Skip to content
Page auto-generated from XML file.

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

Insert/Science.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:OffshoreEnvelope

Guidance:Pitch

Guidance:SetSpeed

Guidance:WaterDepthEnvelope

Guidance:Waypoint

Trigger:PatchTrack