Skip to content

Insert/StandardEnvelopes.tl

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
# Copyright (c) 2008 Monterey Bay Aquarium Research Institute (MBARI)
# MBARI Proprietary Information. All Rights Reserved
aggregate StandardEnvelopes {
  arguments {
    MinAltitude = 5 meter
      """
      Minimum height above the sea floor.
      """

    MaxDepthIgnore = 0 meter
      """
      Ignore altitude up to this depth to allow for transit beneath surface layer. Use with caution.
      """

    MaxDepth = 200 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2000 meter
      """
      Minimum distance from the shoreline to maintain
      """
  }

  run in parallel

  behavior Guidance:AltitudeEnvelope {
    run in parallel

    set minAltitude = MinAltitude
    set maxDepthIgnore = MaxDepthIgnore
  }

  behavior Guidance:DepthEnvelope {
    run in parallel

    set maxDepth = MaxDepth
  }

  behavior Guidance:OffshoreEnvelope {
    run in parallel

    set minOffshore = MinOffshore
  }
}