate profile-station.

SendSamplingCompleteMessage1

SendSamplingCompleteMessage1 = false

Whether to send sampling-complete message to the other LRAUV.

SendSamplingCompleteMessage2

SendSamplingCompleteMessage2 = false

Whether to send sampling-complete message to the other LRAUV.

SendSamplingCompleteMessage3

SendSamplingCompleteMessage3 = false

Whether to send sampling-complete message to the other LRAUV.

SendSamplingCompleteMessage4

SendSamplingCompleteMessage4 = false

Whether to send sampling-complete message to the other LRAUV.

SendSamplingCompleteMessage5

SendSamplingCompleteMessage5 = false

Whether to send sampling-complete message to the other LRAUV.

SendSamplingCompleteMessage6

SendSamplingCompleteMessage6 = false

Whether to send sampling-complete message to the other LRAUV.

SendSamplingCompleteMessage7

SendSamplingCompleteMessage7 = false

Whether to send sampling-complete message to the other LRAUV.

SendSamplingCompleteMessage8

SendSamplingCompleteMessage8 = false

Whether to send sampling-complete message to the other LRAUV.

SendSamplingCompleteMessage9

SendSamplingCompleteMessage9 = false

Whether to send sampling-complete message to the other LRAUV.

SendSamplingCompleteMessage10

SendSamplingCompleteMessage10 = false

Whether to send sampling-complete message to the other LRAUV.

SendSampleStatusData

SendSampleStatusData = false

Whether to senddata to acoustic modem.

SendSampleDataToMultipleModems

SendSampleDataToMultipleModems = false

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.

SpeedTransit

SpeedTransit = 1.0 meter_per_second

Vehicle speed when transiting.

SpeedOfInitialDive

SpeedOfInitialDive = 1.0 meter_per_second

Vehicle speed during initial dive (for looking for the peak-signal depth). 0.0 for drift mode (prop off); 1.0 for spiral mode (prop on). Initialized to 1 m/s.

SpeedOfSampling

SpeedOfSampling = 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.

SendMessageDepth

SendMessageDepth = 10 meter

Depth for sending the terminateMission message.

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.

TriggerThresholdChl

TriggerThresholdChl = 2 microgram_per_liter

If non-NaN, sets threshold for triggering sampling. Chl value of 2.5 mug/L corresponds to HS2 fluorescence reading of 0.001 on Dorado.

ShallowBound

ShallowBound = 2 meter

Shallow depth bound for chl-peak detection.

DeepBound

DeepBound = 20 meter

Deep depth bound for chl-peak detection.

TransitYoYoMinDepth

TransitYoYoMinDepth = 2 meter

Minimum depth while performing the YoYo behavior.

TransitYoYoMaxDepth

TransitYoYoMaxDepth = 20 meter

Maximum depth while performing the YoYo behavior.

ProfileStationYoYoMinDepth

ProfileStationYoYoMinDepth = 2 meter

Minimum depth while performing the YoYo behavior.

ProfileStationYoYoMaxDepth

ProfileStationYoYoMaxDepth = 20 meter

Maximum depth while performing the YoYo behavior.

ProfileStationRadius

ProfileStationRadius = 30 meter

Radius to circle around the waypoint.

YoYoMinAltitude

YoYoMinAltitude = 9 meter

Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).

WaitTimeDepUndulationCommon

WaitTimeDepUndulationCommon = 1.0 minute

Value common to all samples unless set differently: Wait duration for the depth undulation to damp down.

CartridgeTypeCommon

CartridgeTypeCommon = -6 count

Value common to all samples unless set diffently: cartridge type.

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.

NumSamplersLocation1

NumSamplersLocation1 = 1 count

Number of ESP cartridges or CANON samplers. Set to 0 to disable sampling.

NumSamplersLocation2

NumSamplersLocation2 = 1 count

Number of ESP cartridges or CANON samplers. Set to 0 to disable sampling.

NumSamplersLocation3

NumSamplersLocation3 = 1 count

Number of ESP cartridges or CANON samplers. Set to 0 to disable sampling.

NumSamplersLocation4

NumSamplersLocation4 = 1 count

Number of ESP cartridges or CANON samplers. Set to 0 to disable sampling.

NumSamplersLocation5

NumSamplersLocation5 = 1 count

Number of ESP cartridges or CANON samplers. Set to 0 to disable sampling.

NumSamplersLocation6

NumSamplersLocation6 = 1 count

Number of ESP cartridges or CANON samplers. Set to 0 to disable sampling.

NumSamplersLocation7

NumSamplersLocation7 = 1 count

Number of ESP cartridges or CANON samplers. Set to 0 to disable sampling.

NumSamplersLocation8

NumSamplersLocation8 = 1 count

Number of ESP cartridges or CANON samplers. Set to 0 to disable sampling.

NumSamplersLocation9

NumSamplersLocation9 = 1 count

Number of ESP cartridges or CANON samplers. Set to 0 to disable sampling.

NumSamplersLocation10

NumSamplersLocation10 = 1 count

Number of ESP cartridges or CANON samplers. Set to 0 to disable sampling.

SampleAtPeakChlLocation1

SampleAtPeakChlLocation1 = true

SampleAtPeakChlLocation2

SampleAtPeakChlLocation2 = true

SampleAtPeakChlLocation3

SampleAtPeakChlLocation3 = true

SampleAtPeakChlLocation4

SampleAtPeakChlLocation4 = true

SampleAtPeakChlLocation5

SampleAtPeakChlLocation5 = true

SampleAtPeakChlLocation6

SampleAtPeakChlLocation6 = true

SampleAtPeakChlLocation7

SampleAtPeakChlLocation7 = true

SampleAtPeakChlLocation8

SampleAtPeakChlLocation8 = true

SampleAtPeakChlLocation9

SampleAtPeakChlLocation9 = true

SampleAtPeakChlLocation10

SampleAtPeakChlLocation10 = true

SampleAtPeakPlanktivoreLMavgROILocation1

SampleAtPeakPlanktivoreLMavgROILocation1 = false

SampleAtPeakPlanktivoreLMavgROILocation2

SampleAtPeakPlanktivoreLMavgROILocation2 = false

SampleAtPeakPlanktivoreLMavgROILocation3

SampleAtPeakPlanktivoreLMavgROILocation3 = false

SampleAtPeakPlanktivoreLMavgROILocation4

SampleAtPeakPlanktivoreLMavgROILocation4 = false

SampleAtPeakPlanktivoreLMavgROILocation5

SampleAtPeakPlanktivoreLMavgROILocation5 = false

SampleAtPeakPlanktivoreLMavgROILocation6

SampleAtPeakPlanktivoreLMavgROILocation6 = false

SampleAtPeakPlanktivoreLMavgROILocation7

SampleAtPeakPlanktivoreLMavgROILocation7 = false

SampleAtPeakPlanktivoreLMavgROILocation8

SampleAtPeakPlanktivoreLMavgROILocation8 = false

SampleAtPeakPlanktivoreLMavgROILocation9

SampleAtPeakPlanktivoreLMavgROILocation9 = false

SampleAtPeakPlanktivoreLMavgROILocation10

SampleAtPeakPlanktivoreLMavgROILocation10 = false

SampleAtPeakPlanktivoreHMavgROILocation1

SampleAtPeakPlanktivoreHMavgROILocation1 = false

SampleAtPeakPlanktivoreHMavgROILocation2

SampleAtPeakPlanktivoreHMavgROILocation2 = false

SampleAtPeakPlanktivoreHMavgROILocation3

SampleAtPeakPlanktivoreHMavgROILocation3 = false

SampleAtPeakPlanktivoreHMavgROILocation4

SampleAtPeakPlanktivoreHMavgROILocation4 = false

SampleAtPeakPlanktivoreHMavgROILocation5

SampleAtPeakPlanktivoreHMavgROILocation5 = false

SampleAtPeakPlanktivoreHMavgROILocation6

SampleAtPeakPlanktivoreHMavgROILocation6 = false

SampleAtPeakPlanktivoreHMavgROILocation7

SampleAtPeakPlanktivoreHMavgROILocation7 = false

SampleAtPeakPlanktivoreHMavgROILocation8

SampleAtPeakPlanktivoreHMavgROILocation8 = false

SampleAtPeakPlanktivoreHMavgROILocation9

SampleAtPeakPlanktivoreHMavgROILocation9 = false

SampleAtPeakPlanktivoreHMavgROILocation10

SampleAtPeakPlanktivoreHMavgROILocation10 = false

SampleAtPeakPlanktivoreDiatomsLocation1

SampleAtPeakPlanktivoreDiatomsLocation1 = false

SampleAtPeakPlanktivoreDiatomsLocation2

SampleAtPeakPlanktivoreDiatomsLocation2 = false

SampleAtPeakPlanktivoreDiatomsLocation3

SampleAtPeakPlanktivoreDiatomsLocation3 = false

SampleAtPeakPlanktivoreDiatomsLocation4

SampleAtPeakPlanktivoreDiatomsLocation4 = false

SampleAtPeakPlanktivoreDiatomsLocation5

SampleAtPeakPlanktivoreDiatomsLocation5 = false

SampleAtPeakPlanktivoreDiatomsLocation6

SampleAtPeakPlanktivoreDiatomsLocation6 = false

SampleAtPeakPlanktivoreDiatomsLocation7

SampleAtPeakPlanktivoreDiatomsLocation7 = false

