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211 | # 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 tow_passive {
"""
Vehicle gets towed underwater at a fairly consistent depth and released
without the vehicle knowing. Depth limits trigger the end of the
mission.
"""
arguments {
MissionTimeout = 30 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for commumications
"""
TowBoundUp = 2 meter
"""
Once the vehicle reaches this depth for the timeout, it's no longer
considered in tow.
"""
TowBoundDown = 8 meter
"""
Once the vehicle reaches this depth for the timeout, it's no longer
considered in tow.
"""
MaxDepth = 15 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 1 kilometer
"""
Minimum distance offshore for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MassDefault = Control:VerticalControl.massDefault
"""
Static setting for mass during. Defaults to massDefault setting.
"""
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
"""
Buoyancy bladder position. Defaults to buoyancyNeutral setting.
"""
UnderTow = false
"""
Sets true when we've been under long enough that we think we're under
tow.
"""
UnderTowTimerArmed = false
"""
Sets true when we hit the top depth and want to arm the clock.
"""
TowTimeout = 3 minute
"""
How long to wait until we're probably not being towed anymore
"""
ArmingInterval = 60 second
"""
Used to measure elapsed time
"""
TowTimer = NaN minute
"""
Elapsed time tow.
"""
}
timeout duration=MissionTimeout
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:WaitForPitchUp = 0 minute
aggregate SurfaceComms {
run when (
called
or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
)
call refId="NeedComms"
}
behavior Guidance:Pitch {
run in parallel
set massPosition = MassDefault
}
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
behavior Guidance:SetSpeed {
run in parallel
set speed = 0 meter_per_second
}
syslog important "Lights, Camera on!"
readData strategy="MinError" {
Sensor:PowerOnly.samplePowerOnly
}
aggregate Towing {
run in sequence
aggregate WaitingForTow {
run while (
not ( UnderTow )
and ( not ( UnderTowTimerArmed ) )
and ( Universal:depth < TowBoundUp )
)
syslog important "Ready To Launch"
}
aggregate StartingTow {
run when (
not ( UnderTow )
and ( not ( UnderTowTimerArmed ) )
and ( Universal:depth > TowBoundUp )
)
assign in sequence UnderTowTimerArmed = true
assign in sequence TowTimer = Universal:time
syslog important "Tow Launched"
}
aggregate ArmingTow {
run when (
not ( UnderTow )
and UnderTowTimerArmed
and ( Universal:depth > TowBoundUp )
and ( Universal:time - TowTimer > ArmingInterval )
)
assign in sequence UnderTow = true
assign in sequence UnderTowTimerArmed = false
}
aggregate InTow {
run when (
UnderTow
and ( not ( UnderTowTimerArmed ) )
and ( Universal:depth > TowBoundUp )
and ( Universal:depth < TowBoundDown )
)
syslog info "Under Tow"
assign in sequence TowTimer = Universal:time
}
aggregate OutOfTow {
run when (
( Universal:depth < TowBoundUp
or Universal:depth > TowBoundDown
)
and UnderTow
and ( Universal:time - TowTimer > TowTimeout )
)
syslog important "Off Tow. Stopping Mission"
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
}
}
|