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RegressionTests/testBuoyancyBehavior.tl

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#!!! TethysL file automatically generated from RegressionTests/testBuoyancyBehavior.xml.

#   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 TestMission {
  test_code {{{
    depthMargin = 4
    data = slate.read("depth")[0]
    passed = False
    for i in range(len(data)):
      depth = float(data[i].data)
      if depth > depthMargin:
        passed = True
        break
    if not passed:
      print("Vehicle failed to sink")
  }}}

  timeout duration=P5M

  behavior Guidance:Buoyancy id="AltitudeEnvelope" {
    run in parallel

    set position = 100 cubic_centimeter
  }

  behavior Guidance:SetSpeed {
    run in parallel

    set speed = 1 meter_per_second
  }

  behavior Guidance:SetSpeed {
    run in parallel

    set speed = 1 meter_per_second
  }

  behavior Guidance:Pitch {
    run in parallel

    set depth = 200 meter
  }
}