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Science/sample_depth_rate.xml

Mission ID: sampleDepthRate

Mission Path: Science/sample_depth_rate.xml

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).

NumberOfSamples

NumberOfSamples = 1 count

Number of samples to take.

Speed

Speed = 1 meter_per_second

Vehicle speed. Initialized to zero.

RudderAngle

RudderAngle = 12 degree

Rudder angle. Initialized to zero.

WaitBeforeSample

WaitBeforeSample = 1 minute

How long to wait between samples. This starts before the first sample to exercise the SettleTime setting in the insert aggregate.

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.

SettleTime

SettleTime = 30 second

Time to wait after reaching target depth before triggering sample.

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.

Output

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.

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Invoked Module Behaviors

Guidance:Execute

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed