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`Science/track_sample.tl`¶

Mission ID: TrackAndSample

Mission Path: Science/track_sample.tl

(No description)

Arguments¶

NumSamplers¶

NumSamplers = 1 count

Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0 to disable sampling.

MissionTimeout¶

MissionTimeout = 20 hour

Maximum duration of mission

AcousticTrackingTimeout¶

AcousticTrackingTimeout = 240 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.

NeedCommsTimeTransit¶

NeedCommsTimeTransit = 60 minute

On yo-yo transects, how often to surface for commumications

NeedCommsTimeInPatchTracking¶

NeedCommsTimeInPatchTracking = 300 minute

Maximum time between surfacings for communications during patch tracking. This is checked only when the vehicle is back to the patch center.

NeedCommsTimeMarginPatchTracking¶

NeedCommsTimeMarginPatchTracking = 60 minute

In case vehicle does not surface on periodic rounds of InLeg or CrossLeg, vehicle will be forced to surface at NeedCommsTimePatchTracking+NeedCommsTimeMarginPatchTracking.

WaitTimeAfterBouncing¶

WaitTimeAfterBouncing = 5 minute

During tracking, after the vehicle bounces off the boundary (defined by minimum distance to shore or polygon sides), wait this long before re-checking the distance.

MaxWaitTimeNoFiring¶

MaxWaitTimeNoFiring = 2 hour

If no firing after more than MaxWaitNoFiring, terminate mission.

MaxWaitTimeNotAchievingDepth¶

MaxWaitTimeNotAchievingDepth = 0.5 hour

Maximum wait time the vehicle cannot reach the targeted depth.

LatPatchTrackingStart¶

LatPatchTrackingStart = NaN degree

Latitude of patch tracking start location. If nan, transit is skipped.

LonPatchTrackingStart¶

LonPatchTrackingStart = NaN degree

Longitude of patch tracking start location. If nan, transit is skipped.

SendSampleStatusData¶

SendSampleStatusData = true

Whether to senddata to acoustic modem.

SendSampleDataToMultipleModems¶

SendSampleDataToMultipleModems = false

Whether to senddata to more than one modem.

ModemID1¶

ModemID1 = 1 enum

Modem ID1. Initialized to 1.

ModemID2¶

ModemID2 = 4 enum

Modem ID2. Initialized to 4.

ChlPeakDetect¶

ChlPeakDetect = true

Whether to sample at peak-chl

SalinityPeakDetect¶

SalinityPeakDetect = true

Whether to sample at peak-salinity

OilPeakDetect¶

OilPeakDetect = false

Whether to sample at peak-oil

PlanktivoreLMavgROIPeakDetect¶

PlanktivoreLMavgROIPeakDetect = false

Whether to sample at peak-PlanktivoreLMavgROI

DurationOfInitialDive¶

DurationOfInitialDive = 1.0 minute

On the first dive for looking for the chl max, run at SpeedInitialDive for this duration (e.g., 1 m/s spiral to dive fast).

SpeedTransit¶

SpeedTransit = 1.0 meter_per_second

Vehicle speed when transiting.

SpeedOfInitialDive¶

SpeedOfInitialDive = 1.0 meter_per_second

Vehicle speed during initial dive (for looking for the chl max). 0.0 for drift mode (prop off); 1.0 for spiral mode (prop on). Initialized to 1 m/s.

SpeedOfSampling¶

SpeedOfSampling = 1.0 meter_per_second

Vehicle speed during sampling: 0.0 for drift mode (prop off); 1.0 for donut mode (prop on). Initialized to 1 m/s.

RudderAngleInInitialDive¶

RudderAngleInInitialDive = 9 degree

Rudder angle in initial spiral-down to leave surface. Initialized to 9 degrees.

RudderAngleInDonutSampling¶

RudderAngleInDonutSampling = 13 degree

Rudder angle during donut sampling.

MaxDepth¶

MaxDepth = 50 meter

Maximum depth for the entire mission.

MinWaterDepth¶

MinWaterDepth = 10 meter

Minimum water depth for the entire mission.

MinAltitude¶

MinAltitude = 7 meter

Minimum altitude for the entire mission.

