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Science/sci2_sampling.xml

Mission ID: sci2_sampling

Mission Path: Science/sci2_sampling.xml

(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.

NeedCommsTimeInTransect

NeedCommsTimeInTransect = 60 minute

On yo-yo transects, how often to surface for commumications

MaxWaitTimeNoFiring

MaxWaitTimeNoFiring = 0.5 hour

If no firing after more than MaxWaitTimeNoFiring, terminate mission.

MaxWaitTimeNotAchievingDepth

MaxWaitTimeNotAchievingDepth = 0.5 hour

Maximum wait time the vehicle cannot reach the targeted depth.

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 chl max). 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.

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.

PeakDetectChl

PeakDetectChl = true

Whether to enable peak chl detection on each yo-yo profile

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.

YoYoMinAltitude

YoYoMinAltitude = 9 meter

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

WaitTimeDepUndulationCommon

WaitTimeDepUndulationCommon = 5.0 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, sample here.

Lon1

Lon1 = NaN degree

Longitude of waypoint 1. If nan, sample here. at least 4 yoyo profiles.

NumSamplersLocation1

NumSamplersLocation1 = 1 count

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

SampleAtPeakChlLocation1

SampleAtPeakChlLocation1 = false

Whether to sample at peak-chl depth.

CartridgeType1Location1

CartridgeType1Location1 = NaN count

Sample 1. Cartridge type.

CartridgeType2Location1

CartridgeType2Location1 = NaN count

Sample 2.

CartridgeType3Location1

CartridgeType3Location1 = NaN count

Sample 3.

CartridgeType4Location1

CartridgeType4Location1 = NaN count

Sample 4.

CartridgeType5Location1

CartridgeType5Location1 = NaN count

Sample 5.

CartridgeType6Location1

CartridgeType6Location1 = NaN count

Sample 6.

CartridgeType7Location1

CartridgeType7Location1 = NaN count

Sample 7.

CartridgeType8Location1

CartridgeType8Location1 = NaN count

Sample 8.

CartridgeType9Location1

CartridgeType9Location1 = NaN count

Sample 9.

CartridgeType10Location1

CartridgeType10Location1 = NaN count

Sample 10.

DepDiffFromPeakChlLocation1

DepDiffFromPeakChlLocation1 = NaN meter

Depth difference (positive: deeper; negative: shallower) from the peak-chl depth.

DepLocation1

DepLocation1 = NaN meter

Pre-designated depth.

TempDiffFromPeakChlLocation1

TempDiffFromPeakChlLocation1 = NaN kelvin

Target temperature difference from the peak-chl temperature.

TempLocation1

TempLocation1 = NaN celsius

Pre-designated temperature.

WaitTimeDepUndulation1Location1

WaitTimeDepUndulation1Location1 = 10.0 minute

Sample 1. Wait duration for the depth undulation to damp down.

Lat2

Lat2 = NaN degree

Latitude of waypoint 2. If NaN, skipped.

Lon2

Lon2 = NaN degree

Longitude of waypoint 2. If NaN, skipped.

