Science/smear_yoyo_sampling.xml¶
Mission ID: Smear_yoyo_sampling
Mission Path: Science/smear_yoyo_sampling.xml
(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 False.)
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 = 10 meter
Minimum yoyo depth while transiting to the sampling location.
TransitYoYoMaxDepth¶
TransitYoYoMaxDepth = 20 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.
CartridgeType3¶
CartridgeType3 = -6 count
Sample 3.
CartridgeType4¶
CartridgeType4 = -6 count
Sample 4.
CartridgeType5¶
CartridgeType5 = -6 count
Sample 5.
CartridgeType6¶
CartridgeType6 = -6 count
Sample 6.
CartridgeType7¶
CartridgeType7 = -6 count
Sample 7.
CartridgeType8¶
CartridgeType8 = -6 count
Sample 8.
CartridgeType9¶
CartridgeType9 = -6 count
Sample 9.
CartridgeType10¶
CartridgeType10 = -6 count
Sample 10.
CartridgeType11¶
CartridgeType11 = -6 count
Sample 11.
CartridgeType12¶
CartridgeType12 = -6 count
Sample 12.
CartridgeType13¶
CartridgeType13 = -6 count
Sample 13.
CartridgeType14¶
CartridgeType14 = -6 count
Sample 14.
CartridgeType15¶
CartridgeType15 = -6 count
Sample 15.
CartridgeType16¶
CartridgeType16 = -6 count
Sample 16.
CartridgeType17¶
CartridgeType17 = -6 count
Sample 17.
CartridgeType18¶
CartridgeType18 = -6 count
Sample 18.
CartridgeType19¶
CartridgeType19 = -6 count
Sample 19.
CartridgeType20¶
CartridgeType20 = -6 count
Sample 20.
CartridgeType21¶
CartridgeType21 = -6 count
Sample 21.
CartridgeType22¶
CartridgeType22 = -6 count
Sample 22.
CartridgeType23¶
CartridgeType23 = -6 count
Sample 23.
CartridgeType24¶
CartridgeType24 = -6 count
Sample 24.
CartridgeType25¶
CartridgeType25 = -6 count
Sample 25.
CartridgeType26¶
CartridgeType26 = -6 count
Sample 26.
CartridgeType27¶
CartridgeType27 = -6 count
Sample 27.
CartridgeType28¶
CartridgeType28 = -6 count
Sample 28.
CartridgeType29¶
CartridgeType29 = -6 count
Sample 29.
CartridgeType30¶
CartridgeType30 = -6 count
Sample 30.
CartridgeType31¶
CartridgeType31 = -6 count
Sample 31.
CartridgeType32¶
CartridgeType32 = -6 count
Sample 32.
CartridgeType33¶
CartridgeType33 = -6 count
Sample 33.
CartridgeType34¶
CartridgeType34 = -6 count
Sample 34.
CartridgeType35¶
CartridgeType35 = -6 count
Sample 35.
CartridgeType36¶
CartridgeType36 = -6 count
Sample 36.
CartridgeType37¶
CartridgeType37 = -6 count
Sample 37.
CartridgeType38¶
CartridgeType38 = -6 count
Sample 38.
CartridgeType39¶
CartridgeType39 = -6 count
Sample 39.
CartridgeType40¶
CartridgeType40 = -6 count
Sample 40.
CartridgeType41¶
CartridgeType41 = -6 count
Sample 41.
CartridgeType42¶
CartridgeType42 = -6 count
Sample 42.
CartridgeType43¶
CartridgeType43 = -6 count
Sample 43.
CartridgeType44¶
CartridgeType44 = -6 count
Sample 44.
CartridgeType45¶
CartridgeType45 = -6 count
Sample 45.
CartridgeType46¶
CartridgeType46 = -6 count
Sample 46.
CartridgeType47¶
CartridgeType47 = -6 count
Sample 47.
CartridgeType48¶
CartridgeType48 = -6 count
Sample 48.
CartridgeType49¶
CartridgeType49 = -6 count
Sample 49.
CartridgeType50¶
CartridgeType50 = -6 count
Sample 50.
CartridgeType51¶
CartridgeType51 = -6 count
Sample 51.
CartridgeType52¶
CartridgeType52 = -6 count
Sample 52.
