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`Science/trackPatch.tl`¶

Mission ID: trackPatch

Mission Path: Science/trackPatch.tl

Vehicle runs yo-yos, with patch detect enabled for cholorphyll concentration.

Arguments¶

MinAltitude¶

MinAltitude = 5 meter

Minimum altitude for the entire mission.

MaxDepth¶

MaxDepth = 65 meter

Maximum depth for the entire mission.

MinWaterDepth¶

MinWaterDepth = 10 meter

Minimum water depth for the entire mission.

MinOffshore¶

MinOffshore = 2000 meter

Minimum offshore distance for the entire mission.

NeedCommsTime¶

NeedCommsTime = 180 minute

Maximum time between surfacings for communications

MissionTimeout¶

MissionTimeout = 56 hour

Timeout for the entire mission

MassDefault¶

MassDefault = Control:VerticalControl.massDefault

Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file.

BuoyancyNeutral¶

BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral

Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file.

YoYoMinDepth¶

YoYoMinDepth = 5.0 meter

Minimum depth during yo-yo's.

YoYoMaxDepth¶

YoYoMaxDepth = 25.0 meter

Maximum depth during yo-yo's.

YoYoUpPitch¶

YoYoUpPitch = 20.0 degree

Pitch when yo-yo's are ascending.

YoYoDownPitch¶

YoYoDownPitch = -20.0 degree

Pitch when yo-yo's are descending.

Speed¶

Speed = 1 meter_per_second

Vehicle speed.

WpMaxDistance¶

WpMaxDistance = 1000 meter

Maximum length of each tracking leg

WpTimeout¶

WpTimeout = 8000 second

Maximum duration of each tracking leg

WaterFrame¶

WaterFrame = true

Set WaterFrame true to drive towards waypoints in the water frame of reference

Repeat¶

Repeat = 20 count

Maximum number of tracking legs

Turn¶

Turn = 90 degree

Amount to turn at each leg

Reverse¶

Reverse = 180 degree

Change in bearing which reverses vehicle direction

TwoPi¶

TwoPi = 360 degree

Applied to stop run-up of angles

TimeWindowPeakRpt¶

TimeWindowPeakRpt = NaN minute

If greater than zero, report a peak every window. If NaN or zero, this variable is ignored.

LowPassWindowLen¶

LowPassWindowLen = 20 count

Low-pass window length (based on depth sensor sampling interval 0.4 second) for low-pass filtering.

PeakChlShallowBnd¶

PeakChlShallowBnd = 10 meter

Shallow depth bound for detecting chl peak on each descent or ascent profile.

PeakChlDeepBnd¶

PeakChlDeepBnd = 20 meter

Deep depth bound for detecting chl peak on each descent or ascent profile.

NumOfProfilesSlidingwindow¶

NumOfProfilesSlidingwindow = 10 count

Length of horizontal sliding window. The highest yoyo-wise chl peak (after low-pass filtering by a filter of length FilterWidthHorizontal) within this window.

FilterWidth¶

FilterWidth = 4 count

Width of boxcar filter used in horizontal patch detection

BeginThreshold¶

BeginThreshold = NaN microgram_per_liter

If non-NaN, sets threshold for starting horizontal patch detection

OffPeakFraction¶

OffPeakFraction = 80 percent

When filtered horizontal value is this fraction of the peak, consider it outside the patch.

PatchMode¶

PatchMode = false

If true, use center of "in peak" range as the turn-around point. If false use maximum horizontal peak location as the turn-around point.

PatchTrackingHorizontal¶

PatchTrackingHorizontal = true

Set true to turn on horizontal patch tracking

WpBearing¶

WpBearing = -90 degree

Bearing being followed in the current leg. Set this to initialize start direction of patch tracking.

Output¶

PatchDetectOn¶

PatchDetectOn = false

Mission sets this to true when the patch has been crossed.

WpDone¶

WpDone = false

Mission sets this to true when the cross-patch waypoint has been reached.

PatchChl¶

PatchChl = NaN microgram_per_liter

PatchChlDepth¶

PatchChlDepth = NaN meter

PatchChlLatitude¶

PatchChlLatitude = NaN degree

PatchChlLongitude¶

PatchChlLongitude = NaN degree

PatchChlDistance¶

PatchChlDistance = 0 meter

Inserts¶

`Insert/Surface.tl`¶

redefineArg SurfacePitch = 20 degree

redefineArg SurfaceSpeed = 1 meter_per_second

redefineArg UnpackSplitAtSurface = true