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?