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Maintenance/run_backseat_on_surface.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.

mission run_backseat_on_surface {
  arguments {
    ElapsedSinceMissionStarted = 0 minute
  }

  # Power the science payload.

  insert id="Science" Insert/Science.tl

  # Power the Backseat payload.

  insert Insert/BackseatDriver.tl

  assign in sequence BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

  behavior Guidance:GoToSurface {
    run in progression
  }

  aggregate CheckIn {
    run in sequence repeat=288

    readDatum id="Read_GPS" {
      timeout duration=P5M

      Universal:time_fix
    }

    readDatum id="Read_Iridium" {
      timeout duration=P2H {
        behavior Guidance:Execute {
          run in sequence

          set command = "Burn on"
        }

        syslog critical "Dropped weight due to communications timeout."
      }

      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }

    assign in sequence ElapsedSinceMissionStarted = elapsed ( Universal:mission_started )

    syslog important "run_backseat_on_surface mission has been running for "
         + ElapsedSinceMissionStarted~minute
  }

  syslog important "Restarting logs and run_backseat_on_surface mission."

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }
}