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184 | # 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 speed_step_elevator_long {
arguments {
MassDefault = Control:VerticalControl.massDefault
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
}
timeout duration=P35M
behavior Guidance:AltitudeEnvelope {
run in parallel
set minAltitude = 5 meter
}
behavior Guidance:DepthEnvelope {
run in parallel
set minDepth = 0 meter
set maxDepth = 38 meter
}
aggregate GPSFIX {
run in sequence
behavior Guidance:GoToSurface {
run in progression
}
aggregate {
run in sequence
preemptive ( true )
behavior Guidance:SetSpeed {
run in parallel
set speed = 0 meter_per_second
}
readDatum {
Universal:latitude_fix
}
behavior Guidance:PrepareToDive {
run in sequence
}
}
}
insert Insert/Science.tl
behavior Guidance:Buoyancy {
run in progression
set position = BuoyancyNeutral
}
behavior Guidance:Point {
run in parallel
set heading = 210 degree
}
aggregate dive {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = 1 meter_per_second
}
behavior Guidance:Pitch {
run in sequence
set massPosition = MassDefault
set depth = 30 meter
}
}
aggregate {
run in sequence
behavior Guidance:Pitch {
run in parallel
set massPosition = MassDefault
set depth = 30 meter
}
aggregate Speed_1_15 {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = 1.15 meter_per_second
}
behavior Guidance:Wait {
run in sequence
timeout duration=P5M
}
}
aggregate Speed_1_00 {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = 1 meter_per_second
}
behavior Guidance:Wait {
run in sequence
timeout duration=P5M
}
}
aggregate Speed_0_75 {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = 0.75 meter_per_second
}
behavior Guidance:Wait {
run in sequence
timeout duration=P5M
}
}
aggregate Speed_0_50 {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = 0.5 meter_per_second
}
behavior Guidance:Wait {
run in sequence
timeout duration=P5M
}
}
aggregate Speed_0_25 {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = 0.25 meter_per_second
}
behavior Guidance:Wait {
run in sequence
timeout duration=P5M
}
}
}
call id="GPSFIXEND" refId="GPSFIX"
}
|