MinOffshore¶

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

MarginOfMinOffshore¶

MarginOfMinOffshore = 100 meter

If closer than MinOffshore+MarginMinOffshore, turn back from shore.

MinDistanceFromPolygonSides¶

MinDistanceFromPolygonSides = 200 meter

If a operational safety polygon is specified and the vehicle is closer than this minimum distance to the polygon sides, turn back.

ShallowBoundChl¶

ShallowBoundChl = 4.5 meter

Shallow depth bound for chl-peak detection.

DeepBoundChl¶

DeepBoundChl = 17 meter

Deep depth bound for chl-peak detection.

BeginThresholdChl¶

BeginThresholdChl = 1.0 microgram_per_liter

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

TriggerThresholdChl¶

TriggerThresholdChl = 2.5 microgram_per_liter

If non-NaN, sets threshold for triggering sampling. Chl value of 2.5 mug/L corresponds to HS2 fluorescence reading of 0.001 on Dorado.

BeginThresholdSalt¶

BeginThresholdSalt = 33.0 psu

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

BeginThresholdOil¶

BeginThresholdOil = 0.2 kilogram_per_cubic_meter

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

BeginThresholdPlanktivoreLMavgROI¶

BeginThresholdPlanktivoreLMavgROI = 50 count_per_second

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

WpBearingInit¶

WpBearingInit = 90 degree

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

FractionOffPeak¶

FractionOffPeak = 90 percent

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

CountRoundsCrossLegSurfacing¶

CountRoundsCrossLegSurfacing = 5 count

One round = one count of outleg. In TrackPatchYoyo.tl, when CntRounds (initialized to 1) counts to 5 and the ensuing CrossLeg is finished, the vehicle has completed 2 full 4-direction sweeps and is back to the patch center. When CntRounds counts to CountRoundsCrossLegSurfacing and the ensuing CrossLeg is finished (back to the patch center), the vehicle surfaces.

MaxRepeatsPatchTracking¶

MaxRepeatsPatchTracking = 2 count

The maximum number of repeats of calling TrackPatchYoyo.tl (for the case of NeedCommsTimeInPatchTracking is reached but CountRoundsBetweenCrossLegSurfacing is not reached).

WpMaxDistance¶

WpMaxDistance = 1000 meter

Maximum length of each tracking leg

WpMaxDuration¶

WpMaxDuration = 4000 second

Maximum duration of each tracking leg

SignalDetectionTimeout¶

SignalDetectionTimeout = 30 minute

Look for signal for this long. If none found within this timeout, switch to the next leg.

YoYoMinDepthPatchTracking¶

YoYoMinDepthPatchTracking = 4.5 meter

Minimum depth while performing the YoYo behavior.

YoYoMaxDepthPatchTracking¶

YoYoMaxDepthPatchTracking = 27 meter

Maximum depth while performing the YoYo behavior.

YoYoMinAltitude¶

YoYoMinAltitude = 9 meter

Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).

WaitTimeDepUndulationCommon¶

WaitTimeDepUndulationCommon = 1.0 minute

Value common to all samples unless set differently: Wait duration for the depth undulation to damp down.

CartridgeTypeCommon¶

CartridgeTypeCommon = -6 count

Cartridge type value common to all samples unless set differently. Initialized to -6.

CartType1¶

CartType1 = NaN count

Cartridge 1.

CartType2¶

CartType2 = NaN count

Cartridge 2.

CartType3¶

CartType3 = NaN count

Cartridge 3.

CartType4¶

CartType4 = NaN count

Cartridge 4.

CartType5¶

CartType5 = NaN count

Cartridge 5.

CartType6¶

CartType6 = NaN count

Cartridge 6.

CartType7¶

CartType7 = NaN count

Cartridge 7.

CartType8¶

CartType8 = NaN count

Cartridge 8.

CartType9¶

CartType9 = NaN count

Cartridge 9.

CartType10¶

CartType10 = NaN count

Cartridge 10.

CartType11¶

CartType11 = NaN count

Cartridge 11.

CartType12¶

CartType12 = NaN count

Cartridge 12.

CartType13¶

CartType13 = NaN count

Cartridge 13.

CartType14¶

CartType14 = NaN count

Cartridge 14.

CartType15¶

CartType15 = NaN count

Cartridge 15.