CartridgeType53¶
CartridgeType53 = -6 count
Sample 53.
CartridgeType54¶
CartridgeType54 = -6 count
Sample 54.
CartridgeType55¶
CartridgeType55 = -6 count
Sample 55.
CartridgeType56¶
CartridgeType56 = -6 count
Sample 56.
CartridgeType57¶
CartridgeType57 = -6 count
Sample 57.
CartridgeType58¶
CartridgeType58 = -6 count
Sample 58.
CartridgeType59¶
CartridgeType59 = -6 count
Sample 59.
CartridgeType60¶
CartridgeType60 = -6 count
Sample 60.
ShallowBoundSmearCommon¶
ShallowBoundSmearCommon = NaN 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
Sample 2.
ShallowBoundSmear3¶
ShallowBoundSmear3 = NaN meter
Sample 3.
ShallowBoundSmear4¶
ShallowBoundSmear4 = NaN meter
Sample 4.
ShallowBoundSmear5¶
ShallowBoundSmear5 = NaN meter
Sample 5.
ShallowBoundSmear6¶
ShallowBoundSmear6 = NaN meter
Sample 6.
ShallowBoundSmear7¶
ShallowBoundSmear7 = NaN meter
Sample 7.
ShallowBoundSmear8¶
ShallowBoundSmear8 = NaN meter
Sample 8.
ShallowBoundSmear9¶
ShallowBoundSmear9 = NaN meter
Sample 9.
ShallowBoundSmear10¶
ShallowBoundSmear10 = NaN meter
Sample 10.
ShallowBoundSmear11¶
ShallowBoundSmear11 = NaN meter
Sample 11.
ShallowBoundSmear12¶
ShallowBoundSmear12 = NaN meter
Sample 12.
ShallowBoundSmear13¶
ShallowBoundSmear13 = NaN meter
Sample 13.
ShallowBoundSmear14¶
ShallowBoundSmear14 = NaN meter
Sample 14.
ShallowBoundSmear15¶
ShallowBoundSmear15 = NaN meter
Sample 15.
ShallowBoundSmear16¶
ShallowBoundSmear16 = NaN meter
Sample 16.
ShallowBoundSmear17¶
ShallowBoundSmear17 = NaN meter
Sample 17.
ShallowBoundSmear18¶
ShallowBoundSmear18 = NaN meter
Sample 18.
ShallowBoundSmear19¶
ShallowBoundSmear19 = NaN meter
Sample 19.
ShallowBoundSmear20¶
ShallowBoundSmear20 = NaN meter
Sample 20.
ShallowBoundSmear21¶
ShallowBoundSmear21 = NaN meter
Sample 21.
ShallowBoundSmear22¶
ShallowBoundSmear22 = NaN meter
Sample 22.
ShallowBoundSmear23¶
ShallowBoundSmear23 = NaN meter
Sample 23.
ShallowBoundSmear24¶
ShallowBoundSmear24 = NaN meter
Sample 24.
ShallowBoundSmear25¶
ShallowBoundSmear25 = NaN meter
Sample 25.
ShallowBoundSmear26¶
ShallowBoundSmear26 = NaN meter
Sample 26.
ShallowBoundSmear27¶
ShallowBoundSmear27 = NaN meter
Sample 27.
ShallowBoundSmear28¶
ShallowBoundSmear28 = NaN meter
Sample 28.
ShallowBoundSmear29¶
ShallowBoundSmear29 = NaN meter
Sample 29.
ShallowBoundSmear30¶
ShallowBoundSmear30 = NaN meter
Sample 30.
ShallowBoundSmear31¶
ShallowBoundSmear31 = NaN meter
Sample 31.
ShallowBoundSmear32¶
ShallowBoundSmear32 = NaN meter
Sample 32.
ShallowBoundSmear33¶
ShallowBoundSmear33 = NaN meter
Sample 33.
ShallowBoundSmear34¶
ShallowBoundSmear34 = NaN meter
Sample 34.
ShallowBoundSmear35¶
ShallowBoundSmear35 = NaN meter
Sample 35.
ShallowBoundSmear36¶
ShallowBoundSmear36 = NaN meter
Sample 36.
