Science/trackPatchOil.xml¶
Mission ID: trackPatchOil
Mission Path: Science/trackPatchOil.xml
Vehicle runs at 3m depth (instead of yo-yos since oil concentration varies strongly with depth), with patch detect enabled for oil concentration. Suggested settings for simulaton: Config/sim/[username]/Simulator.cfg: oceanModelData = "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3"; eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; // vel x wrto LV Config/sim/[username]/workSite.cfg: initLat = 71.2225805280196 arcdeg; // Initial latitude initLon = -163.5093252100575 arcdeg; // Initial longitude Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool; WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool; WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial = "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7 1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count; WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count; WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count; WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb; WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count; WetLabsSeaOWL_UV_A.darkCountsChl = 50 count; WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l; WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count; WetLabsSeaOWL_UV_A.darkCountsOil = 50 count; WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts = "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM";
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 = 9 day
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.
Depth¶
Depth = 3.0 meter
Depth during sampling.
Speed¶
Speed = 1 meter_per_second
Vehicle speed.
WpMaxDistance¶
WpMaxDistance = 12000 meter
Maximum length of each tracking leg
WpTimeout¶
WpTimeout = 12000 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 = 200 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
FilterWidth¶
FilterWidth = 260 count
Width of boxcar filter used in horizontal patch detection Set to 130 if Guidance:SetSpeed.period set to 800 msec
BeginThreshold¶
BeginThreshold = 0.2 kilogram_per_cubic_meter
If non-NaN, sets threshold for starting horizontal patch detection
OffPeakFraction¶
OffPeakFraction = 10 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.
DetectOilTimeout¶
DetectOilTimeout = 15 minute
Look for signal for this long. If none found, return to previous point.
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.
PatchOil¶
PatchOil = NaN microgram_per_liter
PatchOilDepth¶
PatchOilDepth = NaN meter
PatchOilLatitude¶
PatchOilLatitude = NaN degree
PatchOilLongitude¶
PatchOilLongitude = NaN degree
PatchOilDistance¶
PatchOilDistance = 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