SampleAtPeakPlanktivoreDiatomsLocation8

SampleAtPeakPlanktivoreDiatomsLocation8 = false

SampleAtPeakPlanktivoreDiatomsLocation9

SampleAtPeakPlanktivoreDiatomsLocation9 = false

SampleAtPeakPlanktivoreDiatomsLocation10

SampleAtPeakPlanktivoreDiatomsLocation10 = false

SampleAtPeakPlanktivoreDinoflagellatesLocation1

SampleAtPeakPlanktivoreDinoflagellatesLocation1 = false

SampleAtPeakPlanktivoreDinoflagellatesLocation2

SampleAtPeakPlanktivoreDinoflagellatesLocation2 = false

SampleAtPeakPlanktivoreDinoflagellatesLocation3

SampleAtPeakPlanktivoreDinoflagellatesLocation3 = false

SampleAtPeakPlanktivoreDinoflagellatesLocation4

SampleAtPeakPlanktivoreDinoflagellatesLocation4 = false

SampleAtPeakPlanktivoreDinoflagellatesLocation5

SampleAtPeakPlanktivoreDinoflagellatesLocation5 = false

SampleAtPeakPlanktivoreDinoflagellatesLocation6

SampleAtPeakPlanktivoreDinoflagellatesLocation6 = false

SampleAtPeakPlanktivoreDinoflagellatesLocation7

SampleAtPeakPlanktivoreDinoflagellatesLocation7 = false

SampleAtPeakPlanktivoreDinoflagellatesLocation8

SampleAtPeakPlanktivoreDinoflagellatesLocation8 = false

SampleAtPeakPlanktivoreDinoflagellatesLocation9

SampleAtPeakPlanktivoreDinoflagellatesLocation9 = false

SampleAtPeakPlanktivoreDinoflagellatesLocation10

SampleAtPeakPlanktivoreDinoflagellatesLocation10 = false

CartridgeType1Location1

CartridgeType1Location1 = NaN count

CartridgeType1Location2

CartridgeType1Location2 = NaN count

CartridgeType1Location3

CartridgeType1Location3 = NaN count

CartridgeType1Location4

CartridgeType1Location4 = NaN count

CartridgeType1Location5

CartridgeType1Location5 = NaN count

CartridgeType1Location6

CartridgeType1Location6 = NaN count

CartridgeType1Location7

CartridgeType1Location7 = NaN count

CartridgeType1Location8

CartridgeType1Location8 = NaN count

CartridgeType1Location9

CartridgeType1Location9 = NaN count

CartridgeType1Location10

CartridgeType1Location10 = NaN count

CartridgeType2Location1

CartridgeType2Location1 = NaN count

CartridgeType2Location2

CartridgeType2Location2 = NaN count

CartridgeType2Location3

CartridgeType2Location3 = NaN count

CartridgeType2Location4

CartridgeType2Location4 = NaN count

CartridgeType2Location5

CartridgeType2Location5 = NaN count

CartridgeType2Location6

CartridgeType2Location6 = NaN count

CartridgeType2Location7

CartridgeType2Location7 = NaN count

CartridgeType2Location8

CartridgeType2Location8 = NaN count

CartridgeType2Location9

CartridgeType2Location9 = NaN count

CartridgeType2Location10

CartridgeType2Location10 = NaN count

CartridgeType3Location1

CartridgeType3Location1 = NaN count

CartridgeType3Location2

CartridgeType3Location2 = NaN count

CartridgeType3Location3

CartridgeType3Location3 = NaN count

CartridgeType3Location4

CartridgeType3Location4 = NaN count

CartridgeType3Location5

CartridgeType3Location5 = NaN count

CartridgeType3Location6

CartridgeType3Location6 = NaN count

CartridgeType3Location7

CartridgeType3Location7 = NaN count

CartridgeType3Location8

CartridgeType3Location8 = NaN count

CartridgeType3Location9

CartridgeType3Location9 = NaN count

CartridgeType3Location10

CartridgeType3Location10 = NaN count

CartridgeType4Location1

CartridgeType4Location1 = NaN count

CartridgeType4Location2

CartridgeType4Location2 = NaN count

CartridgeType4Location3

CartridgeType4Location3 = NaN count

CartridgeType4Location4

CartridgeType4Location4 = NaN count

CartridgeType4Location5

CartridgeType4Location5 = NaN count

CartridgeType4Location6

CartridgeType4Location6 = NaN count

CartridgeType4Location7

CartridgeType4Location7 = NaN count

CartridgeType4Location8

CartridgeType4Location8 = NaN count

CartridgeType4Location9

CartridgeType4Location9 = NaN count

CartridgeType4Location10

CartridgeType4Location10 = NaN count

CartridgeType5Location1

CartridgeType5Location1 = NaN count

CartridgeType5Location2

CartridgeType5Location2 = NaN count

CartridgeType5Location3

CartridgeType5Location3 = NaN count

CartridgeType5Location4

CartridgeType5Location4 = NaN count

CartridgeType5Location5

CartridgeType5Location5 = NaN count

CartridgeType5Location6

CartridgeType5Location6 = NaN count

CartridgeType5Location7

CartridgeType5Location7 = NaN count

CartridgeType5Location8

CartridgeType5Location8 = NaN count

CartridgeType5Location9

CartridgeType5Location9 = NaN count

CartridgeType5Location10

CartridgeType5Location10 = NaN count

CartridgeType6Location1

CartridgeType6Location1 = NaN count

CartridgeType6Location2

CartridgeType6Location2 = NaN count

CartridgeType6Location3

CartridgeType6Location3 = NaN count

CartridgeType6Location4

CartridgeType6Location4 = NaN count

CartridgeType6Location5

CartridgeType6Location5 = NaN count

CartridgeType6Location6

CartridgeType6Location6 = NaN count

CartridgeType6Location7

CartridgeType6Location7 = NaN count

CartridgeType6Location8

CartridgeType6Location8 = NaN count

CartridgeType6Location9

CartridgeType6Location9 = NaN count

CartridgeType6Location10

CartridgeType6Location10 = NaN count

CartridgeType7Location1

CartridgeType7Location1 = NaN count

CartridgeType7Location2

CartridgeType7Location2 = NaN count

CartridgeType7Location3

CartridgeType7Location3 = NaN count

CartridgeType7Location4

CartridgeType7Location4 = NaN count

CartridgeType7Location5

CartridgeType7Location5 = NaN count

CartridgeType7Location6

CartridgeType7Location6 = NaN count

CartridgeType7Location7

CartridgeType7Location7 = NaN count

CartridgeType7Location8

CartridgeType7Location8 = NaN count

CartridgeType7Location9

CartridgeType7Location9 = NaN count

CartridgeType7Location10

CartridgeType7Location10 = NaN count

CartridgeType8Location1

CartridgeType8Location1 = NaN count

CartridgeType8Location2

CartridgeType8Location2 = NaN count

CartridgeType8Location3

CartridgeType8Location3 = NaN count

CartridgeType8Location4

CartridgeType8Location4 = NaN count

CartridgeType8Location5

CartridgeType8Location5 = NaN count

CartridgeType8Location6

CartridgeType8Location6 = NaN count

CartridgeType8Location7

CartridgeType8Location7 = NaN count

CartridgeType8Location8

CartridgeType8Location8 = NaN count

CartridgeType8Location9

CartridgeType8Location9 = NaN count

CartridgeType8Location10

CartridgeType8Location10 = NaN count

CartridgeType9Location1

CartridgeType9Location1 = NaN count

CartridgeType9Location2

CartridgeType9Location2 = NaN count

CartridgeType9Location3

CartridgeType9Location3 = NaN count

CartridgeType9Location4

CartridgeType9Location4 = NaN count

CartridgeType9Location5

CartridgeType9Location5 = NaN count

CartridgeType9Location6

CartridgeType9Location6 = NaN count

CartridgeType9Location7

CartridgeType9Location7 = NaN count

CartridgeType9Location8

CartridgeType9Location8 = NaN count

CartridgeType9Location9

CartridgeType9Location9 = NaN count

CartridgeType9Location10

CartridgeType9Location10 = NaN count

CartridgeType10Location1

CartridgeType10Location1 = NaN count

CartridgeType10Location2

CartridgeType10Location2 = NaN count

CartridgeType10Location3

CartridgeType10Location3 = NaN count

CartridgeType10Location4

CartridgeType10Location4 = NaN count

CartridgeType10Location5

CartridgeType10Location5 = NaN count

CartridgeType10Location6

CartridgeType10Location6 = NaN count

CartridgeType10Location7

CartridgeType10Location7 = NaN count

CartridgeType10Location8

CartridgeType10Location8 = NaN count

CartridgeType10Location9

CartridgeType10Location9 = NaN count

CartridgeType10Location10

CartridgeType10Location10 = NaN count

DepDiffFromPeakLocation1

DepDiffFromPeakLocation1 = 0 meter

DepDiffFromPeakLocation2

DepDiffFromPeakLocation2 = 0 meter

DepDiffFromPeakLocation3

DepDiffFromPeakLocation3 = 0 meter

DepDiffFromPeakLocation4

DepDiffFromPeakLocation4 = 0 meter

DepDiffFromPeakLocation5

DepDiffFromPeakLocation5 = 0 meter

DepDiffFromPeakLocation6

DepDiffFromPeakLocation6 = 0 meter

DepDiffFromPeakLocation7

DepDiffFromPeakLocation7 = 0 meter

DepDiffFromPeakLocation8

DepDiffFromPeakLocation8 = 0 meter

DepDiffFromPeakLocation9

DepDiffFromPeakLocation9 = 0 meter

DepDiffFromPeakLocation10

DepDiffFromPeakLocation10 = 0 meter

DepLocation1

DepLocation1 = NaN meter

DepLocation2

DepLocation2 = NaN meter

DepLocation3

DepLocation3 = NaN meter

DepLocation4

DepLocation4 = NaN meter

DepLocation5

DepLocation5 = NaN meter

DepLocation6

DepLocation6 = NaN meter

DepLocation7

DepLocation7 = NaN meter

DepLocation8

DepLocation8 = NaN meter

DepLocation9

DepLocation9 = NaN meter

DepLocation10

DepLocation10 = NaN meter

TempDiffFromPeakLocation1

TempDiffFromPeakLocation1 = NaN kelvin

TempDiffFromPeakLocation2

TempDiffFromPeakLocation2 = NaN kelvin

TempDiffFromPeakLocation3

TempDiffFromPeakLocation3 = NaN kelvin

TempDiffFromPeakLocation4

TempDiffFromPeakLocation4 = NaN kelvin

TempDiffFromPeakLocation5

TempDiffFromPeakLocation5 = NaN kelvin

TempDiffFromPeakLocation6

TempDiffFromPeakLocation6 = NaN kelvin

TempDiffFromPeakLocation7

TempDiffFromPeakLocation7 = NaN kelvin

TempDiffFromPeakLocation8

TempDiffFromPeakLocation8 = NaN kelvin

TempDiffFromPeakLocation9

TempDiffFromPeakLocation9 = NaN kelvin

TempDiffFromPeakLocation10

TempDiffFromPeakLocation10 = NaN kelvin

TempLocation1

TempLocation1 = NaN celsius

TempLocation2

TempLocation2 = NaN celsius

TempLocation3

TempLocation3 = NaN celsius

TempLocation4

TempLocation4 = NaN celsius

TempLocation5

TempLocation5 = NaN celsius

TempLocation6

TempLocation6 = NaN celsius

TempLocation7

TempLocation7 = NaN celsius

TempLocation8

TempLocation8 = NaN celsius

TempLocation9

TempLocation9 = NaN celsius

TempLocation10

TempLocation10 = NaN celsius

WaitTimeDepUndulation1Location1

WaitTimeDepUndulation1Location1 = 5.0 minute

WaitTimeDepUndulation1Location2

WaitTimeDepUndulation1Location2 = 5.0 minute

WaitTimeDepUndulation1Location3

WaitTimeDepUndulation1Location3 = 5.0 minute

WaitTimeDepUndulation1Location4

WaitTimeDepUndulation1Location4 = 5.0 minute

WaitTimeDepUndulation1Location5

WaitTimeDepUndulation1Location5 = 5.0 minute

WaitTimeDepUndulation1Location6

WaitTimeDepUndulation1Location6 = 5.0 minute

WaitTimeDepUndulation1Location7

WaitTimeDepUndulation1Location7 = 5.0 minute

WaitTimeDepUndulation1Location8

WaitTimeDepUndulation1Location8 = 5.0 minute

WaitTimeDepUndulation1Location9

WaitTimeDepUndulation1Location9 = 5.0 minute

WaitTimeDepUndulation1Location10

WaitTimeDepUndulation1Location10 = 5.0 minute

IntervalRestartLogs

IntervalRestartLogs = 24 hour

AscentRate

AscentRate = -0.05 meter_per_second

Go-up depth rate (negative depth rate means going up).

