Science/esp_sample_at_depth.tl¶
Mission ID: esp_sample_at_depth
Mission Path: Science/esp_sample_at_depth.tl
This mission takes ESP samples at the designated depth.
Arguments¶
MissionTimeout¶
MissionTimeout = 4 hour
Maximum duration of mission.
TargetDepth¶
TargetDepth = 3 meter
Depth to sample at. Initialized to 3 m.
ESPCartridgeType_1¶
ESPCartridgeType_1 = -4 count
Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this sample.
ESPCartridgeType_2¶
ESPCartridgeType_2 = -15 count
Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this sample.
ESPCartridgeType_3¶
ESPCartridgeType_3 = NaN count
Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this sample.
ESPCartridgeType_4¶
ESPCartridgeType_4 = NaN count
Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this sample.
SettleTime¶
SettleTime = 3 minute
How long to wait between samples. This starts before the first sample.
Speed¶
Speed = 0 meter_per_second
Vehicle speed while sampling. Set to zero to maintain depth using VBS (drift).
ApproachDepth¶
ApproachDepth = 1.5 meter
Depth for initial descent form the surface. Initialized to 3 m.
ApproachSpeed¶
ApproachSpeed = 0.9 meter_per_second
Vehicle speed for initial descent form the surface to target depth. Set to zero to disable the thruster and descend using VBS (drift).
ApproachDepthRate¶
ApproachDepthRate = 0.05 meter_per_second
Descent depth rate (Positive depth rate means going down).
ApproachPitchLimit¶
ApproachPitchLimit = 10 degree
Max vehicle pitch (+/-) when decending from the surface.
ApproachSettleTimePreDive¶
ApproachSettleTimePreDive = 1.5 minute
Time duration for the vehicle to pump down the VBS BEFORE leaving the surface.
ApproachSettleTimePostDive¶
ApproachSettleTimePostDive = 1 minute
Time duration for the vehicle to settle AFTER reaching the target depth.
ApproachDepthTimeout¶
ApproachDepthTimeout = 15 minute
Maximum time duration for the vehicle to reach the target depth.
kpDepth¶
kpDepth = 0.07 radian_per_meter
Dive loop proportional gain (applied only while the vehicle is descending to target depth).
DepthDeadband¶
DepthDeadband = 0.01 meter
How much vertical drift from the specified depth is allowed while sampling.
MinAltitude¶
MinAltitude = 2 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 5 meter
Maximum allowable depth during the mission.
MinOffshore¶
MinOffshore = 1 kilometer
Minimum distance from the shoreline to maintain.
Output¶
ESPCartridgeType¶
ESPCartridgeType = NaN count
Mission parameter (don't change). Specifies ESP cartridge type code.