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190 | aggregate SampleAtDepth {
"""
Take a water sample at a specified depth.
"""
arguments {
TargetDepth = 5 meter
"""
Depth to sample at. Initialized to 5 m.
"""
SettleTime = 10 second
"""
Time to wait after reaching target depth before triggering sample.
Initialized to 10 minutes.
"""
MaxWaitNotReachingDepth = 3 hour
"""
Maximum wait time the vehicle cannot reach the targeted depth.
Initialized to 3 hours.
"""
RotateOnly = 0 bool
UseCANONSampler = Science:CANONSampler.loadAtStartup
"""
Whether to use CANON Sampler to sample.
"""
UseESP = Science:ESPComponent.loadAtStartup
"""
Whether to use ESP to sample.
"""
ESPCartridgeType = NaN count
"""
Specifies ESP cartridge type code.
"""
CANONSamplerTriggerTimeout = 3 minute
"""
How long to wait for a CANON Sampler sample to start.
"""
CANONSamplerTimeout = Science:CANONSampler.sampleTimeout
"""
How long to wait for a CANON Sampler sample to complete.
"""
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
"""
Buoyancy bladder position during spiral or donut. Defaults to
buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
for active buoyancy
"""
}
run when ( called )
aggregate ReportInvalidDepth {
run in sequence
break if ( not ( isNaN ( TargetDepth ) ) )
syslog fault "SampleAtDepth received an invalid target depth. Skipping sample."
}
aggregate sample {
run in sequence
break if ( isNaN ( TargetDepth ) )
aggregate ApproachDepth {
run in sequence
syslog "Moving to " + TargetDepth~meter
behavior Guidance:Pitch {
run in sequence
timeout duration=MaxWaitNotReachingDepth {
syslog important "Timed out trying to reach the targeted depth. Stopping mission."
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
set depth = TargetDepth
}
}
aggregate SampleWrapper {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = TargetDepth
}
syslog important "At " + Universal:depth~meter + ", settling for " + SettleTime~minute
behavior Guidance:Wait {
run in sequence
set duration = SettleTime
}
aggregate SampleCANONSampler {
run in sequence
break if ( not ( UseCANONSampler ) )
assign in parallel Science:CANONSampler.sampleTimeout = CANONSamplerTimeout
assign in parallel Science:CANONSampler.rotateOnly = RotateOnly
readDatum id="TriggerCANONSampler" {
timeout duration=CANONSamplerTriggerTimeout {
syslog important "Timed out triggering CANONSampler. Stopping mission."
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
Science:CANONSampler.sampling
}
syslog important "CANONSampler sampling at " + Universal:depth~meter + " in "
+ Science:CTD_NeilBrown.bin_mean_sea_water_temperature~celsius + " water with "
+ Science:WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water~microgram_per_liter
+ " chlorophyll fluorescence."
readDatum {
timeout duration=CANONSamplerTimeout {
syslog important "Timed out sampling with CANONSampler. Stopping mission."
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
Science:CANONSampler.sample_number
}
}
aggregate SampleESP {
run in sequence
break if ( not ( UseESP ) )
aggregate SelectESPCartridge {
run in sequence
break if ( isNaN ( ESPCartridgeType ) )
behavior Science:ESPCartridgeSelect {
run in sequence
timeout duration=P1M
set cartridgeType = ESPCartridgeType
}
}
readDatum id="TriggerESP" {
Science:ESPComponent.sampling
}
syslog important "ESP sampling at " + Universal:depth~meter + " in "
+ Science:CTD_Seabird.bin_mean_sea_water_temperature~celsius + " water with "
+ Science:WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water~microgram_per_liter
+ "chlorophyll fluorescence."
readDatum id="WaitForESP" {
Science:ESPComponent.sample_number
}
}
}
}
}
|