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Science/smear_cylinder_sampling.tl

Mission ID: smear_cylinder_sampling

Mission Path: Science/smear_cylinder_sampling.tl

(No description)

Arguments

NumSamplers

NumSamplers = 1 count

Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0 to disable sampling.

StartIndex

StartIndex = 1 count

Start index in ESP settings. If re-running mission, can skip settings of already-completed samples. Default is 1 (no skipping).

CANONSamplerRotateOnly

CANONSamplerRotateOnly = 0 bool

MissionTimeout

MissionTimeout = 2 hour

Maximum duration of mission

SurfaceCommsEndOfEachSample

SurfaceCommsEndOfEachSample = true

Whether to go to surface for comms at completion of each sample (initialized to True.)

NeedCommsTimeInTransit

NeedCommsTimeInTransit = 30 minute

On the way transiting to the sampling location, how often to surface for commumications

BeingInterrogatedTimeout

BeingInterrogatedTimeout = 21 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.

TrackAcousticTarget

TrackAcousticTarget = false

Whether to track an acoustic target.

AcousticTargetContactLabel

AcousticTargetContactLabel = 0 count

The acoustic address of the asset to be tracked

AcousticTargetDepth

AcousticTargetDepth = NaN meter

Depth of acoustic target if known and fixed (or nearly fixed). For example, if the acoustic target is a Wave Glider, set it to zero. This will improve 2D projected position estimates in the Earth reference frame. Defaults to NaN.

AcousticTargetContactTimeout

AcousticTargetContactTimeout = 15 minute

Only use a sufficiently fresh handshake to update the tracking center.

MaxWaitNoFiring

MaxWaitNoFiring = 2 hour

If no firing after more than MaxWaitNoFiring, terminate mission.

SpeedTransit

SpeedTransit = 1.0 meter_per_second

Vehicle speed when transiting to the sampling location.

SpeedSampling

SpeedSampling = 1.0 meter_per_second

Vehicle speed when sampling on cylinder yoyo.

MaxDepth

MaxDepth = 50 meter

Maximum depth for the entire mission.

TransitYoYoMinDepth

TransitYoYoMinDepth = 3 meter

Minimum yoyo depth while transiting to the sampling location.

TransitYoYoMaxDepth

TransitYoYoMaxDepth = 30 meter

Maximum yoyo depth while transiting to the sampling location.

TransitCaptureRadius

TransitCaptureRadius = 100 meter

Waypoint capture radius for transiting to the sampling location.

CylinderRadius

CylinderRadius = 20 meter

Radius of cylinder centered at the sampling location.

MaxCirclesOnCylinder

MaxCirclesOnCylinder = 1000 count

Maximum number of circles on cylinder.

TransitLatitude

TransitLatitude = NaN degree

The latitude of the sampling location. If NaN, will skip transit.

TransitLongitude

TransitLongitude = NaN degree

The longitude of the sampling location. If NaN, will skip transit.

CenterLatitude

CenterLatitude = NaN degree

The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.

CenterLongitude

CenterLongitude = NaN degree

The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.

CartridgeTypeCommon

CartridgeTypeCommon = -6 count

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

CartridgeType1

CartridgeType1 = -6 count

Sample 1. Cartridge type.

CartridgeType2

CartridgeType2 = -6 count

Sample 2. Cartridge type.

CartridgeType3

CartridgeType3 = -6 count

Sample 3. Cartridge type.

CartridgeType4

CartridgeType4 = -6 count

Sample 4. Cartridge type.

CartridgeType5

CartridgeType5 = -6 count

Sample 5. Cartridge type.

CartridgeType6

CartridgeType6 = -6 count

Sample 6. Cartridge type.

CartridgeType7

CartridgeType7 = -6 count

Sample 7. Cartridge type.

CartridgeType8

CartridgeType8 = -6 count

Sample 8. Cartridge type.

CartridgeType9

CartridgeType9 = -6 count

Sample 9. Cartridge type.

CartridgeType10

CartridgeType10 = -6 count

Sample 10. Cartridge type.

CartridgeType11

CartridgeType11 = -6 count

Sample 11. Cartridge type.

CartridgeType12

CartridgeType12 = -6 count

Sample 12. Cartridge type.

CartridgeType13

CartridgeType13 = -6 count

Sample 13. Cartridge type.

CartridgeType14

CartridgeType14 = -6 count

Sample 14. Cartridge type.

CartridgeType15

CartridgeType15 = -6 count

Sample 15. Cartridge type.

CartridgeType16

CartridgeType16 = -6 count

Sample 16. Cartridge type.

CartridgeType17

CartridgeType17 = -6 count

Sample 17. Cartridge type.

CartridgeType18

CartridgeType18 = -6 count

Sample 18. Cartridge type.

CartridgeType19

CartridgeType19 = -6 count

Sample 19. Cartridge type.

CartridgeType20

CartridgeType20 = -6 count

Sample 20. Cartridge type.

CartridgeType21

CartridgeType21 = -6 count

Sample 21. Cartridge type.

CartridgeType22

CartridgeType22 = -6 count

Sample 22. Cartridge type.

CartridgeType23

CartridgeType23 = -6 count

Sample 23. Cartridge type.

CartridgeType24

CartridgeType24 = -6 count

Sample 24. Cartridge type.

CartridgeType25

CartridgeType25 = -6 count

Sample 25. Cartridge type.

CartridgeType26

CartridgeType26 = -6 count

Sample 26. Cartridge type.

