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Science/smear_sampling.xml

Mission ID: Smear

Mission Path: Science/smear_sampling.xml

(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

Insert/Science.tl

Insert/NeedComms.tl

Insert/NeedComms.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:Circle

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Waypoint

Guidance:YoYo