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Science/trackPatch.xml

Mission ID: trackPatch

Mission Path: Science/trackPatch.xml

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

Insert/Surface.tl

redefineArg SurfacePitch = 20 degree
redefineArg SurfaceSpeed = 1 meter_per_second

Insert/Science.tl

redefineArg PeakDetectChlActive = true
redefineArg PatchTracking = true
redefineArg TimeWindowPeakReport = TimeWindowPeakRpt
redefineArg LowPassWindowLength = LowPassWindowLen
redefineArg PeakShallowBound = PeakChlShallowBnd
redefineArg PeakDeepBound = PeakChlDeepBnd
redefineArg OffPeakFractionHorizontal = OffPeakFraction

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:OffshoreEnvelope

Guidance:Pitch

Guidance:SetSpeed

Guidance:WaterDepthEnvelope

Guidance:Waypoint

Guidance:YoYo

Trigger:PeakDetectHorizontal