CartridgeType27

CartridgeType27 = -6 count

Sample 27. Cartridge type.

CartridgeType28

CartridgeType28 = -6 count

Sample 28. Cartridge type.

CartridgeType29

CartridgeType29 = -6 count

Sample 29. Cartridge type.

CartridgeType30

CartridgeType30 = -6 count

Sample 30. Cartridge type.

CartridgeType31

CartridgeType31 = -6 count

Sample 31. Cartridge type.

CartridgeType32

CartridgeType32 = -6 count

Sample 32. Cartridge type.

CartridgeType33

CartridgeType33 = -6 count

Sample 33. Cartridge type.

CartridgeType34

CartridgeType34 = -6 count

Sample 34. Cartridge type.

CartridgeType35

CartridgeType35 = -6 count

Sample 35. Cartridge type.

CartridgeType36

CartridgeType36 = -6 count

Sample 36. Cartridge type.

CartridgeType37

CartridgeType37 = -6 count

Sample 37. Cartridge type.

CartridgeType38

CartridgeType38 = -6 count

Sample 38. Cartridge type.

CartridgeType39

CartridgeType39 = -6 count

Sample 39. Cartridge type.

CartridgeType40

CartridgeType40 = -6 count

Sample 40. Cartridge type.

CartridgeType41

CartridgeType41 = -6 count

Sample 41. Cartridge type.

CartridgeType42

CartridgeType42 = -6 count

Sample 42. Cartridge type.

CartridgeType43

CartridgeType43 = -6 count

Sample 43. Cartridge type.

CartridgeType44

CartridgeType44 = -6 count

Sample 44. Cartridge type.

CartridgeType45

CartridgeType45 = -6 count

Sample 45. Cartridge type.

CartridgeType46

CartridgeType46 = -6 count

Sample 46. Cartridge type.

CartridgeType47

CartridgeType47 = -6 count

Sample 47. Cartridge type.

CartridgeType48

CartridgeType48 = -6 count

Sample 48. Cartridge type.

CartridgeType49

CartridgeType49 = -6 count

Sample 49. Cartridge type.

CartridgeType50

CartridgeType50 = -6 count

Sample 50. Cartridge type.

CartridgeType51

CartridgeType51 = -6 count

Sample 51. Cartridge type.

CartridgeType52

CartridgeType52 = -6 count

Sample 52. Cartridge type.

CartridgeType53

CartridgeType53 = -6 count

Sample 53. Cartridge type.

CartridgeType54

CartridgeType54 = -6 count

Sample 54. Cartridge type.

CartridgeType55

CartridgeType55 = -6 count

Sample 55. Cartridge type.

CartridgeType56

CartridgeType56 = -6 count

Sample 56. Cartridge type.

CartridgeType57

CartridgeType57 = -6 count

Sample 57. Cartridge type.

CartridgeType58

CartridgeType58 = -6 count

Sample 58. Cartridge type.

CartridgeType59

CartridgeType59 = -6 count

Sample 59. Cartridge type.

CartridgeType60

CartridgeType60 = -6 count

Sample 60. Cartridge type.

ShallowBoundSmearCommon

ShallowBoundSmearCommon = 3 meter

Value common to all samples unless set diffently: shallow depth bound for smear sampling.

ShallowBoundSmear1

ShallowBoundSmear1 = NaN meter

Shallow depth bound for smear sampling. Sample 1.

ShallowBoundSmear2

ShallowBoundSmear2 = NaN meter

Shallow depth bound for smear sampling. Sample 2.

ShallowBoundSmear3

ShallowBoundSmear3 = NaN meter

Shallow depth bound for smear sampling. Sample 3.

ShallowBoundSmear4

ShallowBoundSmear4 = NaN meter

Shallow depth bound for smear sampling. Sample 4.

ShallowBoundSmear5

ShallowBoundSmear5 = NaN meter

Shallow depth bound for smear sampling. Sample 5.

ShallowBoundSmear6

ShallowBoundSmear6 = NaN meter

Shallow depth bound for smear sampling. Sample 6.

ShallowBoundSmear7

ShallowBoundSmear7 = NaN meter

Shallow depth bound for smear sampling. Sample 7.

ShallowBoundSmear8

ShallowBoundSmear8 = NaN meter

Shallow depth bound for smear sampling. Sample 8.

ShallowBoundSmear9

ShallowBoundSmear9 = NaN meter

Shallow depth bound for smear sampling. Sample 9.

ShallowBoundSmear10

ShallowBoundSmear10 = NaN meter

Shallow depth bound for smear sampling. Sample 10.

ShallowBoundSmear11

ShallowBoundSmear11 = NaN meter

Shallow depth bound for smear sampling. Sample 11.

ShallowBoundSmear12

ShallowBoundSmear12 = NaN meter

Shallow depth bound for smear sampling. Sample 12.

ShallowBoundSmear13

ShallowBoundSmear13 = NaN meter

Shallow depth bound for smear sampling. Sample 13.

ShallowBoundSmear14

ShallowBoundSmear14 = NaN meter

Shallow depth bound for smear sampling. Sample 14.

ShallowBoundSmear15

ShallowBoundSmear15 = NaN meter

Shallow depth bound for smear sampling. Sample 15.

ShallowBoundSmear16

ShallowBoundSmear16 = NaN meter

Shallow depth bound for smear sampling. Sample 16.

ShallowBoundSmear17

ShallowBoundSmear17 = NaN meter

Shallow depth bound for smear sampling. Sample 17.