NumSamplersLocation2

NumSamplersLocation2 = 0 count

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

SampleAtPeakChlLocation2

SampleAtPeakChlLocation2 = false

CartridgeType1Location2

CartridgeType1Location2 = NaN count

CartridgeType2Location2

CartridgeType2Location2 = NaN count

CartridgeType3Location2

CartridgeType3Location2 = NaN count

CartridgeType4Location2

CartridgeType4Location2 = NaN count

CartridgeType5Location2

CartridgeType5Location2 = NaN count

CartridgeType6Location2

CartridgeType6Location2 = NaN count

CartridgeType7Location2

CartridgeType7Location2 = NaN count

CartridgeType8Location2

CartridgeType8Location2 = NaN count

CartridgeType9Location2

CartridgeType9Location2 = NaN count

CartridgeType10Location2

CartridgeType10Location2 = NaN count

DepDiffFromPeakChlLocation2

DepDiffFromPeakChlLocation2 = NaN meter

DepLocation2

DepLocation2 = NaN meter

TempDiffFromPeakChlLocation2

TempDiffFromPeakChlLocation2 = NaN kelvin

TempLocation2

TempLocation2 = NaN celsius

WaitTimeDepUndulation1Location2

WaitTimeDepUndulation1Location2 = 10.0 minute

Lat3

Lat3 = NaN degree

Lon3

Lon3 = NaN degree

NumSamplersLocation3

NumSamplersLocation3 = 0 count

SampleAtPeakChlLocation3

SampleAtPeakChlLocation3 = false

CartridgeType1Location3

CartridgeType1Location3 = NaN count

CartridgeType2Location3

CartridgeType2Location3 = NaN count

CartridgeType3Location3

CartridgeType3Location3 = NaN count

CartridgeType4Location3

CartridgeType4Location3 = NaN count

CartridgeType5Location3

CartridgeType5Location3 = NaN count

CartridgeType6Location3

CartridgeType6Location3 = NaN count

CartridgeType7Location3

CartridgeType7Location3 = NaN count

CartridgeType8Location3

CartridgeType8Location3 = NaN count

CartridgeType9Location3

CartridgeType9Location3 = NaN count

CartridgeType10Location3

CartridgeType10Location3 = NaN count

DepDiffFromPeakChlLocation3

DepDiffFromPeakChlLocation3 = NaN meter

DepLocation3

DepLocation3 = NaN meter

TempDiffFromPeakChlLocation3

TempDiffFromPeakChlLocation3 = NaN kelvin

TempLocation3

TempLocation3 = NaN celsius

WaitTimeDepUndulation1Location3

WaitTimeDepUndulation1Location3 = 10.0 minute

Lat4

Lat4 = NaN degree

Lon4

Lon4 = NaN degree

NumSamplersLocation4

NumSamplersLocation4 = 0 count

SampleAtPeakChlLocation4

SampleAtPeakChlLocation4 = false

CartridgeType1Location4

CartridgeType1Location4 = NaN count

CartridgeType2Location4

CartridgeType2Location4 = NaN count

CartridgeType3Location4

CartridgeType3Location4 = NaN count

CartridgeType4Location4

CartridgeType4Location4 = NaN count

CartridgeType5Location4

CartridgeType5Location4 = NaN count

CartridgeType6Location4

CartridgeType6Location4 = NaN count

CartridgeType7Location4

CartridgeType7Location4 = NaN count

CartridgeType8Location4

CartridgeType8Location4 = NaN count

CartridgeType9Location4

CartridgeType9Location4 = NaN count

CartridgeType10Location4

CartridgeType10Location4 = NaN count

DepDiffFromPeakChlLocation4

DepDiffFromPeakChlLocation4 = NaN meter

DepLocation4

DepLocation4 = NaN meter

TempDiffFromPeakChlLocation4

TempDiffFromPeakChlLocation4 = NaN kelvin

TempLocation4

TempLocation4 = NaN celsius

WaitTimeDepUndulation1Location4

WaitTimeDepUndulation1Location4 = 10.0 minute

Lat5

Lat5 = NaN degree

Lon5

Lon5 = NaN degree

NumSamplersLocation5

NumSamplersLocation5 = 0 count

SampleAtPeakChlLocation5

SampleAtPeakChlLocation5 = false

CartridgeType1Location5

CartridgeType1Location5 = NaN count

CartridgeType2Location5

CartridgeType2Location5 = NaN count

CartridgeType3Location5

CartridgeType3Location5 = NaN count

CartridgeType4Location5

CartridgeType4Location5 = NaN count

CartridgeType5Location5

CartridgeType5Location5 = NaN count

CartridgeType6Location5

CartridgeType6Location5 = NaN count

CartridgeType7Location5

CartridgeType7Location5 = NaN count

CartridgeType8Location5

CartridgeType8Location5 = NaN count

CartridgeType9Location5

CartridgeType9Location5 = NaN count

CartridgeType10Location5

CartridgeType10Location5 = NaN count

DepDiffFromPeakChlLocation5

DepDiffFromPeakChlLocation5 = NaN meter

DepLocation5

DepLocation5 = NaN meter

TempDiffFromPeakChlLocation5

TempDiffFromPeakChlLocation5 = NaN kelvin

TempLocation5

TempLocation5 = NaN celsius

WaitTimeDepUndulation1Location5

WaitTimeDepUndulation1Location5 = 10.0 minute

Lat6

Lat6 = NaN degree

Lon6

Lon6 = NaN degree

NumSamplersLocation6

NumSamplersLocation6 = 0 count

SampleAtPeakChlLocation6

SampleAtPeakChlLocation6 = false

CartridgeType1Location6

CartridgeType1Location6 = NaN count

CartridgeType2Location6

CartridgeType2Location6 = NaN count

CartridgeType3Location6

CartridgeType3Location6 = NaN count

CartridgeType4Location6

CartridgeType4Location6 = NaN count

CartridgeType5Location6

CartridgeType5Location6 = NaN count

CartridgeType6Location6

CartridgeType6Location6 = NaN count

CartridgeType7Location6

CartridgeType7Location6 = NaN count

CartridgeType8Location6

CartridgeType8Location6 = NaN count

CartridgeType9Location6

CartridgeType9Location6 = NaN count

CartridgeType10Location6

CartridgeType10Location6 = NaN count

DepDiffFromPeakChlLocation6

DepDiffFromPeakChlLocation6 = NaN meter

DepLocation6

DepLocation6 = NaN meter

TempDiffFromPeakChlLocation6

TempDiffFromPeakChlLocation6 = NaN kelvin

TempLocation6

TempLocation6 = NaN celsius

WaitTimeDepUndulation1Location6

WaitTimeDepUndulation1Location6 = 10.0 minute

Lat7

Lat7 = NaN degree

Lon7

Lon7 = NaN degree

NumSamplersLocation7

NumSamplersLocation7 = 0 count

SampleAtPeakChlLocation7

SampleAtPeakChlLocation7 = false

CartridgeType1Location7

CartridgeType1Location7 = NaN count

CartridgeType2Location7

CartridgeType2Location7 = NaN count

CartridgeType3Location7

CartridgeType3Location7 = NaN count

CartridgeType4Location7

CartridgeType4Location7 = NaN count

CartridgeType5Location7

CartridgeType5Location7 = NaN count

CartridgeType6Location7

CartridgeType6Location7 = NaN count

CartridgeType7Location7

CartridgeType7Location7 = NaN count

CartridgeType8Location7

CartridgeType8Location7 = NaN count

CartridgeType9Location7

CartridgeType9Location7 = NaN count

CartridgeType10Location7

CartridgeType10Location7 = NaN count

DepDiffFromPeakChlLocation7

DepDiffFromPeakChlLocation7 = NaN meter

DepLocation7

DepLocation7 = NaN meter

TempDiffFromPeakChlLocation7

TempDiffFromPeakChlLocation7 = NaN kelvin

TempLocation7

TempLocation7 = NaN celsius

WaitTimeDepUndulation1Location7

WaitTimeDepUndulation1Location7 = 10.0 minute

Lat8

Lat8 = NaN degree

Lon8

Lon8 = NaN degree

NumSamplersLocation8

NumSamplersLocation8 = 0 count

SampleAtPeakChlLocation8

SampleAtPeakChlLocation8 = false

CartridgeType1Location8

CartridgeType1Location8 = NaN count

CartridgeType2Location8

CartridgeType2Location8 = NaN count

CartridgeType3Location8

CartridgeType3Location8 = NaN count

CartridgeType4Location8

CartridgeType4Location8 = NaN count

CartridgeType5Location8

CartridgeType5Location8 = NaN count

CartridgeType6Location8

CartridgeType6Location8 = NaN count

CartridgeType7Location8

CartridgeType7Location8 = NaN count

CartridgeType8Location8

CartridgeType8Location8 = NaN count

CartridgeType9Location8

CartridgeType9Location8 = NaN count

CartridgeType10Location8

CartridgeType10Location8 = NaN count

DepDiffFromPeakChlLocation8

DepDiffFromPeakChlLocation8 = NaN meter

DepLocation8

DepLocation8 = NaN meter

TempDiffFromPeakChlLocation8

TempDiffFromPeakChlLocation8 = NaN kelvin

TempLocation8

TempLocation8 = NaN celsius

WaitTimeDepUndulation1Location8

