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Undersea Core Sampling Drill Unit Landing and Leveling Screen



This screen allows the operator to control the attitude and traverse of the drill unit during ascent or descent. Thrusters can be controlled manually, or set to automatic. Automatic control allows the operator to select a side thrust or forward (reverse) thrust and heading, which are maintained by the controller. Windup of the cable will cause rotation, so a psuedo PID loop is used to maintain the desired heading. The heading and thrust can be set by by moving sliders, or by clicking on the graphic and filling in the resulting prompt for a new value.

The operator can also level the unit with the legs once it has landed.

Pitch, roll, depth, altitude above sea floor, rate of descent (ascent), heading, and leg angle are all displayed.





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