# General idea is that the setup of the Floe Navigation system
# will change with time. e.g. by changing the AIS base stations,
# adjusting headings etc. The configuration therefore has to be
# provided in certain periods, with all config data. A new period
# has to be added, if the configuration changes
# List of mmsi allocated to basestations and mobile stations
# as well as the labels according to the official
# frequency allocation
#
# NOTE: This list can be expected to be fixed and will
# not change during MOSAiC
mmsis:
basestations:
- mmsi: 211003810
label: TEST-MOSAIC-B01
dship_id: !!null
- mmsi: 211003811
label: TEST-MOSAIC-B02
dship_id: !!null
- mmsi: 211003812
label: TEST-MOSAIC-B03
dship_id: AIS.FLOEN.03
- mmsi: 211003813
label: TEST-MOSAIC-B04
dship_id: AIS.FLOEN.04
- mmsi: 211003814
label: TEST-MOSAIC-B05
dship_id: AIS.FLOEN.05
- mmsi: 211003820
label: TEST-MOSAIC-B06
dship_id: AIS.FLOEN.06
- mmsi: 211003821
label: TEST-MOSAIC-B07
dship_id: AIS.FLOEN.07
- mmsi: 211003822
label: TEST-MOSAIC-B08
dship_id: AIS.FLOEN.08
- mmsi: 211003823
label: TEST-MOSAIC-B09
dship_id: AIS.FLOEN.09
mobilestations:
- mmsi: 211003815
label: TEST-MOSAIC-M01
- mmsi: 211003816
label: TEST-MOSAIC-M02
- mmsi: 211003817
label: TEST-MOSAIC-M03
- mmsi: 211003818
label: TEST-MOSAIC-M04
- mmsi: 211003819
label: TEST-MOSAIC-M05
- mmsi: 211003824
label: TEST-MOSAIC-M06
- mmsi: 211003825
label: TEST-MOSAIC-M07
- mmsi: 211003826
label: TEST-MOSAIC-M08
- mmsi: 211003827
label: TEST-MOSAIC-M09
- mmsi: 211003828
label: TEST-MOSAIC-M10
- mmsi: 211003829
label: TEST-MOSAIC-M11
- mmsi: 211003830
label: TEST-MOSAIC-M12
- mmsi: 211003831
label: TEST-MOSAIC-M13
- mmsi: 211003832
label: TEST-MOSAIC-M14
# FloeNavi periods as a list
periods:
# NOTE: There were two experimental setup before the start of the operational phase. These are
# ignored here, because their position with respect to the later maintained base stations is
# difficult to measure (basestation were moved without overlap, while the ship itself was moving)
#
# First experimental setup: Two station with one on starboard and one to bow
#
# Seconds experimental setup: One station at the orginal power hub and one 500 m to the starboard
# side with bearing 090. The ship turned shortly afterwards, so that this location is now
# longer at a bearing 090.
# ----
# Initial setup in final floenavi configuration consisting of the origin basestation (211003814)
# at the Polarstern power hub (moved location after breakup at the bow) and the Ocean city power
# hub station (211003821).
# NOTE: The short-lived base station at ROV city is ignored
- id: 03-org-oc
cfg_num: 3
valid_since: 2019-10-16T00:00:00
valid_until: 2019-10-20T23:59:59
basestations:
- mmsi: 211003814
pos: [0.0, 0.0]
- mmsi: 211003821
pos: [284.0, 0.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# ----
# Adding the base stations at remote sensing (211003822)
# and MET city (211003822). The configuration ended
# with the failure of the origin base station (211003814)
- id: 04-org-oc-rs-met
cfg_num: 4
valid_since: 2019-10-21T00:00:00
valid_until: 2019-10-27T23:59:59
basestations:
- mmsi: 211003814
pos: [0.0, 0.0]
- mmsi: 211003821
pos: [284.0, 0.0]
- mmsi: 211003822
pos: [263.0, 43.0]
- mmsi: 211003823
pos: [449.0, 200.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# No base station at the origin (failure of 211003814). Grid has to
# be computed from station at ocean city, remote sensing at ROV city
- id: 05-oc-rs-met
cfg_num: 5
valid_since: 2019-10-28T00:00:00
valid_until: 2019-11-05T23:59:59
basestations:
- mmsi: 211003821
pos: [284.0, 0.0]
- mmsi: 211003822
pos: [263.0, 43.0]
- mmsi: 211003823
pos: [449.0, 200.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# 211003814 has been re-deployed at the approximated old (500, 0) site
