Science/smear_sampling.tl¶
Mission ID: Smear
Mission Path: Science/smear_sampling.tl
(No description)
Arguments¶
NumESPSamplers¶
NumESPSamplers = 3 count
Total number of ESP cartridges (Maximum 60. Set to a smaller number if not using all of them. Set to 0 to disable ESP sampling).
MissionTimeout¶
MissionTimeout = 20 hour
Maximum duration of mission
NeedCommsTimeInTransect¶
NeedCommsTimeInTransect = 60 minute
In transit, how often to surface for commumications
AcousticTrackingTimeout¶
AcousticTrackingTimeout = 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.
MaxWaitNoFiring¶
MaxWaitNoFiring = 4 hour
If no firing after more than MaxWaitNoFiring, terminate mission.
CylinderTimeout¶
CylinderTimeout = 30 minute
Maximum duration of cylinder yoyo.
CylinderYoYo¶
CylinderYoYo = false
Whether to yoyo on cylinder centered at the sampling location. Initialized to True.
SpeedTransit¶
SpeedTransit = 1.0 meter_per_second
Vehicle speed when transiting.
SpeedSmearSampling¶
SpeedSmearSampling = 1.0 meter_per_second
Vehicle speed for smear sampling.
MaxDepth¶
MaxDepth = 100 meter
Maximum depth for the entire mission.
ShallowBoundSmear¶
ShallowBoundSmear = 5.0 meter
Shallow depth bound for smear sampling.
DeepBoundSmear¶
DeepBoundSmear = 25 meter
Deep depth bound for smear sampling.
TransitYoYoMinDepth¶
TransitYoYoMinDepth = 1.5 meter
Minimum depth while performing the YoYo behavior during transit.
TransitYoYoMaxDepth¶
TransitYoYoMaxDepth = 30 meter
Maximum depth while performing the YoYo behavior during transit.
CylinderYoYoMinDep¶
CylinderYoYoMinDep = 1.5 meter
Minimum depth while performing the YoYo behavior on cylinder centered at the sampling location.
CylinderYoYoMaxDep¶
CylinderYoYoMaxDep = 30 meter
Maximum depth while performing the YoYo behavior on cylinder centered at the sampling location.
CylinderRadius¶
CylinderRadius = 200 meter
Radius of cylinder centered at the sampling location.
MaxCirclesOnCylinder¶
MaxCirclesOnCylinder = 1 count
Maximum number of circles on cylinder.
RepeatTransects¶
RepeatTransects = 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.
UpRate¶
UpRate = -0.04 meter_per_second
Go-up depth rate (Negative depth rate means going up).
DownRate¶
DownRate = 0.04 meter_per_second
Go-down depth rate (Positive depth rate means going down).
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.
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.
RudderAngle¶
RudderAngle = 13 degree
Rudder angle to use while performing the donut cast.
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
YoYoMinDepth¶
YoYoMinDepth = 1.5 meter
Minimum depth while performing the YoYo behavior. Program will set to TransitYoYoMinDepth, and then CylinderYoYoMinDep.
YoYoMaxDepth¶
YoYoMaxDepth = 30 meter
Maximum depth while performing the YoYo behavior. Program will set to TransitYoYoMaxDepth, and then CylinderYoYoMaxDep.
SampleCompleted¶
SampleCompleted = false
Sampling 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).
StartSmear¶
StartSmear = false
Start vertical smear (initialized to false).
FlagGoUp¶
FlagGoUp = false
Go-up flag (set to true when going up. Initialized to false).
FlagGoDown¶
FlagGoDown = false
Go-down flag (set to true when going down. Initialized to false).
EnableFiring¶
EnableFiring = true
Enable firing. Initialized to true.
FlagSamplingOngoing¶
FlagSamplingOngoing = false
Flag of water sampling in process (initialized to false).
FlagFired¶
FlagFired = false
Flag of sample fired (initialized to false).
FromLastTimeFixToStartSmear¶
FromLastTimeFixToStartSmear = NaN minute
Elapsed time from last time-fix to StartSmear.
FromLastTimeFixToNow¶
FromLastTimeFixToNow = NaN minute
Elapsed time from last time-fix to now.
FromLastTimeFixToLastFiring¶
FromLastTimeFixToLastFiring = NaN minute
Elapsed time from last time-fix to last firing.
CylinderLat¶
CylinderLat = NaN degree
Latitude of cylinder center.
CylinderLon¶
CylinderLon = NaN degree
Longitude of cylinder center.
CntSamples¶
CntSamples = 1 count
Count of water samples (initilized to 1).
Output¶
None defined
Inserts¶
Insert/StandardEnvelopes.tl¶
Insert/AbortDrift.tl¶
redefineArg AcousticTimeout = AcousticTrackingTimeout