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192 | # Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission ballast_and_trim_hi_gain {
arguments {
# The following arguments are input arguments
# Wpt1 d=74m
ApproachDepth = 20.0 meter
BallastDepth = 25.0 meter
WpLat = 36.819 degree
WpLon = -121.876 degree
NeedCommsTime = 140 minute
HoldDuration = 25 minute
Speed = 1 meter_per_second
DepthDeadband = 4.0 meter
BuoyPeriod = 5.0 second
BuoyancyDefault = Control:VerticalControl.buoyancyDefault
}
# The timeout
timeout duration=P90M
# And now the mission
assign in parallel Control:VerticalControl.elevDeadband = 0.01 degree
assign in parallel Control:VerticalControl.massDeadband = 0.01 millimeter
assign in parallel Control:VerticalControl.maxDiveAccel = 0.001 meter_per_second_squared
assign in parallel Control:VerticalControl.kpPitchMass = 0.1 ratio
assign in parallel Control:VerticalControl.kiPitchMass = 0.0007 reciprocal_second
assign in parallel Control:VerticalControl.kdPitchMass = 0.2 second
assign in parallel Control:VerticalControl.kiDepthOff = 0.2 meter_per_second
behavior Guidance:AltitudeEnvelope {
run in parallel
set minAltitude = 7 meter
}
behavior Guidance:DepthEnvelope {
run in parallel
set maxDepth = 52 meter
}
behavior Guidance:OffshoreEnvelope {
run in parallel
set minOffshore = 2.0 kilometer
set maxOffshore = 30.0 kilometer
}
insert id="SurfaceComms" Insert/Surface.tl
# GPS Update. Don't go too long w/o a GPS fix.
aggregate NeedComms {
run when (
elapsed ( Universal:time_fix ) > NeedCommsTime
or ( elapsed ( Universal:time_fix ) > 65 minute )
)
call refId="SurfaceComms"
}
behavior Guidance:SetSpeed {
run while (
Universal:platform_propeller_rotation_rate == 0 radian_per_second
)
set period = BuoyPeriod
}
aggregate Waypoint {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = ApproachDepth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Waypoint id="WaypointW1" {
run in sequence
set latitude = WpLat
set longitude = WpLon
}
call id="PHONEHOMEWPT" refId="SurfaceComms"
}
# If we're executing here or below, lets' get science data!
insert Insert/Science.tl
aggregate ballast {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = 0 meter_per_second
}
assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband
behavior Guidance:Pitch {
run in parallel
set depth = BallastDepth
}
behavior Guidance:Wait {
run in sequence
set duration = HoldDuration
}
aggregate ReportPositions {
run in sequence repeat=5
syslog important "Buoyancy:" + Universal:platform_buoyancy_position~cubic_centimeter
syslog important "Mass:" + Universal:platform_mass_position~centimeter
syslog important "Pitch:" + Universal:platform_pitch_angle~degree
behavior Guidance:Wait {
run in sequence
timeout duration=P1M
}
}
aggregate Float_Up {
run in sequence
break if ( Universal:depth < 1 meter )
behavior Guidance:SetSpeed {
run in parallel
set speed = 0 meter_per_second
}
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyDefault
}
behavior Guidance:Wait {
run in sequence
timeout duration=P15M
}
}
call id="PHONEHOME_drift" refId="SurfaceComms"
}
}
|