# and 211003820 has been deployed at ROV City.
# NOTE: 2011003813 has also been active at the approximated origin station
# however it is not listed here, as there is some significant
# position scatter at certain periods
- id: 06-oc-rs-met-rov-500m
cfg_num: 6
valid_since: 2019-11-06T00:00:00
valid_until: 2019-11-12T23:59:59
basestations:
- mmsi: 211003814
pos: [449.0, 6.0]
- mmsi: 211003820
pos: [134.0, 138.0]
- mmsi: 211003821
pos: [284.0, 0.0]
- mmsi: 211003822
pos: [263.0, 43.0]
- mmsi: 211003823
pos: [449.0, 200.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# 211003814 has been removed from the (500, 0) site since there was no power
# NOTE: 2011003813 has also been active at the approximated origin station
# however it is not listed here, as there is some significant
# position scatter at certain periods
- id: 07-oc-rs-met-rov
cfg_num: 7
valid_since: 2019-11-13T00:00:00
valid_until: 2019-11-15T23:59:59
basestations:
- mmsi: 211003820
pos: [134.0, 138.0]
- mmsi: 211003821
pos: [284.0, 0.0]
- mmsi: 211003822
pos: [263.0, 43.0]
- mmsi: 211003823
pos: [449.0, 200.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# Period of strong movement in the ice (mid-November shear event)
# Only the origin station (211003813) and the station at Ocean City
# (211003821) can be considered to have stayed on their position
# in the floenavi grid
- id: 08-orig-oc
cfg_num: 8
valid_since: 2019-11-16T00:00:00
valid_until: 2019-11-20T23:59:59
basestations:
- mmsi: 211003813
pos: [22.0, -17.0]
- mmsi: 211003821
pos: [284.0, 0.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# Previous setup supported by an additional battery-powered basestation
# at the unfinished watchtower tower. Basestation at the other side of the
# shear zone are not considered stable at this point and ignored in this
# period
- id: 09-orig-oc-watchtower
cfg_num: 9
valid_since: 2019-11-21T00:00:00
valid_until: 2019-11-22T23:59:59
basestations:
- mmsi: 211003813
pos: [22.0, -17.0]
- mmsi: 211003821
pos: [284.0, 0.0]
- mmsi: 211003814
pos: [181.0, -234.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# Basestation at Ocean City (211003821) has been moved
- id: 10-orig-watchtower
cfg_num: 10
valid_since: 2019-11-23T00:00:00
valid_until: 2019-11-24T23:59:59
basestations:
- mmsi: 211003813
pos: [22.0, -17.0]
- mmsi: 211003814
pos: [181.0, -234.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# Ocean city base station (211003821) is active
# again at new location
- id: 11-orig-oc-watchtower
cfg_num: 11
valid_since: 2019-11-25T00:00:00
valid_until: 2019-11-28T23:59:59
basestations:
- mmsi: 211003813
pos: [22.0, -17.0]
- mmsi: 211003814
pos: [181.0, -234.0]
- mmsi: 211003821
pos: [293.0, -44.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# Origin base station has been removed ánd the grid is held
# by Ocean City (211003821) and the watch tower station
# (211003814)
- id: 12-oc-watchtower
cfg_num: 12
valid_since: 2019-11-29T00:00:00
valid_until: 2019-11-30T23:59:59
basestations:
- mmsi: 211003814
pos: [181.0, -234.0]
- mmsi: 211003821
pos: [293.0, -44.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# New origin (again at another location) added (211003820)
- id: 13-orig-oc-watchtower
cfg_num: 13
valid_since: 2019-12-01T00:00:00
valid_until: 2019-12-03T23:59:59
basestations:
- mmsi: 211003814
pos: [181.0, -234.0]
- mmsi: 211003820
pos: [63.0, -20.0]
- mmsi: 211003821
pos: [293.0, -44.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# Watch tower station replaced (211003814 -> 211003813)
- id: 14-orig-oc-watchtower
cfg_num: 14
valid_since: 2019-12-04T00:00:00
valid_until: 2019-12-05T23:59:59
basestations:
- mmsi: 211003813
pos: [181.0, -234.0]
- mmsi: 211003820
pos: [63.0, -20.0]
- mmsi: 211003821
pos: [293.0, -44.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# Bow station stable
- id: 15-orig-oc-watchtower-bowstations
cfg_num: 15
valid_since: 2019-12-06T00:00:00