WaitTimeDepUndulation1Location8 = 10.0 minute

Lat9

Lat9 = NaN degree

Lon9

Lon9 = NaN degree

NumSamplersLocation9

NumSamplersLocation9 = 0 count

SampleAtPeakChlLocation9

SampleAtPeakChlLocation9 = false

CartridgeType1Location9

CartridgeType1Location9 = NaN count

CartridgeType2Location9

CartridgeType2Location9 = NaN count

CartridgeType3Location9

CartridgeType3Location9 = NaN count

CartridgeType4Location9

CartridgeType4Location9 = NaN count

CartridgeType5Location9

CartridgeType5Location9 = NaN count

CartridgeType6Location9

CartridgeType6Location9 = NaN count

CartridgeType7Location9

CartridgeType7Location9 = NaN count

CartridgeType8Location9

CartridgeType8Location9 = NaN count

CartridgeType9Location9

CartridgeType9Location9 = NaN count

CartridgeType10Location9

CartridgeType10Location9 = NaN count

DepDiffFromPeakChlLocation9

DepDiffFromPeakChlLocation9 = NaN meter

DepLocation9

DepLocation9 = NaN meter

TempDiffFromPeakChlLocation9

TempDiffFromPeakChlLocation9 = NaN kelvin

TempLocation9

TempLocation9 = NaN celsius

WaitTimeDepUndulation1Location9

WaitTimeDepUndulation1Location9 = 10.0 minute

Lat10

Lat10 = NaN degree

Lon10

Lon10 = NaN degree

NumSamplersLocation10

NumSamplersLocation10 = 0 count

SampleAtPeakChlLocation10

SampleAtPeakChlLocation10 = false

CartridgeType1Location10

CartridgeType1Location10 = NaN count

CartridgeType2Location10

CartridgeType2Location10 = NaN count

CartridgeType3Location10

CartridgeType3Location10 = NaN count

CartridgeType4Location10

CartridgeType4Location10 = NaN count

CartridgeType5Location10

CartridgeType5Location10 = NaN count

CartridgeType6Location10

CartridgeType6Location10 = NaN count

CartridgeType7Location10

CartridgeType7Location10 = NaN count

CartridgeType8Location10

CartridgeType8Location10 = NaN count

CartridgeType9Location10

CartridgeType9Location10 = NaN count

CartridgeType10Location10

CartridgeType10Location10 = NaN count

DepDiffFromPeakChlLocation10

DepDiffFromPeakChlLocation10 = NaN meter

DepLocation10

DepLocation10 = NaN meter

TempDiffFromPeakChlLocation10

TempDiffFromPeakChlLocation10 = NaN kelvin

TempLocation10

TempLocation10 = NaN celsius

WaitTimeDepUndulation1Location10

WaitTimeDepUndulation1Location10 = 10.0 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).

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.

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 = 13 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.

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

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.

Inserts

Insert/StandardEnvelopes.tl

Insert/AbortDrift.tl

redefineArg AcousticTimeout = AcousticTrackingTimeout

Insert/Science.tl

redefineArg PeakDetectChlActive = PeakDetectChl
redefineArg LowPassWindowLength = LPWindowLength
redefineArg MedianFilterLen = MedianFilterLength
redefineArg PeakShallowBound = ShallowBoundChl
redefineArg PeakDeepBound = DeepBoundChl
redefineArg DepChangeThreshForAttitudeFlip = DepthChangeThreshAttitudeFlip

Insert/SampleAtPeakChlDepOrTemp.xml

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 ShallowbndChl = ShallowBoundChl
redefineArg DeepbndChl = DeepBoundChl
redefineArg CartridgeCommon = CartridgeTypeCommon
redefineArg WaitDepUndulationCommon = WaitTimeDepUndulationCommon
redefineArg UpRate = AscentRate
redefineArg DownRate = DescentRate
redefineArg RiseFromTurningDep = RiseFromTurningDepth
redefineArg DepChangeThreshAttitudeFlip = DepthChangeThreshAttitudeFlip
redefineArg LPWindowLength = LPWindowLength
redefineArg MedianFilterLength = MedianFilterLength

Insert/NeedComms.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:Execute

Guidance:GoToSurface

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint

Guidance:YoYo

Sample:AbortSample