Science/smear_sampling_front.tl¶
Mission ID: Smear
Mission Path: Science/smear_sampling_front.tl
(No description)
Arguments¶
NumESPSamplers¶
NumESPSamplers = 1 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.
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.
DepthNearSurface¶
DepthNearSurface = 2.0 meter
Near-surface depth.
ThreshCntSurfTempMeetsCondition¶
ThreshCntSurfTempMeetsCondition = 5 count
If CntSurfTempMeetsCondition reaches this threshold, the surface temp condition (for switching from yoyo to smear sampling) is considered met.
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.
LonMinYoyoBreak¶
LonMinYoyoBreak = NaN degree
If longitude falls in [LonMinYoyoBreak LonMaxYoyoBreak], stop yo-yo to switch to smear sampling.
LonMaxYoyoBreak¶
LonMaxYoyoBreak = NaN degree
If longitude falls in [LonMinYoyoBreak LonMaxYoyoBreak], stop yo-yo to switch to smear sampling.
SurfTempMinYoyoBreak¶
SurfTempMinYoyoBreak = NaN celsius
If surface temperature falls in [SurfTempMinYoyoBreak SurfTempMaxYoyoBreak] for enough counts, stop yo-yo to switch to smear sampling.
SurfTempMaxYoyoBreak¶
SurfTempMaxYoyoBreak = NaN degree
If surface temperature falls in [SurfTempMinYoyoBreak SurfTempMaxYoyoBreak] for enough counts, stop yo-yo to switch to smear sampling.
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.
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
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).
ConditionLonYoyoBreak¶
ConditionLonYoyoBreak = false
Whether the longitude condition for switching from yoyo to smearing sampling is satisfied.
ConditionSurfTempCnt¶
ConditionSurfTempCnt = false
Whether the surface temperature condition is met for incrementing count.
ConditionSurfTempYoyoBreak¶
ConditionSurfTempYoyoBreak = false
Whether the surface temperature condition for switching from yoyo to smearing sampling is satisfied.
ConditionYoyoBreak¶
ConditionYoyoBreak = false
Whether the overall condition for switching from yoyo to smearing sampling is satisfied.
EnableConditionLonYoyoBreak¶
EnableConditionLonYoyoBreak = true
Enable setting ConditionLonYoyoBreak. Initialized to true.
EnableCntSurfTempMeetsCondition¶
EnableCntSurfTempMeetsCondition = true
Enable counting CntSurfTempMeetsCondition. Initialized to true.
EnableConditionSurfTempYoyoBreak¶
EnableConditionSurfTempYoyoBreak = true
Enable setting ConditionSurfTempYoyoBreak. Initialized to true.
EnableConditionYoyoBreak¶
EnableConditionYoyoBreak = true
Enable setting ConditionYoyoBreak. Initialized to true.
DescentYoyo¶
DescentYoyo = true
Whether the vehicle is on a descent profile. Initialized to True.
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.
CntSamples¶
CntSamples = 1 count
Count of water samples (initilized to 1).
CntSurfTempMeetsCondition¶
CntSurfTempMeetsCondition = 0 count
Count of surface temperature meeting condition (initilized to 0).
Output¶
None defined
Inserts¶
Insert/StandardEnvelopes.tl¶
Insert/AbortDrift.tl¶
redefineArg AcousticTimeout = AcousticTrackingTimeout