CartType16¶

CartType16 = NaN count

Cartridge 16.

CartType17¶

CartType17 = NaN count

Cartridge 17.

CartType18¶

CartType18 = NaN count

Cartridge 18.

CartType19¶

CartType19 = NaN count

Cartridge 19.

CartType20¶

CartType20 = NaN count

Cartridge 20.

CartType21¶

CartType21 = NaN count

Cartridge 21.

CartType22¶

CartType22 = NaN count

Cartridge 22.

CartType23¶

CartType23 = NaN count

Cartridge 23.

CartType24¶

CartType24 = NaN count

Cartridge 24.

CartType25¶

CartType25 = NaN count

Cartridge 25.

CartType26¶

CartType26 = NaN count

Cartridge 26.

CartType27¶

CartType27 = NaN count

Cartridge 27.

CartType28¶

CartType28 = NaN count

Cartridge 28.

CartType29¶

CartType29 = NaN count

Cartridge 29.

CartType30¶

CartType30 = NaN count

Cartridge 30.

CartType31¶

CartType31 = NaN count

Cartridge 31.

CartType32¶

CartType32 = NaN count

Cartridge 32.

CartType33¶

CartType33 = NaN count

Cartridge 33.

CartType34¶

CartType34 = NaN count

Cartridge 34.

CartType35¶

CartType35 = NaN count

Cartridge 35.

CartType36¶

CartType36 = NaN count

Cartridge 36.

CartType37¶

CartType37 = NaN count

Cartridge 37.

CartType38¶

CartType38 = NaN count

Cartridge 38.

CartType39¶

CartType39 = NaN count

Cartridge 39.

CartType40¶

CartType40 = NaN count

Cartridge 40.

CartType41¶

CartType41 = NaN count

Cartridge 41.

CartType42¶

CartType42 = NaN count

Cartridge 42.

CartType43¶

CartType43 = NaN count

Cartridge 43.

CartType44¶

CartType44 = NaN count

Cartridge 44.

CartType45¶

CartType45 = NaN count

Cartridge 45.

CartType46¶

CartType46 = NaN count

Cartridge 46.

CartType47¶

CartType47 = NaN count

Cartridge 47.

CartType48¶

CartType48 = NaN count

Cartridge 48.

CartType49¶

CartType49 = NaN count

Cartridge 49.

CartType50¶

CartType50 = NaN count

Cartridge 50.

CartType51¶

CartType51 = NaN count

Cartridge 51.

CartType52¶

CartType52 = NaN count

Cartridge 52.

CartType53¶

CartType53 = NaN count

Cartridge 53.

CartType54¶

CartType54 = NaN count

Cartridge 54.

CartType55¶

CartType55 = NaN count

Cartridge 55.

CartType56¶

CartType56 = NaN count

Cartridge 56.

CartType57¶

CartType57 = NaN count

Cartridge 57.

CartType58¶

CartType58 = NaN count

Cartridge 58.

CartType59¶

CartType59 = NaN count

Cartridge 59.

CartType60¶

CartType60 = NaN count

Cartridge 60.

WaitDepUndulation1¶

WaitDepUndulation1 = 5.0 minute

Sample 1.

WaitDepUndulation2¶

WaitDepUndulation2 = 1.0 minute

Sample 2.

WaitDepUndulation3¶

WaitDepUndulation3 = 1.0 minute

Sample 3.

WaitDepUndulation4¶

WaitDepUndulation4 = 1.0 minute

Sample 4.

WaitDepUndulation5¶

WaitDepUndulation5 = 1.0 minute

Sample 5.

WaitDepUndulation6¶

WaitDepUndulation6 = 1.0 minute

Sample 6.

WaitDepUndulation7¶

WaitDepUndulation7 = 1.0 minute

Sample 7.

WaitDepUndulation8¶

WaitDepUndulation8 = 1.0 minute

Sample 8.

WaitDepUndulation9¶

WaitDepUndulation9 = 1.0 minute

Sample 9.

WaitDepUndulation10¶

WaitDepUndulation10 = 1.0 minute

Sample 10.

WaitDepUndulation11¶

WaitDepUndulation11 = 1.0 minute

Sample 11.

