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151 | # 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.
# Generated by TethysL
mission rotate_sampler {
"""
Rotate the sampler 1x at a specified depth
"""
arguments {
MissionTimeout = 1 hour
"""
Maximum duration of mission
"""
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
"""
Buoyancy bladder position while performing the YoYo behavior. Defaults
to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
for active buoyancy
"""
MassDefault = Control:VerticalControl.massDefault
"""
Static setting for mass during the mission. Set to NaN mm for active
mass position
"""
Rotate = 1 bool
Depth01 = 40 meter
"""
Depth of sample 1.
"""
SettleTime = 0 second
"""
How long to wait after reaching target depth before triggering sample.
"""
RudderAngle = 13 degree
"""
Rudder angle to use while performing the spiral cast.
"""
Speed = 1 meter_per_second
"""
Speed while performing the spiral cast.
"""
MinAltitude = 5 meter
"""
Minimum altitude for the entire mission.
"""
MaxDepth = 225 meter
"""
Maximum depth for the entire mission.
"""
}
timeout duration=MissionTimeout
insert Insert/Science.tl {
redefineArg PeakDetectChlActive = true
}
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = MissionTimeout
assign in sequence NeedComms:SurfaceSpeed = Speed
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
call id="StartingMission" 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 = Speed
}
assign in sequence NeedComms:DiveInterval = MissionTimeout
behavior Guidance:Point {
run in parallel
set rudderAngle = RudderAngle
}
insert Insert/SampleAtDepth.tl
assign in sequence SampleAtDepth:SettleTime = SettleTime
assign in sequence SampleAtDepth:RotateOnly = Rotate
aggregate SampleWithinEnvelopesWrapper {
arguments {
TargetDepth = 1 meter
}
run when ( called )
break if (
Universal:depth >= MaxDepth
and ( TargetDepth >= MaxDepth )
or (
Universal:height_above_sea_floor <= MinAltitude
and ( TargetDepth >= Universal:depth )
)
)
assign in sequence SampleAtDepth:TargetDepth = TargetDepth
call id="SampleWithinEnvelopes" refId="SampleAtDepth"
}
aggregate Cast {
run in sequence
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth01
call id="Depth01" refId="SampleWithinEnvelopesWrapper"
}
call id="CastComplete" refId="NeedComms"
}
|