package org.mbari.trex

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Used in: SensorMessage

• required string object = 1

• required string predicate = 2

• required fixed64 start = 3

• repeated Predicate.Variable attributes = 4

Used in: Variable

• optional double min_v = 1

• optional double max_v = 2

Used in: Predicate

• required string name = 1

• optional FloatDomain int_d = 2

  One of these 3

• optional bool bool_d = 3

• repeated string enum_d = 4

• repeated SensorMessage.Sample sample = 2

  All the samples are stored in this sample attribute

• optional SensorMessage.GpsError gps_fix = 1

• repeated Predicate observations = 3

Information on position error deduced from a GPS fix This data will be produced when TREX identifies an important "jump" during a gps fix (in the order of tens to hundreds of meters): As this information will come after the samples are propagated the receiver of the message may need to apply this error to previously received samples. The way to apply it is the following for all sample such as gps_fix.from_time <= sample.utime < gps_fix.to_time sample.northing = sample.northing + (sample.utime-gps_fix.from_time)*gps_fix.northing_rate sample.easting = sample.easting + (sample.utime-gps_fix.from_time)*gps_fix.easting_rate end for

Used in: SensorMessage

• required uint64 from_time = 1

  Date where the error started to apply

• required uint64 to_time = 2

  Date where the error was identified

• optional float northing = 3

  northing at to_time (m)

• optional float easting = 4

  easting at to_time (m)

• optional float northing_error_rate = 7

  May add lat,lon info in the future optional float longitude = 5; optional float latitude = 6;

  northing navigation error (m/s)

• optional float easting_error_rate = 8

  easting navigation error (m/s)

One data sample Location (northing,easting) is not corrected as it is sampled in real-time. Do also note that we used UTM instead of lat,lon here. This is mostly due to the fact that TREX uses this reference for navigation and his lat,lon information is pretty bad (2 decimal places of accuracy which can result on an error of 100s of m) Note : based on Mike McCann suggestion northing and easting have been made optional as they may be replaced in the future by lat/lon

Used in: SensorMessage

• required uint64 utime = 1

  unix time for the sample (seconds)

• required float northing = 2

  UTM nothing (m)

• required float easting = 3

  UTM easting (m)

• required float depth = 4

  Vehicle depth (m)

• optional float temperature = 5

  temperature (C)

• optional float salinity = 6

  salinity

• optional float nitrate = 7

  Nitrate

• optional int32 gulper_id = 8

  indicate which gulper was fired (if any)

• optional float chfl = 9

• optional uint32 utm_zone = 10

• optional string utm_letter = 11

• optional string system_id = 12