WaitDepUndulation12¶

WaitDepUndulation12 = 1.0 minute

Sample 12.

WaitDepUndulation13¶

WaitDepUndulation13 = 1.0 minute

Sample 13.

WaitDepUndulation14¶

WaitDepUndulation14 = 1.0 minute

Sample 14.

WaitDepUndulation15¶

WaitDepUndulation15 = 1.0 minute

Sample 15.

WaitDepUndulation16¶

WaitDepUndulation16 = 1.0 minute

Sample 16.

WaitDepUndulation17¶

WaitDepUndulation17 = 1.0 minute

Sample 17.

WaitDepUndulation18¶

WaitDepUndulation18 = 1.0 minute

Sample 18.

WaitDepUndulation19¶

WaitDepUndulation19 = 1.0 minute

Sample 19.

WaitDepUndulation20¶

WaitDepUndulation20 = 1.0 minute

Sample 20.

WaitDepUndulation21¶

WaitDepUndulation21 = 1.0 minute

Sample 21.

WaitDepUndulation22¶

WaitDepUndulation22 = 1.0 minute

Sample 22.

WaitDepUndulation23¶

WaitDepUndulation23 = 1.0 minute

Sample 23.

WaitDepUndulation24¶

WaitDepUndulation24 = 1.0 minute

Sample 24.

WaitDepUndulation25¶

WaitDepUndulation25 = 1.0 minute

Sample 25.

WaitDepUndulation26¶

WaitDepUndulation26 = 1.0 minute

Sample 26.

WaitDepUndulation27¶

WaitDepUndulation27 = 1.0 minute

Sample 27.

WaitDepUndulation28¶

WaitDepUndulation28 = 1.0 minute

Sample 28.

WaitDepUndulation29¶

WaitDepUndulation29 = 1.0 minute

Sample 29.

WaitDepUndulation30¶

WaitDepUndulation30 = 1.0 minute

Sample 30.

WaitDepUndulation31¶

WaitDepUndulation31 = 1.0 minute

Sample 31.

WaitDepUndulation32¶

WaitDepUndulation32 = 1.0 minute

Sample 32.

WaitDepUndulation33¶

WaitDepUndulation33 = 1.0 minute

Sample 33.

WaitDepUndulation34¶

WaitDepUndulation34 = 1.0 minute

Sample 34.

WaitDepUndulation35¶

WaitDepUndulation35 = 1.0 minute

Sample 35.

WaitDepUndulation36¶

WaitDepUndulation36 = 1.0 minute

Sample 36.

WaitDepUndulation37¶

WaitDepUndulation37 = 1.0 minute

Sample 37.

WaitDepUndulation38¶

WaitDepUndulation38 = 1.0 minute

Sample 38.

WaitDepUndulation39¶

WaitDepUndulation39 = 1.0 minute

Sample 39.

WaitDepUndulation40¶

WaitDepUndulation40 = 1.0 minute

Sample 40.

WaitDepUndulation41¶

WaitDepUndulation41 = 1.0 minute

Sample 41.

WaitDepUndulation42¶

WaitDepUndulation42 = 1.0 minute

Sample 42.

WaitDepUndulation43¶

WaitDepUndulation43 = 1.0 minute

Sample 43.

WaitDepUndulation44¶

WaitDepUndulation44 = 1.0 minute

Sample 44.

WaitDepUndulation45¶

WaitDepUndulation45 = 1.0 minute

Sample 45.

WaitDepUndulation46¶

WaitDepUndulation46 = 1.0 minute

Sample 46.

WaitDepUndulation47¶

WaitDepUndulation47 = 1.0 minute

Sample 47.

WaitDepUndulation48¶

WaitDepUndulation48 = 1.0 minute

Sample 48.

WaitDepUndulation49¶

WaitDepUndulation49 = 1.0 minute

Sample 49.

WaitDepUndulation50¶

WaitDepUndulation50 = 1.0 minute

Sample 50.

WaitDepUndulation51¶

WaitDepUndulation51 = 1.0 minute

Sample 51.

WaitDepUndulation52¶

WaitDepUndulation52 = 1.0 minute

Sample 52.

WaitDepUndulation53¶

WaitDepUndulation53 = 1.0 minute

Sample 53.