DescentRate

DescentRate = 0.2 meter_per_second

Go-down depth rate (positive depth rate means going down).

LengthOfLPWindow

LengthOfLPWindow = 20 count

Low-pass window length (based on depth sensor sampling interval 0.4 second) for low-pass filtering.

LengthOfMedianFilter

LengthOfMedianFilter = 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.

DurationOfInitialDive

DurationOfInitialDive = 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).

RudderAngleInInitialDive

RudderAngleInInitialDive = -9 degree

Rudder angle in initial spiral-down to leave surface. Initialized to -9 degrees.

RudderAngleInDonutSampling

RudderAngleInDonutSampling = -5 degree

Rudder angle during donut sampling.

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 = DepthChangeThreshAttitudeFlip + 2 meters.

DepthChangeThreshAttitudeFlip

DepthChangeThreshAttitudeFlip = 3 meter

Depth change threshold for determining vehicle attitude flip.

YoYoUpPitch

YoYoUpPitch = 20 degree

Vehicle up pitch while performing the YoYo behavior.

YoYoDownPitch

YoYoDownPitch = -20 degree

Vehicle down pitch while performing the YoYo behavior.

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

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.

CircleMaxError

CircleMaxError = 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.

CircleTurnToPort

CircleTurnToPort = 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.)

Output

SendSampleCompleteMessage

SendSampleCompleteMessage = false

Whether to send sampling-complete message to the other LRAUV. Initialized to false.

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.

ElapsedSinceReachingWpt

ElapsedSinceReachingWpt = 0 hour

OtherLRAUVNearSignalReceived

OtherLRAUVNearSignalReceived = false

TrueVar

TrueVar = true

A True boolean, defined as an arg because you can't directly place values in a call to SendData.

Inserts

Insert/StandardEnvelopes.tl

Insert/AbortDrift.tl

redefineArg AcousticTimeout = AcousticTrackingTimeout

Insert/BackseatDriver.tl

Insert/PowerOnly.tl

Insert/Science.tl

redefineArg LowPassWindowLength = LengthOfLPWindow
redefineArg MedianFilterLen = LengthOfMedianFilter
redefineArg PeakShallowBound = ShallowBound
redefineArg PeakDeepBound = DeepBound
redefineArg DepChangeThreshForAttitudeFlip = DepthChangeThreshAttitudeFlip

Insert/SampleAtPeakDepOrTemp.tl

redefineArg LPWindowLength = LengthOfLPWindow
redefineArg MedianFilterLength = LengthOfMedianFilter
redefineArg Shallowbnd = ShallowBound
redefineArg Deepbnd = DeepBound
redefineArg DepChangeThreshAttitudeFlip = DepthChangeThreshAttitudeFlip
redefineArg MaxWaitNoFiring = MaxWaitTimeNoFiring
redefineArg MaxWaitNotAchievingDepth = MaxWaitTimeNotAchievingDepth
redefineArg SendSampleStatusAndData = SendSampleStatusData
redefineArg SendDataToMultipleModems = SendSampleDataToMultipleModems
redefineArg modemId1 = ModemID1
redefineArg modemId2 = ModemID2
redefineArg InitialDiveDuration = DurationOfInitialDive
redefineArg SpeedInitialDive = SpeedOfInitialDive
redefineArg SpeedSampling = SpeedOfSampling
redefineArg RudderAngleInitialDive = RudderAngleInInitialDive
redefineArg RudderAngleDonutSampling = RudderAngleInDonutSampling
redefineArg TriggerThreshChl = TriggerThresholdChl
redefineArg CartridgeCommon = CartridgeTypeCommon
redefineArg WaitDepUndulationCommon = WaitTimeDepUndulationCommon
redefineArg UpRate = AscentRate
redefineArg DownRate = DescentRate
redefineArg RiseFromTurningDep = RiseFromTurningDepth

Insert/NeedComms.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:Circle

Guidance:DepthEnvelope

Guidance:Execute

Guidance:GoToSurface

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint

Guidance:YoYo

Sample:AbortSample

Sensor:SendDirect