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Deprecated/Science/esp_sample_station.xml

Mission ID: esp_sample_station

Mission Path: Deprecated/Science/esp_sample_station.xml

This mission yoyos in a circle around a specified location.

Arguments

MissionTimeout

MissionTimeout = 24 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 45 minute

Transit surface communications. Elapsed time after previous surface comms when vehicle will begin to ascend for additional surface communications

LapRepeat

LapRepeat = 1 count

Number of times to repeat the waypoint trajectory. NOTE: When setting the LapRepeat > 1 and running WPs in a loop, omit last/return waypoint by setting LatX/LonX to NaN.

StartWaypoint

StartWaypoint = 1 count

Waypoint number to start the the waypoint trajectory with. The mission will start with the specified waypoint and cycle through all the subsequent waypoints.

TransitYoYoMinDepth

TransitYoYoMinDepth = 5 meter

Minimum YoYo depth while transiting to waypoint.

TransitYoYoMaxDepth

TransitYoYoMaxDepth = 50 meter

Maximum YoYo depth while while transiting to waypoint.

SampleYoYoMinDepth

SampleYoYoMinDepth = 5 meter

Minimum YoYo depth while sampling.

SampleYoYoMaxDepth

SampleYoYoMaxDepth = 50 meter

Maximum YoYo depth while sampling.

SampleTimeout

SampleTimeout = 3 hour

Max time duration allowed for a single sample.

SampleRepeat

SampleRepeat = 1 count

Number of ESP samples to take at each station (vehicle will surface for comms between samples).

SampleESP

SampleESP = true

When true, aqurie an ESP sample.

CartridgeType

CartridgeType = -6 count

Specifies ESP cartridge type code (defaults to archive_bac: -6)

SampleCANONSampler

SampleCANONSampler = false

When true, aqurie a CANON Sampler water sample.

CANONSamplerDelay

CANONSamplerDelay = 10 minute

How long to delay a CANON Sampler sample after an ESP sample is intiated.

Lat1

Lat1 = 36.797 degree

The latitude of the center of the circle (default: C1).

Lon1

Lon1 = -121.847 degree

The longitude of the center of the circle (default: C1).

Lat2

Lat2 = 36.8219 degree

The latitude of the center of the circle (default: NW).

Lon2

Lon2 = -121.8856 degree

The longitude of the center of the circle (default: NW).

Lat3

Lat3 = 36.766 degree

The latitude of the center of the circle (default: SW).

Lon3

Lon3 = -121.8649 degree

The longitude of the center of the circle (default: SW).

Lat4

Lat4 = NaN degree

The latitude of the center of the circle (spare). NOTE: Omit return waypoint if LapRepeat > 1 by setting it to NaN.

Lon4

Lon4 = NaN degree

The longitude of the center of the circle (spare). NOTE: Omit return waypoint if LapRepeat > 1 by setting it to NaN.

Speed

Speed = 1 meter_per_second

Vehicle speed.

YoYoMinAltitude

YoYoMinAltitude = 7 meter

Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).

YoYoPitch

YoYoPitch = 20 degree

Pitch (plus and minus) for yo-yo behavior.

Radius

Radius = 15 meter

Radius to circle at

CircleMaxError

CircleMaxError = 100 meter

If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.

CircleTurnToPort

CircleTurnToPort = false

If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.

KwpHeading

KwpHeading = 0.010 radian_per_meter

Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)

MinAltitude

MinAltitude = 5 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 205 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

Output

Lat

Lat = 36.806966 degree

Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint. The latitude of the center of the circle.

Lon

Lon = -121.824326 degree

Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint. The longitude of the center of the circle.

WaypointCycle

WaypointCycle = 4 count

Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint.

WaypointObjective

WaypointObjective = 1 count

Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint. The mission's current waypoint objective.

Inserts

Insert/Science.tl

Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface.

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Deprecated/Insert/Sample.xml

redefineArg SampleTimeout = SampleTimeout

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:Circle

Guidance:DepthEnvelope

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint

Guidance:YoYo