WaitDepUndulation54¶

WaitDepUndulation54 = 1.0 minute

Sample 54.

WaitDepUndulation55¶

WaitDepUndulation55 = 1.0 minute

Sample 55.

WaitDepUndulation56¶

WaitDepUndulation56 = 1.0 minute

Sample 56.

WaitDepUndulation57¶

WaitDepUndulation57 = 1.0 minute

Sample 57.

WaitDepUndulation58¶

WaitDepUndulation58 = 1.0 minute

Sample 58.

WaitDepUndulation59¶

WaitDepUndulation59 = 1.0 minute

Sample 59.

WaitDepUndulation60¶

WaitDepUndulation60 = 1.0 minute

Sample 60.

AscentRate¶

AscentRate = -0.04 meter_per_second

Go-up depth rate (Negative depth rate means going up).

DescentRate¶

DescentRate = 0.2 meter_per_second

Go-down depth rate (Positive depth rate means going down).

IntervalRestartLogs¶

IntervalRestartLogs = 24 hour

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.

RiseFromTurningDepth¶

RiseFromTurningDepth = 2.5 meter

Peak chl on a profile is registered at the beginning of the next yoyo profile. In this mission, the peak chl on the descending profile is saved when the vehicle has turned onto the next yoyo profile (ascending profile) and is at least "RiseFromDeepTurningPoint" away from the turning depth.

DepthChangeThreshAttitudeFlip¶

DepthChangeThreshAttitudeFlip = 2.0 meter

Depth change threshold for determining vehicle attitude flip.

YoYoUpPitch¶

YoYoUpPitch = 20 degree

Vehicle up pitch while performing the YoYo behavior.

YoYoDownPitch¶

YoYoDownPitch = -20 degree

Vehicle down pitch while performing the YoYo behavior.

SurfacePitch¶

SurfacePitch = 20 degree

Pitch to maintain while ascending

SurfaceDepthRate¶

SurfaceDepthRate = NaN meter_per_second

Depth rate to maintain while ascending. Set to NaN if using pitch

Turn¶

Turn = 90 degree

Amount to turn at each leg

NumberOfProfilesSlidingwindow¶

NumberOfProfilesSlidingwindow = 100 count

Length of horizontal sliding window. Picks the highest yoyo-wise chl peak (after low-pass filtering by a filter of length FilterWidthHorizontal) within this window. Ignore older highs because ocean is changing.

LengthOfLPWindow¶

LengthOfLPWindow = 20 count

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

LengthOfMedianFilter¶

LengthOfMedianFilter = 5 count

Median filter length (only for chlorophyll fluorescence which tends to have spikes). The median-filtered signal enters the succeeding low-pass filter. If set to 1, then no median filtering, i.e., the raw fluorescence signal directly enters the low-pass filter.

WidthOfFilterHorizontal¶

WidthOfFilterHorizontal = 4 count

Width of boxcar filter used in horizontal patch detection

GainProportional¶

GainProportional = 1 none

Proportional gain for temperature holding control loop.

GainIntegral¶

GainIntegral = 0 none

Integral gain for temperature holding control loop.

GainDerivative¶

GainDerivative = 0 none

Derivative gain for temperature holding control loop.

VariationPerMeter¶

VariationPerMeter = 0.2 reciprocal_meter

Expected temperature change per meter.

BuoyDiveAccel¶

BuoyDiveAccel = 0.0025 meter_per_second_squared

In buoyancy-only mode, maxBuoyDiveAccel needs to be set at least an order of magnitude higher than that in Control.cfg.

BuoyNeutral¶

BuoyNeutral = 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

Output¶

Reverse¶

Reverse = 180 degree

Change in bearing which reverses vehicle direction

TwoPi¶

TwoPi = 360 degree

Applied to stop run-up of angles

PatchDetectOn¶

PatchDetectOn = false

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

WpDone¶

WpDone = true

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

FlagTurnBack¶

FlagTurnBack = false

Flag of turning back from shore. Initialized to False.

CrossLegToPatchCenterCompleted¶

CrossLegToPatchCenterCompleted = false

Initialized to False.

CrossLegSearchForPeakStarted¶

CrossLegSearchForPeakStarted = false