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# `Science/sample_depth_rate.tl`¶

Mission ID: `sampleDepthRate`

Mission Path: `Science/sample_depth_rate.tl`

This mission drives in a circle while ascending at a given depth rate.

## Arguments¶

### MissionTimeout¶

``````MissionTimeout = 120 minute
``````

How long to let the mission run.

### NeedCommsTime¶

``````NeedCommsTime = 120 minute
``````

How often to surface for commumications

### startDepth¶

``````startDepth = 50 meter
``````

Depth to sample at.

### endDepth¶

``````endDepth = 5 meter
``````

Depth at which to end.

### UpRate¶

``````UpRate = -0.05555 meter_per_second
``````

Depth rate (Negative depth rate means going up).

### Speed¶

``````Speed = 1 meter_per_second
``````

Vehicle speed. Initialized to zero.

### RudderAngle¶

``````RudderAngle = 12 degree
``````

Rudder angle. Initialized to zero.

### 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.

### UseCANONSampler¶

``````UseCANONSampler = Science:CANONSampler.loadAtStartup
``````

Whether to use CANON Sampler to sample.

### UseESP¶

``````UseESP = Science:ESPComponent.loadAtStartup
``````

Whether to use ESP to sample.

### CANONSamplerTriggerTimeout¶

``````CANONSamplerTriggerTimeout = 1 minute
``````

How long to wait for a CANON Sampler sample to start.

### CANONSamplerTimeout¶

``````CANONSamplerTimeout = Science:CANONSampler.sampleTimeout
``````

How long to wait for a CANON Sampler sample to complete.

None defined

## 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.