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Science/spiralSample.xml

Mission ID: spiralSample

Mission Path: Science/spiralSample.xml

This mission drives in a circle while sampling at the designated depth.

Arguments

MissionTimeout

MissionTimeout = 120 minute

How long to let the mission run.

NeedCommsTime

NeedCommsTime = 120 minute

How often to surface for commumications

Depth

Depth = 50 meter

Depth to sample at.

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.

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.

redefineArg PeakDetectChlActive = true

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Insert/SampleAtDepth.tl

Invoked Behaviors

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed