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137 | # 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 trackingAndAcomms {
"""
This mission tests sending acomms data if selected while also acoustically tracking an asset.
DO NOT use at sea unless you know exactly what you're doing.
"""
arguments {
# Mission-wide settings
MissionTimeout = 1 hour
"""
Maximum duration of mission
"""
NeedCommsTime = 45 minute
"""
Elapsed time after previous surface communications when vehicle will
begin to ascend for additional surface communications
"""
# You probably need to change these.
SendVehicleData = false
"""
Whether to send data or just leave it at tracking.
"""
ContactDepth = NaN meter
"""
The asset's depth to be tracked
"""
AcousticContactTimeout = 4 hour
"""
If the vehicle does not receive an acoustic signal for more than this
length of time, it will surface for communications with shore.
"""
SendObsUpdatePeriod = 90 second
"""
Time to wait after an a-comms data has been sent before sending new data.
"""
# You probably do not need to change these.
NumberOfPings = 1 count
"""
Number of return pings to request with each acoustic query (more than 1
will activate oneway mode)
"""
TrackingUpdatePeriod = 30 second
"""
Internal variable to set how long to wait between updating internal tracking variables
"""
ContactLabel = 3 count
"""
This acoustic address of the asset to be tracked.
"""
SendDataLabel = 3 count
"""
The acoustic address of the asset to send data. Can be the same as the tracked asset.
"""
}
timeout duration=MissionTimeout
insert Insert/AbortDrift.tl {
redefineArg AcousticTimeout = AcousticContactTimeout
}
behavior Estimation:TrackAcousticContact {
run in parallel
set contactDepthSetting = ContactDepth
set contactLabelSetting = ContactLabel
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
}
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
aggregate sendAcomms {
run when ( SendVehicleData )
syslog important "Sending temp:" + Sensor:Onboard.Temperature~celsius
behavior Sensor:SendDirect {
run in sequence
set destType = "modem"
set destId = SendDataLabel
set destName = "_.temperature"
set value = Sensor:Onboard.Temperature
set unit = "celsius"
}
syslog important "Sending humidity:" + Sensor:Onboard.Humidity~percent
behavior Sensor:SendDirect {
run in sequence
set destType = "modem"
set destId = SendDataLabel
set destName = "_.humidity"
set value = Sensor:Onboard.Humidity
set unit = "percent"
}
behavior Guidance:Wait {
run in sequence
set duration = SendObsUpdatePeriod
}
}
behavior Guidance:Wait {
run in sequence
set duration = MissionTimeout
}
}
|