valid_until: 2019-12-13T23:59:59
basestations:
- mmsi: 211003812
pos: [-286.0, 244.0]
- mmsi: 211003813
pos: [181.0, -234.0]
- mmsi: 211003820
pos: [63.0, -20.0]
- mmsi: 211003821
pos: [293.0, -44.0]
- mmsi: 211003822
pos: [133.0, 238.0]
- mmsi: 211003823
pos: [22.0, 286.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# Bow station unstable again
- id: 16-orig-oc-watchtower
cfg_num: 16
valid_since: 2019-12-14T00:00:00
valid_until: 2019-12-14T23:59:59
basestations:
- mmsi: 211003813
pos: [181.0, -234.0]
- mmsi: 211003820
pos: [63.0, -20.0]
- mmsi: 211003821
pos: [293.0, -44.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# Bow station stable again
- id: 17-orig-oc-watchtower-bowstations
cfg_num: 17
valid_since: 2019-12-15T00:00:00
valid_until: 2019-12-15T23:59:59
basestations:
- mmsi: 211003812
pos: [-291.0, 253.0]
- mmsi: 211003813
pos: [181.0, -234.0]
- mmsi: 211003820
pos: [63.0, -20.0]
- mmsi: 211003821
pos: [293.0, -44.0]
- mmsi: 211003822
pos: [130.0, 240.0]
- mmsi: 211003823
pos: [18.0, 294.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# everything moving
- id: 18-oc-watchtower-bowstations
cfg_num: 18
valid_since: 2019-12-16T00:00:00
valid_until: 2019-12-17T23:59:59
basestations:
- mmsi: 211003812
pos: [-291.0, 253.0]
- mmsi: 211003813
pos: [181.0, -234.0]
- mmsi: 211003821
pos: [293.0, -44.0]
- mmsi: 211003822
pos: [130.0, 240.0]
- mmsi: 211003823
pos: [18.0, 294.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# everything moving (watch tower station acting out)
- id: 19-oc-bowstations
cfg_num: 19
valid_since: 2019-12-18T00:00:00
valid_until: 2019-12-19T23:59:59
basestations:
- mmsi: 211003812
pos: [-291.0, 253.0]
- mmsi: 211003821
pos: [293.0, -44.0]
- mmsi: 211003822
pos: [130.0, 240.0]
- mmsi: 211003823
pos: [18.0, 294.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# added origin station again (211003820)
- id: 20-orig-oc-bowstations
cfg_num: 20
valid_since: 2019-12-20T00:00:00
valid_until: 2019-12-23T23:59:59
basestations:
- mmsi: 211003812
pos: [-291.0, 253.0]
- mmsi: 211003820
pos: [58.0, -18.0]
- mmsi: 211003821
pos: [293.0, -44.0]
- mmsi: 211003822
pos: [130.0, 240.0]
- mmsi: 211003823
pos: [18.0, 294.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# added origin station again (211003820)
- id: 21-orig-oc-bowstations-reduced
cfg_num: 21
valid_since: 2019-12-24T00:00:00
valid_until: 2019-12-30T23:59:59
basestations:
- mmsi: 211003820
pos: [58.0, -18.0]
- mmsi: 211003821
pos: [293.0, -44.0]
- mmsi: 211003822
pos: [130.0, 240.0]
- mmsi: 211003823
pos: [18.0, 294.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# added 211003812 station again (211003812)
- id: 22-orig-oc-bowstations-watchtower
cfg_num: 22
valid_since: 2019-12-31T00:00:00
valid_until: 2020-01-12T23:59:59
basestations:
- mmsi: 211003812
pos: [213.0, -248.0]
- mmsi: 211003820
pos: [58.0, -18.0]
- mmsi: 211003821
pos: [293.0, -44.0]
- mmsi: 211003822
pos: [130.0, 240.0]
- mmsi: 211003823
pos: [18.0, 294.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# origin station (211003820) seems to move independently from the rest
- id: 23-oc-bowstations-watchtower
cfg_num: 23
valid_since: 2020-01-13T00:00:00
valid_until: 2020-01-16T23:59:59
basestations:
- mmsi: 211003812
pos: [213.0, -248.0]
- mmsi: 211003821
pos: [293.0, -44.0]
- mmsi: 211003822
pos: [130.0, 240.0]
- mmsi: 211003823
pos: [18.0, 294.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# origin station (211003820) seems to have solidified again
- id: 24-origin-oc-bowstations-watchtower
cfg_num: 24
valid_since: 2020-01-17T00:00:00
valid_until: 2020-03-10T23:59:59
basestations:
- mmsi: 211003812
pos: [213.0, -248.0]
- mmsi: 211003820
pos: [61.0, -18.0]
- mmsi: 211003821
pos: [293.0, -44.0]
- mmsi: 211003822
pos: [130.0, 240.0]
- mmsi: 211003823
pos: [18.0, 294.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# strong ice movement towards the ships bow.
- id: 25-origin-oc-watchtower
cfg_num: 25
valid_since: 2020-03-11T00:00:00
valid_until: 2020-03-17T23:59:59
basestations:
- mmsi: 211003812
pos: [213.0, -248.0]
- mmsi: 211003820
pos: [61.0, -18.0]
- mmsi: 211003821
pos: [293.0, -44.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# added another station
- id: 26-origin-oc-watchtower-frontstarboard
cfg_num: 26
valid_since: 2020-03-18T00:00:00
valid_until: 2020-03-22T23:59:59
basestations:
- mmsi: 211003812
pos: [213.0, -248.0]
- mmsi: 211003820
pos: [61.0, -18.0]
- mmsi: 211003821
pos: [293.0, -44.0]
- mmsi: 211003823
pos: [148.0, 280.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# another one bite the dust (211003820)
- id: 27-origin-oc-frontstarboard
cfg_num: 27
valid_since: 2020-03-23T00:00:00
valid_until: 2020-03-30T23:59:59
basestations:
- mmsi: 211003812
pos: [213.0, -248.0]
- mmsi: 211003820
pos: [61.0, -18.0]
- mmsi: 211003823
pos: [148.0, 280.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# another one bite the dust
- id: 28-origin-oc-front
cfg_num: 28
valid_since: 2020-03-23T00:00:00
valid_until: 2020-03-30T23:59:59
basestations:
- mmsi: 211003812
pos: [213.0, -248.0]
- mmsi: 211003820
pos: [61.0, -18.0]
- mmsi: 211003823
pos: [148.0, 280.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# replaced a base station (211003821)
- id: 29-origin-oc-front-starboard
cfg_num: 29
valid_since: 2020-03-31T00:00:00
valid_until: 2020-04-02T23:59:59
basestations:
- mmsi: 211003812
pos: [213.0, -248.0]
- mmsi: 211003820
pos: [61.0, -18.0]
- mmsi: 211003821
pos: [295.0, -45.0]
- mmsi: 211003823
pos: [148.0, 280.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# Note: The gap here is caused by the absence of basestation files
# on the ICE VM. It is assumed that the data is available in
# DSHIP. From the following data no change in the floenavi
# configuration is apparent.
# continuation
- id: 30-origin-oc-front-starboard
cfg_num: 30
valid_since: 2020-04-08T00:00:00
valid_until: 2020-04-18T23:59:59
basestations:
- mmsi: 211003812
pos: [213.0, -248.0]
- mmsi: 211003820
pos: [61.0, -18.0]
- mmsi: 211003821
pos: [295.0, -45.0]
- mmsi: 211003823
pos: [148.0, 280.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# bow station (211003821) is unreliable
- id: 31-origin-oc-starboard
cfg_num: 31
valid_since: 2020-04-19T00:00:00
valid_until: 2020-04-21T23:59:59
basestations:
- mmsi: 211003812
pos: [213.0, -248.0]
- mmsi: 211003820
pos: [61.0, -18.0]
- mmsi: 211003821
pos: [295.0, -45.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# another station (211003812) is unreliable
- id: 32-origin-starboard
cfg_num: 32
valid_since: 2020-04-22T00:00:00
valid_until: 2020-05-10T23:59:59
basestations:
- mmsi: 211003820
pos: [61.0, -18.0]
- mmsi: 211003821
pos: [295.0, -45.0]
icecs_transformation:
heading_axis: "positive x"
heading_offset_deg: 0.0
dx: 0.0
dy: 0.0
# ----