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151 | # - Copyright (c) 2026 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 rinse {
"""
** ONLY TO BE RUN ON SHORE IN TANK ** Vehicle rinse in freshwater rinse tank. Runs elevators, rudders, thruster, and optionally CTD and UBAT.
"""
arguments {
MissionTimeout = 11 minute
"""
Maximum duration of mission
"""
RunUBAT = Science:WetLabsUBAT.loadAtStartup
"""
If true, UBAT will be turned on
"""
RunSeabird = Science:CTD_Seabird.loadAtStartup
"""
If true, Seabird CTD will be turned on
"""
CycleDuration = 10 second
"""
Duration between switching from positive to negative actuation and vice versa
"""
}
timeout duration=MissionTimeout
insert Insert/Science.tl
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
# optionally turn on the CTD
assign in sequence Science:EnabledSeabird = RunSeabird
# optionally turn on the UBAT
assign in sequence Science:EnabledWetLabsUBAT = RunUBAT
# turn on the UBAT pump
behavior Guidance:Execute {
run when ( RunUBAT )
set command = "ubat on"
}
# TODO: turn on the CTD pump
# maintain neutral buoyancy to submerge the vehicle just enough for rinsing
behavior Guidance:Buoyancy {
run in parallel
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch {
run in parallel
set depth = 0 meter
set massPosition = Control:VerticalControl.massDefault
}
aggregate main {
run in sequence repeat=30
aggregate logSalinity {
run when ( RunSeabird )
# rinse tank should be out of range (fresh water), so the universal won't get written to; print salinity straight from Seabird
syslog important "Rinse tank salinity: " + Science:CTD_Seabird.sea_water_salinity~practical_salinity_unit
}
aggregate positiveActuation {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = 0.5 meter_per_second
}
behavior Guidance:Pitch {
run in parallel
set elevatorAngle = 13 degree
}
behavior Guidance:Point {
run in parallel
set rudderAngle = 13 degree
}
behavior Guidance:Wait {
run in sequence
timeout duration = CycleDuration
}
}
aggregate negativeActuation {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = -0.5 meter_per_second
}
behavior Guidance:Pitch {
run in parallel
set elevatorAngle = -13 degree
}
behavior Guidance:Point {
run in parallel
set rudderAngle = -13 degree
}
behavior Guidance:Wait {
run in sequence
timeout duration = CycleDuration
}
}
}
aggregate cleanUp {
run in sequence
# turn off the UBAT pump
behavior Guidance:Execute {
run in sequence
set command = "ubat off"
}
}
}
|