ShallowBoundSmear37¶
ShallowBoundSmear37 = NaN meter
Sample 37.
ShallowBoundSmear38¶
ShallowBoundSmear38 = NaN meter
Sample 38.
ShallowBoundSmear39¶
ShallowBoundSmear39 = NaN meter
Sample 39.
ShallowBoundSmear40¶
ShallowBoundSmear40 = NaN meter
Sample 40.
ShallowBoundSmear41¶
ShallowBoundSmear41 = NaN meter
Sample 41.
ShallowBoundSmear42¶
ShallowBoundSmear42 = NaN meter
Sample 42.
ShallowBoundSmear43¶
ShallowBoundSmear43 = NaN meter
Sample 43.
ShallowBoundSmear44¶
ShallowBoundSmear44 = NaN meter
Sample 44.
ShallowBoundSmear45¶
ShallowBoundSmear45 = NaN meter
Sample 45.
ShallowBoundSmear46¶
ShallowBoundSmear46 = NaN meter
Sample 46.
ShallowBoundSmear47¶
ShallowBoundSmear47 = NaN meter
Sample 47.
ShallowBoundSmear48¶
ShallowBoundSmear48 = NaN meter
Sample 48.
ShallowBoundSmear49¶
ShallowBoundSmear49 = NaN meter
Sample 49.
ShallowBoundSmear50¶
ShallowBoundSmear50 = NaN meter
Sample 50.
ShallowBoundSmear51¶
ShallowBoundSmear51 = NaN meter
Sample 51.
ShallowBoundSmear52¶
ShallowBoundSmear52 = NaN meter
Sample 52.
ShallowBoundSmear53¶
ShallowBoundSmear53 = NaN meter
Sample 53.
ShallowBoundSmear54¶
ShallowBoundSmear54 = NaN meter
Sample 54.
ShallowBoundSmear55¶
ShallowBoundSmear55 = NaN meter
Sample 55.
ShallowBoundSmear56¶
ShallowBoundSmear56 = NaN meter
Sample 56.
ShallowBoundSmear57¶
ShallowBoundSmear57 = NaN meter
Sample 57.
ShallowBoundSmear58¶
ShallowBoundSmear58 = NaN meter
Sample 58.
ShallowBoundSmear59¶
ShallowBoundSmear59 = NaN meter
Sample 59.
ShallowBoundSmear60¶
ShallowBoundSmear60 = NaN meter
Sample 60.
DeepBoundSmearCommon¶
DeepBoundSmearCommon = NaN 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
Sample 2.
DeepBoundSmear3¶
DeepBoundSmear3 = NaN meter
Sample 3.
DeepBoundSmear4¶
DeepBoundSmear4 = NaN meter
Sample 4.
DeepBoundSmear5¶
DeepBoundSmear5 = NaN meter
Sample 5.
DeepBoundSmear6¶
DeepBoundSmear6 = NaN meter
Sample 6.
DeepBoundSmear7¶
DeepBoundSmear7 = NaN meter
Sample 7.
DeepBoundSmear8¶
DeepBoundSmear8 = NaN meter
Sample 8.
DeepBoundSmear9¶
DeepBoundSmear9 = NaN meter
Sample 9.
DeepBoundSmear10¶
DeepBoundSmear10 = NaN meter
Sample 10.
DeepBoundSmear11¶
DeepBoundSmear11 = NaN meter
Sample 11.
DeepBoundSmear12¶
DeepBoundSmear12 = NaN meter
Sample 12.
DeepBoundSmear13¶
DeepBoundSmear13 = NaN meter
Sample 13.
DeepBoundSmear14¶
DeepBoundSmear14 = NaN meter
Sample 14.
DeepBoundSmear15¶
DeepBoundSmear15 = NaN meter
Sample 15.
DeepBoundSmear16¶
DeepBoundSmear16 = NaN meter
Sample 16.
DeepBoundSmear17¶
DeepBoundSmear17 = NaN meter
Sample 17.
DeepBoundSmear18¶
DeepBoundSmear18 = NaN meter
Sample 18.
DeepBoundSmear19¶
DeepBoundSmear19 = NaN meter
Sample 19.
DeepBoundSmear20¶
DeepBoundSmear20 = NaN meter
Sample 20.
