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Maintenance/rotate_sampler.tl

Mission ID: rotate_sampler

Mission Path: Maintenance/rotate_sampler.tl

Rotate the sampler 1x at a specified depth

Arguments

MissionTimeout

MissionTimeout = 1 hour

Maximum duration of mission

BuoyancyNeutral

BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral

Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy

MassDefault

MassDefault = Control:VerticalControl.massDefault

Static setting for mass during the mission. Set to NaN mm for active mass position

Rotate

Rotate = 1 bool

Depth01

Depth01 = 40 meter

Depth of sample 1.

SettleTime

SettleTime = 0 second

How long to wait after reaching target depth before triggering sample.

RudderAngle

RudderAngle = 13 degree

Rudder angle to use while performing the spiral cast.

Speed

Speed = 1 meter_per_second

Speed while performing the spiral cast.

MinAltitude

MinAltitude = 5 meter

Minimum altitude for the entire mission.

MaxDepth

MaxDepth = 225 meter

Maximum depth for the entire mission.

Output

None defined

Inserts

Insert/Science.tl

redefineArg PeakDetectChlActive = true

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Insert/SampleAtDepth.tl

Invoked Module Behaviors

Guidance:Buoyancy

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed