Post on 18-Jan-2016
Shallow Water Profiler
Mission File
Instrument SubsetOPTAA
PCO2W
CTDPF
Instruments chosen specifically because of their complex behavior to coordinate during profile mission
Profiler Motion
Depth Time
Mission begins at submerged mooring
StartingUp
atCeiling
StartingDescent
atStep
StartingDown
Repeat atStep, StartingDown sequence
atFloor
Instrument BehaviorOPTAA
Only active during ascent
PCO2WOnly active atCeiling and atStep
CTDPFStreaming throughout profileStop streaming atFloor
Timed missionThread
Each instrument specified
Load and run profiler mission every hour
premissionSequence runs ONLY ONCE and as soon as platform mission is given RUN MISSION command Turn on ports
Sync clocks
missionSequence runs at startTime on specified loop Turn on port to OPTAA Put OPTAA in Command State
(streaming) Set CTD sampling parameters
and start sampling Turn off PCO2W port Load specified xml mission Run specified xml mission
Profiler at Ceiling Event driven missionThread
atCeiling
Mission specified for OPTAA and Profiler Set OPTAA inactive Turn power off at port
through profiler
Profiler at Step Event driven missionThread
atStep
Mission specified for PCO2W and Profiler Turn power on at port through
profiler INITIALIZE GO_ACTIVE RUN Set sampling parameters ACQUIRE SAMPLE GO_INACTIVE Turn off power at port
Profiler at Floor Event driven
missionThread
atFloor
Mission specified for all instruments and profiler Stop CTD sampling CTD GO_INACTIVE Sync clocks
QuestionsWhat can be assumed at start of
mission?
What to do on errors? Skip, retry, abort?
What to do on an abort mission? Common state to be in? Command? Idle? Stopped?
What to do on a successful mission? Common state to be in? Command? Idle? Stopped?