ShallowBoundSmear18

ShallowBoundSmear18 = NaN meter

Shallow depth bound for smear sampling. Sample 18.

ShallowBoundSmear19

ShallowBoundSmear19 = NaN meter

Shallow depth bound for smear sampling. Sample 19.

ShallowBoundSmear20

ShallowBoundSmear20 = NaN meter

Shallow depth bound for smear sampling. Sample 20.

ShallowBoundSmear21

ShallowBoundSmear21 = NaN meter

Shallow depth bound for smear sampling. Sample 21.

ShallowBoundSmear22

ShallowBoundSmear22 = NaN meter

Shallow depth bound for smear sampling. Sample 22.

ShallowBoundSmear23

ShallowBoundSmear23 = NaN meter

Shallow depth bound for smear sampling. Sample 23.

ShallowBoundSmear24

ShallowBoundSmear24 = NaN meter

Shallow depth bound for smear sampling. Sample 24.

ShallowBoundSmear25

ShallowBoundSmear25 = NaN meter

Shallow depth bound for smear sampling. Sample 25.

ShallowBoundSmear26

ShallowBoundSmear26 = NaN meter

Shallow depth bound for smear sampling. Sample 26.

ShallowBoundSmear27

ShallowBoundSmear27 = NaN meter

Shallow depth bound for smear sampling. Sample 27.

ShallowBoundSmear28

ShallowBoundSmear28 = NaN meter

Shallow depth bound for smear sampling. Sample 28.

ShallowBoundSmear29

ShallowBoundSmear29 = NaN meter

Shallow depth bound for smear sampling. Sample 29.

ShallowBoundSmear30

ShallowBoundSmear30 = NaN meter

Shallow depth bound for smear sampling. Sample 30.

ShallowBoundSmear31

ShallowBoundSmear31 = NaN meter

Shallow depth bound for smear sampling. Sample 31.

ShallowBoundSmear32

ShallowBoundSmear32 = NaN meter

Shallow depth bound for smear sampling. Sample 32.

ShallowBoundSmear33

ShallowBoundSmear33 = NaN meter

Shallow depth bound for smear sampling. Sample 33.

ShallowBoundSmear34

ShallowBoundSmear34 = NaN meter

Shallow depth bound for smear sampling. Sample 34.

ShallowBoundSmear35

ShallowBoundSmear35 = NaN meter

Shallow depth bound for smear sampling. Sample 35.

ShallowBoundSmear36

ShallowBoundSmear36 = NaN meter

Shallow depth bound for smear sampling. Sample 36.

ShallowBoundSmear37

ShallowBoundSmear37 = NaN meter

Shallow depth bound for smear sampling. Sample 37.

ShallowBoundSmear38

ShallowBoundSmear38 = NaN meter

Shallow depth bound for smear sampling. Sample 38.

ShallowBoundSmear39

ShallowBoundSmear39 = NaN meter

Shallow depth bound for smear sampling. Sample 39.

ShallowBoundSmear40

ShallowBoundSmear40 = NaN meter

Shallow depth bound for smear sampling. Sample 40.

ShallowBoundSmear41

ShallowBoundSmear41 = NaN meter

Shallow depth bound for smear sampling. Sample 41.

ShallowBoundSmear42

ShallowBoundSmear42 = NaN meter

Shallow depth bound for smear sampling. Sample 42.

ShallowBoundSmear43

ShallowBoundSmear43 = NaN meter

Shallow depth bound for smear sampling. Sample 43.

ShallowBoundSmear44

ShallowBoundSmear44 = NaN meter

Shallow depth bound for smear sampling. Sample 44.

ShallowBoundSmear45

ShallowBoundSmear45 = NaN meter

Shallow depth bound for smear sampling. Sample 45.

ShallowBoundSmear46

ShallowBoundSmear46 = NaN meter

Shallow depth bound for smear sampling. Sample 46.

ShallowBoundSmear47

ShallowBoundSmear47 = NaN meter

Shallow depth bound for smear sampling. Sample 47.

ShallowBoundSmear48

ShallowBoundSmear48 = NaN meter

Shallow depth bound for smear sampling. Sample 48.

ShallowBoundSmear49

ShallowBoundSmear49 = NaN meter

Shallow depth bound for smear sampling. Sample 49.

ShallowBoundSmear50

ShallowBoundSmear50 = NaN meter

Shallow depth bound for smear sampling. Sample 50.

ShallowBoundSmear51

ShallowBoundSmear51 = NaN meter

Shallow depth bound for smear sampling. Sample 51.

ShallowBoundSmear52

ShallowBoundSmear52 = NaN meter

Shallow depth bound for smear sampling. Sample 52.

ShallowBoundSmear53

ShallowBoundSmear53 = NaN meter

Shallow depth bound for smear sampling. Sample 53.

ShallowBoundSmear54

ShallowBoundSmear54 = NaN meter

Shallow depth bound for smear sampling. Sample 54.

ShallowBoundSmear55

ShallowBoundSmear55 = NaN meter

Shallow depth bound for smear sampling. Sample 55.

ShallowBoundSmear56

ShallowBoundSmear56 = NaN meter

Shallow depth bound for smear sampling. Sample 56.

ShallowBoundSmear57

ShallowBoundSmear57 = NaN meter

Shallow depth bound for smear sampling. Sample 57.

ShallowBoundSmear58

ShallowBoundSmear58 = NaN meter

Shallow depth bound for smear sampling. Sample 58.

