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Insert/SurfaceGPS.tl

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#   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.

aggregate SurfaceGPS {
  arguments {
    HalfTimeout = 30 second
      """
      Timeout for each attempt to read Universal:latitude_fix from GPS (two
      attempts are made, hence the name HalfTimeout).
      """

    SurfacePitch = 20 degree

    SurfaceSpeed = 1 meter_per_second
  }

  run in sequence

  behavior Guidance:GoToSurface {
    run in progression

    set pitch = SurfacePitch
    set speed = SurfaceSpeed
  }

  aggregate GetFix {
    run in sequence repeat=2

    readDatum {
      timeout duration=HalfTimeout

      Universal:latitude_fix
    }
  }
}