DeepBoundSmear21¶
DeepBoundSmear21 = NaN meter
Sample 21.
DeepBoundSmear22¶
DeepBoundSmear22 = NaN meter
Sample 22.
DeepBoundSmear23¶
DeepBoundSmear23 = NaN meter
Sample 23.
DeepBoundSmear24¶
DeepBoundSmear24 = NaN meter
Sample 24.
DeepBoundSmear25¶
DeepBoundSmear25 = NaN meter
Sample 25.
DeepBoundSmear26¶
DeepBoundSmear26 = NaN meter
Sample 26.
DeepBoundSmear27¶
DeepBoundSmear27 = NaN meter
Sample 27.
DeepBoundSmear28¶
DeepBoundSmear28 = NaN meter
Sample 28.
DeepBoundSmear29¶
DeepBoundSmear29 = NaN meter
Sample 29.
DeepBoundSmear30¶
DeepBoundSmear30 = NaN meter
Sample 30.
DeepBoundSmear31¶
DeepBoundSmear31 = NaN meter
Sample 31.
DeepBoundSmear32¶
DeepBoundSmear32 = NaN meter
Sample 32.
DeepBoundSmear33¶
DeepBoundSmear33 = NaN meter
Sample 33.
DeepBoundSmear34¶
DeepBoundSmear34 = NaN meter
Sample 34.
DeepBoundSmear35¶
DeepBoundSmear35 = NaN meter
Sample 35.
DeepBoundSmear36¶
DeepBoundSmear36 = NaN meter
Sample 36.
DeepBoundSmear37¶
DeepBoundSmear37 = NaN meter
Sample 37.
DeepBoundSmear38¶
DeepBoundSmear38 = NaN meter
Sample 38.
DeepBoundSmear39¶
DeepBoundSmear39 = NaN meter
Sample 39.
DeepBoundSmear40¶
DeepBoundSmear40 = NaN meter
Sample 40.
DeepBoundSmear41¶
DeepBoundSmear41 = NaN meter
Sample 41.
DeepBoundSmear42¶
DeepBoundSmear42 = NaN meter
Sample 42.
DeepBoundSmear43¶
DeepBoundSmear43 = NaN meter
Sample 43.
DeepBoundSmear44¶
DeepBoundSmear44 = NaN meter
Sample 44.
DeepBoundSmear45¶
DeepBoundSmear45 = NaN meter
Sample 45.
DeepBoundSmear46¶
DeepBoundSmear46 = NaN meter
Sample 46.
DeepBoundSmear47¶
DeepBoundSmear47 = NaN meter
Sample 47.
DeepBoundSmear48¶
DeepBoundSmear48 = NaN meter
Sample 48.
DeepBoundSmear49¶
DeepBoundSmear49 = NaN meter
Sample 49.
DeepBoundSmear50¶
DeepBoundSmear50 = NaN meter
Sample 50.
DeepBoundSmear51¶
DeepBoundSmear51 = NaN meter
Sample 51.
DeepBoundSmear52¶
DeepBoundSmear52 = NaN meter
Sample 52.
DeepBoundSmear53¶
DeepBoundSmear53 = NaN meter
Sample 53.
DeepBoundSmear54¶
DeepBoundSmear54 = NaN meter
Sample 54.
DeepBoundSmear55¶
DeepBoundSmear55 = NaN meter
Sample 55.
DeepBoundSmear56¶
DeepBoundSmear56 = NaN meter
Sample 56.
DeepBoundSmear57¶
DeepBoundSmear57 = NaN meter
Sample 57.
DeepBoundSmear58¶
DeepBoundSmear58 = NaN meter
Sample 58.
DeepBoundSmear59¶
DeepBoundSmear59 = NaN meter
Sample 59.
DeepBoundSmear60¶
DeepBoundSmear60 = NaN meter
Sample 60.
WaitCommon¶
WaitCommon = 5.0 minute
Value common to all samples unless set diffently: Wait time before firing.
Wait1¶
Wait1 = NaN minute
Wait time before firing. Sample 1.
Wait2¶
Wait2 = NaN minute
Sample 2.
Wait3¶
Wait3 = NaN minute
Sample 3.
Wait4¶
Wait4 = NaN minute
Sample 4.