ShallowBoundSmear59

ShallowBoundSmear59 = NaN meter

Shallow depth bound for smear sampling. Sample 59.

ShallowBoundSmear60

ShallowBoundSmear60 = NaN meter

Shallow depth bound for smear sampling. Sample 60.

DeepBoundSmearCommon

DeepBoundSmearCommon = 30 meter

Value common to all samples unless set diffently: deep depth bound for smear sampling.

DeepBoundSmear1

DeepBoundSmear1 = NaN meter

Deep depth bound for smear sampling. Sample 1.

DeepBoundSmear2

DeepBoundSmear2 = NaN meter

Deep depth bound for smear sampling. Sample 2.

DeepBoundSmear3

DeepBoundSmear3 = NaN meter

Deep depth bound for smear sampling. Sample 3.

DeepBoundSmear4

DeepBoundSmear4 = NaN meter

Deep depth bound for smear sampling. Sample 4.

DeepBoundSmear5

DeepBoundSmear5 = NaN meter

Deep depth bound for smear sampling. Sample 5.

DeepBoundSmear6

DeepBoundSmear6 = NaN meter

Deep depth bound for smear sampling. Sample 6.

DeepBoundSmear7

DeepBoundSmear7 = NaN meter

Deep depth bound for smear sampling. Sample 7.

DeepBoundSmear8

DeepBoundSmear8 = NaN meter

Deep depth bound for smear sampling. Sample 8.

DeepBoundSmear9

DeepBoundSmear9 = NaN meter

Deep depth bound for smear sampling. Sample 9.

DeepBoundSmear10

DeepBoundSmear10 = NaN meter

Deep depth bound for smear sampling. Sample 10.

DeepBoundSmear11

DeepBoundSmear11 = NaN meter

Deep depth bound for smear sampling. Sample 11.

DeepBoundSmear12

DeepBoundSmear12 = NaN meter

Deep depth bound for smear sampling. Sample 12.

DeepBoundSmear13

DeepBoundSmear13 = NaN meter

Deep depth bound for smear sampling. Sample 13.

DeepBoundSmear14

DeepBoundSmear14 = NaN meter

Deep depth bound for smear sampling. Sample 14.

DeepBoundSmear15

DeepBoundSmear15 = NaN meter

Deep depth bound for smear sampling. Sample 15.

DeepBoundSmear16

DeepBoundSmear16 = NaN meter

Deep depth bound for smear sampling. Sample 16.

DeepBoundSmear17

DeepBoundSmear17 = NaN meter

Deep depth bound for smear sampling. Sample 17.

DeepBoundSmear18

DeepBoundSmear18 = NaN meter

Deep depth bound for smear sampling. Sample 18.

DeepBoundSmear19

DeepBoundSmear19 = NaN meter

Deep depth bound for smear sampling. Sample 19.

DeepBoundSmear20

DeepBoundSmear20 = NaN meter

Deep depth bound for smear sampling. Sample 20.

DeepBoundSmear21

DeepBoundSmear21 = NaN meter

Deep depth bound for smear sampling. Sample 21.

DeepBoundSmear22

DeepBoundSmear22 = NaN meter

Deep depth bound for smear sampling. Sample 22.

DeepBoundSmear23

DeepBoundSmear23 = NaN meter

Deep depth bound for smear sampling. Sample 23.

DeepBoundSmear24

DeepBoundSmear24 = NaN meter

Deep depth bound for smear sampling. Sample 24.

DeepBoundSmear25

DeepBoundSmear25 = NaN meter

Deep depth bound for smear sampling. Sample 25.

DeepBoundSmear26

DeepBoundSmear26 = NaN meter

Deep depth bound for smear sampling. Sample 26.

DeepBoundSmear27

DeepBoundSmear27 = NaN meter

Deep depth bound for smear sampling. Sample 27.

DeepBoundSmear28

DeepBoundSmear28 = NaN meter

Deep depth bound for smear sampling. Sample 28.

DeepBoundSmear29

DeepBoundSmear29 = NaN meter

Deep depth bound for smear sampling. Sample 29.

DeepBoundSmear30

DeepBoundSmear30 = NaN meter

Deep depth bound for smear sampling. Sample 30.

DeepBoundSmear31

DeepBoundSmear31 = NaN meter

Deep depth bound for smear sampling. Sample 31.

DeepBoundSmear32

DeepBoundSmear32 = NaN meter

Deep depth bound for smear sampling. Sample 32.

DeepBoundSmear33

DeepBoundSmear33 = NaN meter

Deep depth bound for smear sampling. Sample 33.

DeepBoundSmear34

DeepBoundSmear34 = NaN meter

Deep depth bound for smear sampling. Sample 34.

DeepBoundSmear35

DeepBoundSmear35 = NaN meter

Deep depth bound for smear sampling. Sample 35.

DeepBoundSmear36

DeepBoundSmear36 = NaN meter

Deep depth bound for smear sampling. Sample 36.

DeepBoundSmear37

DeepBoundSmear37 = NaN meter

Deep depth bound for smear sampling. Sample 37.

DeepBoundSmear38

DeepBoundSmear38 = NaN meter

Deep depth bound for smear sampling. Sample 38.

DeepBoundSmear39

DeepBoundSmear39 = NaN meter

Deep depth bound for smear sampling. Sample 39.

DeepBoundSmear40

DeepBoundSmear40 = NaN meter

Deep depth bound for smear sampling. Sample 40.

