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Science/spiral_cast.tl

Mission ID: spiral_cast

Mission Path: Science/spiral_cast.tl

Vehicle spirals downward, then spirals upward, stopping at specified depths to collect samples.

Arguments

MissionTimeout

MissionTimeout = 3 hour

Maximum duration of mission

Depth01

Depth01 = 200 meter

Depth of sample 1.

Depth02

Depth02 = 150 meter

Depth of sample 2.

Depth03

Depth03 = 80 meter

Depth of sample 3.

Depth04

Depth04 = 60 meter

Depth of sample 4.

Depth05

Depth05 = 60 meter

Depth of sample 5.

Depth06

Depth06 = 40 meter

Depth of sample 6.

Depth07

Depth07 = 40 meter

Depth of sample 7.

Depth08

Depth08 = 30 meter

Depth of sample 8.

Depth09

Depth09 = 30 meter

Depth of sample 9.

Depth10

Depth10 = 20 meter

Depth of sample 10.

Depth11

Depth11 = 20 meter

Depth of sample 11.

Depth12

Depth12 = 10 meter

Depth of sample 12.

Depth13

Depth13 = 10 meter

Depth of sample 13.

Depth14

Depth14 = 2 meter

Depth of sample 14.

Depth15

Depth15 = 2 meter

Depth of sample 15.

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

SampleLat

SampleLat = 36.797 degree

Waypoint latitude for pre-sampling transit, skipped if NaN. Defaulted to MBTS spiral cast location.

SampleLon

SampleLon = -121.850 degree

Waypoint longitude for pre-sampling transit, skipped if NaN. Defaulted to MBTS spiral cast location.

TransitDepth

TransitDepth = 20 meter

Depth for pre-sampling transit

TransitSpeed

TransitSpeed = 1 meter_per_second

Speed during pre-sampling transit

CaptureRadius

CaptureRadius = 100 meter

SurfacePitch

SurfacePitch = 20 degree

Pitch to maintain while ascending

MinAltitude

MinAltitude = 5 meter

Minimum altitude for the entire mission.

MaxDepth

MaxDepth = 210 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:GoToSurface

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Waypoint