Wait5¶
Wait5 = NaN minute
Sample 5.
Wait6¶
Wait6 = NaN minute
Sample 6.
Wait7¶
Wait7 = NaN minute
Sample 7.
Wait8¶
Wait8 = NaN minute
Sample 8.
Wait9¶
Wait9 = NaN minute
Sample 9.
Wait10¶
Wait10 = NaN minute
Sample 10.
Wait11¶
Wait11 = NaN minute
Sample 11.
Wait12¶
Wait12 = NaN minute
Sample 12.
Wait13¶
Wait13 = NaN minute
Sample 13.
Wait14¶
Wait14 = NaN minute
Sample 14.
Wait15¶
Wait15 = NaN minute
Sample 15.
Wait16¶
Wait16 = NaN minute
Sample 16.
Wait17¶
Wait17 = NaN minute
Sample 17.
Wait18¶
Wait18 = NaN minute
Sample 18.
Wait19¶
Wait19 = NaN minute
Sample 19.
Wait20¶
Wait20 = NaN minute
Sample 20.
Wait21¶
Wait21 = NaN minute
Sample 21.
Wait22¶
Wait22 = NaN minute
Sample 22.
Wait23¶
Wait23 = NaN minute
Sample 23.
Wait24¶
Wait24 = NaN minute
Sample 24.
Wait25¶
Wait25 = NaN minute
Sample 25.
Wait26¶
Wait26 = NaN minute
Sample 26.
Wait27¶
Wait27 = NaN minute
Sample 27.
Wait28¶
Wait28 = NaN minute
Sample 28.
Wait29¶
Wait29 = NaN minute
Sample 29.
Wait30¶
Wait30 = NaN minute
Sample 30.
Wait31¶
Wait31 = NaN minute
Sample 31.
Wait32¶
Wait32 = NaN minute
Sample 32.
Wait33¶
Wait33 = NaN minute
Sample 33.
Wait34¶
Wait34 = NaN minute
Sample 34.
Wait35¶
Wait35 = NaN minute
Sample 35.
Wait36¶
Wait36 = NaN minute
Sample 36.
Wait37¶
Wait37 = NaN minute
Sample 37.
Wait38¶
Wait38 = NaN minute
Sample 38.
Wait39¶
Wait39 = NaN minute
Sample 39.
Wait40¶
Wait40 = NaN minute
Sample 40.
Wait41¶
Wait41 = NaN minute
Sample 41.
Wait42¶
Wait42 = NaN minute
Sample 42.
Wait43¶
Wait43 = NaN minute
Sample 43.
Wait44¶
Wait44 = NaN minute
Sample 44.
Wait45¶
Wait45 = NaN minute
Sample 45.
Wait46¶
Wait46 = NaN minute
Sample 46.
Wait47¶
Wait47 = NaN minute
Sample 47.
Wait48¶
Wait48 = NaN minute
Sample 48.
Wait49¶
Wait49 = NaN minute
Sample 49.
Wait50¶
Wait50 = NaN minute
Sample 50.
Wait51¶
Wait51 = NaN minute
Sample 51.
Wait52¶
Wait52 = NaN minute
Sample 52.
Wait53¶
Wait53 = NaN minute
Sample 53.
Wait54¶
Wait54 = NaN minute
Sample 54.
Wait55¶
Wait55 = NaN minute
Sample 55.
Wait56¶
Wait56 = NaN minute
Sample 56.
Wait57¶
Wait57 = NaN minute
Sample 57.
Wait58¶
Wait58 = NaN minute
Sample 58.
Wait59¶
Wait59 = NaN minute
Sample 59.
Wait60¶
Wait60 = NaN minute
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 = 1 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.
WaitIndividual¶
WaitIndividual = NaN minute
Wait individual.
CartridgeTypeIndividual¶
CartridgeTypeIndividual = NaN count
Cartridge type individual.
CartridgeType¶
CartridgeType = -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
WaitDuration¶
WaitDuration = 5.0 minute
Wait time before firing a sample. Program will set for each sampler, e.g., Wait1.
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/StandardEnvelopes.tl¶
Insert/AbortDrift.tl¶
redefineArg AcousticTimeout = BeingInterrogatedTimeout