DeepBoundSmear41

DeepBoundSmear41 = NaN meter

Deep depth bound for smear sampling. Sample 41.

DeepBoundSmear42

DeepBoundSmear42 = NaN meter

Deep depth bound for smear sampling. Sample 42.

DeepBoundSmear43

DeepBoundSmear43 = NaN meter

Deep depth bound for smear sampling. Sample 43.

DeepBoundSmear44

DeepBoundSmear44 = NaN meter

Deep depth bound for smear sampling. Sample 44.

DeepBoundSmear45

DeepBoundSmear45 = NaN meter

Deep depth bound for smear sampling. Sample 45.

DeepBoundSmear46

DeepBoundSmear46 = NaN meter

Deep depth bound for smear sampling. Sample 46.

DeepBoundSmear47

DeepBoundSmear47 = NaN meter

Deep depth bound for smear sampling. Sample 47.

DeepBoundSmear48

DeepBoundSmear48 = NaN meter

Deep depth bound for smear sampling. Sample 48.

DeepBoundSmear49

DeepBoundSmear49 = NaN meter

Deep depth bound for smear sampling. Sample 49.

DeepBoundSmear50

DeepBoundSmear50 = NaN meter

Deep depth bound for smear sampling. Sample 50.

DeepBoundSmear51

DeepBoundSmear51 = NaN meter

Deep depth bound for smear sampling. Sample 51.

DeepBoundSmear52

DeepBoundSmear52 = NaN meter

Deep depth bound for smear sampling. Sample 52.

DeepBoundSmear53

DeepBoundSmear53 = NaN meter

Deep depth bound for smear sampling. Sample 53.

DeepBoundSmear54

DeepBoundSmear54 = NaN meter

Deep depth bound for smear sampling. Sample 54.

DeepBoundSmear55

DeepBoundSmear55 = NaN meter

Deep depth bound for smear sampling. Sample 55.

DeepBoundSmear56

DeepBoundSmear56 = NaN meter

Deep depth bound for smear sampling. Sample 56.

DeepBoundSmear57

DeepBoundSmear57 = NaN meter

Deep depth bound for smear sampling. Sample 57.

DeepBoundSmear58

DeepBoundSmear58 = NaN meter

Deep depth bound for smear sampling. Sample 58.

DeepBoundSmear59

DeepBoundSmear59 = NaN meter

Deep depth bound for smear sampling. Sample 59.

DeepBoundSmear60

DeepBoundSmear60 = NaN meter

Deep depth bound for smear sampling. Sample 60.

WaitCommonBeforeFiring

WaitCommonBeforeFiring = 5.0 minute

Value common to all samples unless set diffently: Wait time before firing.

WaitCommonAfterFiring

WaitCommonAfterFiring = 5.0 minute

Value common to all samples unless set diffently: Wait time after firing.

WaitBeforeFiring1

WaitBeforeFiring1 = NaN minute

Wait time before firing. Sample 1.

WaitBeforeFiring2

WaitBeforeFiring2 = NaN minute

Wait time before firing. Sample 2.

WaitBeforeFiring3

WaitBeforeFiring3 = NaN minute

Wait time before firing. Sample 3.

WaitBeforeFiring4

WaitBeforeFiring4 = NaN minute

Wait time before firing. Sample 4.

WaitBeforeFiring5

WaitBeforeFiring5 = NaN minute

Wait time before firing. Sample 5.

WaitBeforeFiring6

WaitBeforeFiring6 = NaN minute

Wait time before firing. Sample 6.

WaitBeforeFiring7

WaitBeforeFiring7 = NaN minute

Wait time before firing. Sample 7.

WaitBeforeFiring8

WaitBeforeFiring8 = NaN minute

Wait time before firing. Sample 8.

WaitBeforeFiring9

WaitBeforeFiring9 = NaN minute

Wait time before firing. Sample 9.

WaitBeforeFiring10

WaitBeforeFiring10 = NaN minute

Wait time before firing. Sample 10.

WaitBeforeFiring11

WaitBeforeFiring11 = NaN minute

Wait time before firing. Sample 11.

WaitBeforeFiring12

WaitBeforeFiring12 = NaN minute

Wait time before firing. Sample 12.

WaitBeforeFiring13

WaitBeforeFiring13 = NaN minute

Wait time before firing. Sample 13.

WaitBeforeFiring14

WaitBeforeFiring14 = NaN minute

Wait time before firing. Sample 14.

WaitBeforeFiring15

WaitBeforeFiring15 = NaN minute

Wait time before firing. Sample 15.

WaitBeforeFiring16

WaitBeforeFiring16 = NaN minute

Wait time before firing. Sample 16.

WaitBeforeFiring17

WaitBeforeFiring17 = NaN minute

Wait time before firing. Sample 17.

WaitBeforeFiring18

WaitBeforeFiring18 = NaN minute

Wait time before firing. Sample 18.

WaitBeforeFiring19

WaitBeforeFiring19 = NaN minute

Wait time before firing. Sample 19.

WaitBeforeFiring20

WaitBeforeFiring20 = NaN minute

Wait time before firing. Sample 20.

WaitBeforeFiring21

WaitBeforeFiring21 = NaN minute

Wait time before firing. Sample 21.

WaitBeforeFiring22

WaitBeforeFiring22 = NaN minute

Wait time before firing. Sample 22.

WaitBeforeFiring23

WaitBeforeFiring23 = NaN minute

Wait time before firing. Sample 23.

