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DefineArg circle_acoustic_contact:Science.PeakDetectNO3Active = 0 bool E # DefineArg circle_acoustic_contact:Science.PeakDetectOilActive = 0 bool I% )! #- DefineArg circle_acoustic_contact:Science.PeakDetectFDOMActive = 0 bool M5 i1 #5 DefineArg circle_acoustic_contact:Science.UpwardDerivativeOfTemperatureActive = 0 bool QM I #M DefineArg circle_acoustic_contact:Science.EnabledAanderaaO2 = 1.000000 bool U] )Y #e DefineArg circle_acoustic_contact:Science.EnabledNeilBrown = 1.000000 bool Yu q #u DefineArg circle_acoustic_contact:Science.EnabledSeabird = 1.000000 bool ] # DefineArg circle_acoustic_contact:Science.EnabledTurbulence_NPS = 0.000000 bool a I # DefineArg circle_acoustic_contact:Science.EnabledWetLabsBB2FL = 1.000000 bool e # DefineArg circle_acoustic_contact:Science.EnabledWetLabsSeaOWL_UV_A = 0.000000 bool i # DefineArg circle_acoustic_contact:Science.EnabledWetLabsUBAT = 0.000000 bool m i # DefineArg circle_acoustic_contact:Science.EnabledISUS = 0.000000 bool q #= DefineArg circle_acoustic_contact:Science.LowPassWindowLength = 20.000000 count uE A #M DefineArg circle_acoustic_contact:Science.MedianFilterLen = 5.000000 count G 6Aٓ^l@Y^@^pċ^Yh=9^H @B? C? s2Ϳ @7 @n? @7? `6A? İ? c?^l@^?};ɔ\9~~+?YE y)9 #uDefineArg circle_acoustic_contact:Science.PeakChlShallowBound = nan m)G鰽 -6 }=i9 #EDefineArg circle_acoustic_contact:Science.PeakChlDeepBound = nan m MI #DefineArg circle_acoustic_contact:Science.PeakShallowBound = nan m #~DefineArg circle_acoustic_contact:Science.PeakDeepBound = nan m
#DefineOutput circle_acoustic_contact:Science.PeakChl = 0.000000 ug/l %I! #-DefineOutput circle_acoustic_contact:Science.PeakChlDepth = 0.000000 mY5< 952=5
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I #5DefineOutput circle_acoustic_contact:Science.PeakOilLongitude = nan arcdeg =9 #EDefineOutput circle_acoustic_contact:Science.PeakFDOM = 0.000000 ppb MI #uDefineOutput circle_acoustic_contact:Science.PeakFDOMDepth = 0.000000 m #DefineOutput circle_acoustic_contact:Science.PeakFDOMLatitude = nan arcdeg I #DefineOutput circle_acoustic_contact:Science.PeakFDOMLongitude = nan arcdeg #DefineOutput circle_acoustic_contact:Science.PatchFDOMDistance = nan m@8Construct PeakDetectVsDepth.
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This mission runs a circle around a specified acoustic contact. The
tracking behavior periodically queries the DAT for range and direction
to the contact, and the DAT acoustically interrogates the contact. The
tracking component then calculates the position of the contact to update
the center of the circle. When the vehicle surfaces and updates its own
position with GPS, it queries the contact again, then sends the contact
position to shore.
Maximum duration of mission
2
Elapsed time after previous surface communications when vehicle will
begin to ascend for additional surface communications
60
If the vehicle does not receive an acoustic signal for more than this
length of time, it will surface for communications with shore.
15
The acoustic address of the asset to be tracked
0
The acoustic address of the asset to be tracked
0
The latitude of the center of the circle. Fill this in to specify a
start position, it will be overwritten once the vehicle receives an
acoustic signal from the contact.
36.81544
The longitude of the center of the circle. Fill this in to specify a
start position, it will be overwritten once the vehicle receives an
acoustic signal from the contact.
-121.82506
Radius of circle around acoustic contact during wait time
300
Radius of circle around acoustic contact during wait time
50
How long to wait between acoustic queries
60
Number of return pings to request with each acoustic query (more than 1
will activate oneway mode)
1
Time before each normal communication cycle to move to the inner circle.
Default value of 0 means vehicle will stay at OuterCircleRadius the
whole time.
0
If this distance away from the circle, drive straight towards (or away
from the center). Otherwise, try to reduce distance from the ideal
circle.
100
If true, vehicle turns to the left around the center point. If false,
vehicle turns to the right.
Minimum depth during yo-yo's.
3
Maximum depth during yo-yo's.
33
Min altitude while in yo-yo mode.
10
Pitch (plus and minus) for yo-yo behavior.
20
Vehicle speed.
1
Used to relax waypoint cross-track error constant that is adjusted for
docking. (You can override this setting by passing an argument.)
0.010
Minimum height above the sea floor for the entire mission.
7
Maximum depth for the entire mission.
105
Minimum offshore distance for the entire mission.
1.5
Updated center: Lat=, Lon=.
Get science data, including PeakDetectChl
30.0
10.0
Circle the contact while updating its position using the
tracking behavior.
Circle the contact closely while updating its position using the
tracking behavior.
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