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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

Insert/Science.tl

Insert/NeedComms.tl

Insert/NeedComms.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Waypoint

Guidance:YoYo