WaitBeforeFiring24

WaitBeforeFiring24 = NaN minute

Wait time before firing. Sample 24.

WaitBeforeFiring25

WaitBeforeFiring25 = NaN minute

Wait time before firing. Sample 25.

WaitBeforeFiring26

WaitBeforeFiring26 = NaN minute

Wait time before firing. Sample 26.

WaitBeforeFiring27

WaitBeforeFiring27 = NaN minute

Wait time before firing. Sample 27.

WaitBeforeFiring28

WaitBeforeFiring28 = NaN minute

Wait time before firing. Sample 28.

WaitBeforeFiring29

WaitBeforeFiring29 = NaN minute

Wait time before firing. Sample 29.

WaitBeforeFiring30

WaitBeforeFiring30 = NaN minute

Wait time before firing. Sample 30.

WaitBeforeFiring31

WaitBeforeFiring31 = NaN minute

Wait time before firing. Sample 31.

WaitBeforeFiring32

WaitBeforeFiring32 = NaN minute

Wait time before firing. Sample 32.

WaitBeforeFiring33

WaitBeforeFiring33 = NaN minute

Wait time before firing. Sample 33.

WaitBeforeFiring34

WaitBeforeFiring34 = NaN minute

Wait time before firing. Sample 34.

WaitBeforeFiring35

WaitBeforeFiring35 = NaN minute

Wait time before firing. Sample 35.

WaitBeforeFiring36

WaitBeforeFiring36 = NaN minute

Wait time before firing. Sample 36.

WaitBeforeFiring37

WaitBeforeFiring37 = NaN minute

Wait time before firing. Sample 37.

WaitBeforeFiring38

WaitBeforeFiring38 = NaN minute

Wait time before firing. Sample 38.

WaitBeforeFiring39

WaitBeforeFiring39 = NaN minute

Wait time before firing. Sample 39.

WaitBeforeFiring40

WaitBeforeFiring40 = NaN minute

Wait time before firing. Sample 40.

WaitBeforeFiring41

WaitBeforeFiring41 = NaN minute

Wait time before firing. Sample 41.

WaitBeforeFiring42

WaitBeforeFiring42 = NaN minute

Wait time before firing. Sample 42.

WaitBeforeFiring43

WaitBeforeFiring43 = NaN minute

Wait time before firing. Sample 43.

WaitBeforeFiring44

WaitBeforeFiring44 = NaN minute

Wait time before firing. Sample 44.

WaitBeforeFiring45

WaitBeforeFiring45 = NaN minute

Wait time before firing. Sample 45.

WaitBeforeFiring46

WaitBeforeFiring46 = NaN minute

Wait time before firing. Sample 46.

WaitBeforeFiring47

WaitBeforeFiring47 = NaN minute

Wait time before firing. Sample 47.

WaitBeforeFiring48

WaitBeforeFiring48 = NaN minute

Wait time before firing. Sample 48.

WaitBeforeFiring49

WaitBeforeFiring49 = NaN minute

Wait time before firing. Sample 49.

WaitBeforeFiring50

WaitBeforeFiring50 = NaN minute

Wait time before firing. Sample 50.

WaitBeforeFiring51

WaitBeforeFiring51 = NaN minute

Wait time before firing. Sample 51.

WaitBeforeFiring52

WaitBeforeFiring52 = NaN minute

Wait time before firing. Sample 52.

WaitBeforeFiring53

WaitBeforeFiring53 = NaN minute

Wait time before firing. Sample 53.

WaitBeforeFiring54

WaitBeforeFiring54 = NaN minute

Wait time before firing. Sample 54.

WaitBeforeFiring55

WaitBeforeFiring55 = NaN minute

Wait time before firing. Sample 55.

WaitBeforeFiring56

WaitBeforeFiring56 = NaN minute

Wait time before firing. Sample 56.

WaitBeforeFiring57

WaitBeforeFiring57 = NaN minute

Wait time before firing. Sample 57.

WaitBeforeFiring58

WaitBeforeFiring58 = NaN minute

Wait time before firing. Sample 58.

WaitBeforeFiring59

WaitBeforeFiring59 = NaN minute

Wait time before firing. Sample 59.

WaitBeforeFiring60

WaitBeforeFiring60 = NaN minute

Wait time before firing. Sample 60.

WaitAfterFiring1

WaitAfterFiring1 = NaN minute

Wait time after firing. Sample 1.

WaitAfterFiring2

WaitAfterFiring2 = NaN minute

Wait time after firing. Sample 2.

WaitAfterFiring3

WaitAfterFiring3 = NaN minute

Wait time after firing. Sample 3.

WaitAfterFiring4

WaitAfterFiring4 = NaN minute

Wait time after firing. Sample 4.

WaitAfterFiring5

WaitAfterFiring5 = NaN minute

Wait time after firing. Sample 5.

WaitAfterFiring6

WaitAfterFiring6 = NaN minute

Wait time after firing. Sample 6.

WaitAfterFiring7

WaitAfterFiring7 = NaN minute

Wait time after firing. Sample 7.

WaitAfterFiring8

WaitAfterFiring8 = NaN minute

Wait time after firing. Sample 8.

WaitAfterFiring9

WaitAfterFiring9 = NaN minute

Wait time after firing. Sample 9.

WaitAfterFiring10

WaitAfterFiring10 = NaN minute

Wait time after firing. Sample 10.

WaitAfterFiring11

WaitAfterFiring11 = NaN minute

Wait time after firing. Sample 11.

WaitAfterFiring12

WaitAfterFiring12 = NaN minute

Wait time after firing. Sample 12.

WaitAfterFiring13

WaitAfterFiring13 = NaN minute

Wait time after firing. Sample 13.

WaitAfterFiring14

WaitAfterFiring14 = NaN minute

Wait time after firing. Sample 14.

WaitAfterFiring15

WaitAfterFiring15 = NaN minute

Wait time after firing. Sample 15.

WaitAfterFiring16

WaitAfterFiring16 = NaN minute

Wait time after firing. Sample 16.

WaitAfterFiring17

WaitAfterFiring17 = NaN minute

Wait time after firing. Sample 17.

WaitAfterFiring18

WaitAfterFiring18 = NaN minute

Wait time after firing. Sample 18.

WaitAfterFiring19

WaitAfterFiring19 = NaN minute

Wait time after firing. Sample 19.

WaitAfterFiring20

WaitAfterFiring20 = NaN minute

Wait time after firing. Sample 20.

WaitAfterFiring21

WaitAfterFiring21 = NaN minute

Wait time after firing. Sample 21.

WaitAfterFiring22

WaitAfterFiring22 = NaN minute

Wait time after firing. Sample 22.

WaitAfterFiring23

WaitAfterFiring23 = NaN minute

Wait time after firing. Sample 23.

WaitAfterFiring24

WaitAfterFiring24 = NaN minute

Wait time after firing. Sample 24.

WaitAfterFiring25

WaitAfterFiring25 = NaN minute

Wait time after firing. Sample 25.

WaitAfterFiring26

WaitAfterFiring26 = NaN minute

Wait time after firing. Sample 26.

WaitAfterFiring27

WaitAfterFiring27 = NaN minute

Wait time after firing. Sample 27.

WaitAfterFiring28

WaitAfterFiring28 = NaN minute

Wait time after firing. Sample 28.

WaitAfterFiring29

WaitAfterFiring29 = NaN minute

Wait time after firing. Sample 29.

WaitAfterFiring30

WaitAfterFiring30 = NaN minute

Wait time after firing. Sample 30.

WaitAfterFiring31

WaitAfterFiring31 = NaN minute

Wait time after firing. Sample 31.

WaitAfterFiring32

WaitAfterFiring32 = NaN minute

Wait time after firing. Sample 32.

WaitAfterFiring33

WaitAfterFiring33 = NaN minute

Wait time after firing. Sample 33.

WaitAfterFiring34

WaitAfterFiring34 = NaN minute

Wait time after firing. Sample 34.

WaitAfterFiring35

WaitAfterFiring35 = NaN minute

Wait time after firing. Sample 35.

WaitAfterFiring36

WaitAfterFiring36 = NaN minute

Wait time after firing. Sample 36.

WaitAfterFiring37

WaitAfterFiring37 = NaN minute

Wait time after firing. Sample 37.

WaitAfterFiring38

WaitAfterFiring38 = NaN minute

Wait time after firing. Sample 38.

WaitAfterFiring39

WaitAfterFiring39 = NaN minute

Wait time after firing. Sample 39.

WaitAfterFiring40

WaitAfterFiring40 = NaN minute

Wait time after firing. Sample 40.

WaitAfterFiring41

WaitAfterFiring41 = NaN minute

Wait time after firing. Sample 41.

WaitAfterFiring42

WaitAfterFiring42 = NaN minute

Wait time after firing. Sample 42.

WaitAfterFiring43

WaitAfterFiring43 = NaN minute

Wait time after firing. Sample 43.

WaitAfterFiring44

WaitAfterFiring44 = NaN minute

Wait time after firing. Sample 44.

WaitAfterFiring45

WaitAfterFiring45 = NaN minute

Wait time after firing. Sample 45.

WaitAfterFiring46

WaitAfterFiring46 = NaN minute

Wait time after firing. Sample 46.

WaitAfterFiring47

WaitAfterFiring47 = NaN minute

Wait time after firing. Sample 47.

WaitAfterFiring48

WaitAfterFiring48 = NaN minute

Wait time after firing. Sample 48.

WaitAfterFiring49

WaitAfterFiring49 = NaN minute

Wait time after firing. Sample 49.

WaitAfterFiring50

WaitAfterFiring50 = NaN minute

Wait time after firing. Sample 50.

WaitAfterFiring51

WaitAfterFiring51 = NaN minute

Wait time after firing. Sample 51.

WaitAfterFiring52

WaitAfterFiring52 = NaN minute

Wait time after firing. Sample 52.

WaitAfterFiring53

WaitAfterFiring53 = NaN minute

Wait time after firing. Sample 53.

WaitAfterFiring54

WaitAfterFiring54 = NaN minute

Wait time after firing. Sample 54.

WaitAfterFiring55

WaitAfterFiring55 = NaN minute

Wait time after firing. Sample 55.

WaitAfterFiring56

WaitAfterFiring56 = NaN minute

Wait time after firing. Sample 56.

WaitAfterFiring57

WaitAfterFiring57 = NaN minute

Wait time after firing. Sample 57.

WaitAfterFiring58

WaitAfterFiring58 = NaN minute

Wait time after firing. Sample 58.

WaitAfterFiring59

WaitAfterFiring59 = NaN minute

Wait time after firing. Sample 59.

WaitAfterFiring60

WaitAfterFiring60 = NaN minute

Wait time after firing. Sample 60.

YoYoMinAltitude

YoYoMinAltitude = 9 meter

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

MinAltitude

MinAltitude = 7 meter

Minimum altitude for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

UseCANONSampler

UseCANONSampler = Science:CANONSampler.loadAtStartup

Whether to use CANON Sampler to sample.

UseESP

UseESP = Science:ESPComponent.loadAtStartup

Whether to use ESP to sample.

CANONSamplerTriggerTimeout

CANONSamplerTriggerTimeout = 3 minute

How long to wait for a CANON Sampler sample to start.

CANONSamplerTimeout

CANONSamplerTimeout = Science:CANONSampler.sampleTimeout

How long to wait for a CANON Sampler sample to complete.

TrackingUpdatePeriod

TrackingUpdatePeriod = 15 second

How long to wait between acoustic queries

NumberOfPings

NumberOfPings = 1 count

Number of return pings to request with each acoustic query (more than 1 will activate oneway mode)

NumberOfFixesLowPass

NumberOfFixesLowPass = 4 count

Number of fixes to average to produce smoothed lat/lon/dep output (initialized to 4).

NumberOfStartingFixesToIgnore

NumberOfStartingFixesToIgnore = 8 count

Number of fixes to ignore at the start of mission (as the vehicle just leaves surface, contact's location estimate especailly bearing can be erroneous. Initialized to 8, corresponding to 2 minutes if query interval TrackingUpdatePeriod = 15 s.

CylinderCircleMaxError

CylinderCircleMaxError = 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.

CylinderCircleTurnToPort

CylinderCircleTurnToPort = 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.)

YoYoUpPitch

YoYoUpPitch = 20 degree

Vehicle up pitch while performing the YoYo behavior.

YoYoDownPitch

YoYoDownPitch = -20 degree

Vehicle down pitch while performing the YoYo behavior.

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

NeedCommsTimeVeryLong

NeedCommsTimeVeryLong = 100 hour

How often to surface for commumications during sampling. Huge number to disable needcomms.

Output

ShallowBoundSmearIndividual

ShallowBoundSmearIndividual = NaN meter

YoYoMinDepth individual.

DeepBoundSmearIndividual

DeepBoundSmearIndividual = NaN meter

YoYoMaxDepth individual.

WaitIndividualBeforeFiring

WaitIndividualBeforeFiring = NaN minute

Wait before firing for each individual sample.

WaitIndividualAfterFiring

WaitIndividualAfterFiring = NaN minute

Wait after firing for each individual sample.

CartridgeTypeIndividual

CartridgeTypeIndividual = NaN count

Cartridge type individual.

CartridgeTypeSet

CartridgeTypeSet = -6 count

Cartridge type. Initialized to -6.

ElapsedSinceStartOrLastSample

ElapsedSinceStartOrLastSample = 0 hour

The mission sets this variable to reset the ESP sample timer.

ElapsedSinceLastCenterUpdate

ElapsedSinceLastCenterUpdate = 0 hour

The mission sets this variable to reset the center update timer.

ElapsedTime

ElapsedTime = 0 hour

Only for syslog.

ContactLatitudeLowpass

ContactLatitudeLowpass = NaN degree

Low-pass filtered latitude of contact (initialized to NaN).

ContactLongitudeLowpass

ContactLongitudeLowpass = NaN degree

Low-pass filtered longitude of contact (initialized to NaN).

YoYoMinDepth

YoYoMinDepth = 1.5 meter

Minimum depth while performing the YoYo behavior. Program will overwrite for each sampler, e.g., ShallowBoundSmear1.

YoYoMaxDepth

YoYoMaxDepth = 20 meter

Maximum depth while performing the YoYo behavior. Program will overwrite for each sampler, e.g., DeepBoundSmear1

WaitDurationBeforeFiring

WaitDurationBeforeFiring = 5.0 minute

Wait time before firing a sample. Program will set for each sampler, e.g., WaitBeforeFiring1.

WaitDurationAfterFiring

WaitDurationAfterFiring = 5.0 minute

Wait time after firing a sample. Program will set for each sampler, e.g., WaitAfterFiring1.

CommsEndOfSampleCompleted

CommsEndOfSampleCompleted = false

End-of-sample comms completed. Initialized to False.

StoppedForNoFiringForTooLong

StoppedForNoFiringForTooLong = false

Mission stopped because of no firing for too long. Initialized to false.

DepthLogged

DepthLogged = 0.0 meter

TempLogged

TempLogged = 0.0 celsius

ChlLogged

ChlLogged = 0.0 microgram_per_liter

MissionStartCommsCompleted

MissionStartCommsCompleted = false

MissionStartComms is completed (initialized to false).

TransitCompleted

TransitCompleted = false

Transit is completed (initialized to False).

FlagSamplingOngoing

FlagSamplingOngoing = false

Flag of water sampling in process (initialized to false).

SampleCompleted

SampleCompleted = false

Sampling completed. Initialized to false.

SampleOptionsSet

SampleOptionsSet = false

Sample options (DepDiffFromPeakChl, ReportAtSurface, ReacquirePeak) already set. Initialized to false.

CntSamples

CntSamples = 1 count

Count of water samples (initilized to 1).

Inserts

Insert/NeedComms.tl

Insert/Science.tl

Insert/StandardEnvelopes.tl

Insert/AbortDrift.tl

redefineArg AcousticTimeout = BeingInterrogatedTimeout

Invoked Module Behaviors

Estimation:Tracking

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:Circle

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint

Guidance:YoYo

Sample:AbortSample

Science:ESPCartridgeSelect