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1436 | # 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 altitudeServo_approach_backseat_poweronly {
"""
The vehicle will transit to an initial waypoint, then navigate to
waypoints while maintaining altitude. During the altitude following
phase of the mission, the vehicle descends from the surface to a
commanded depth using a spiral dive (e.g., after NeedComms).
"""
arguments {
MissionTimeout = 12 hour
"""
Maximum duration of mission
"""
NeedCommsTime = 180 minute
"""
How often to surface for commumications
"""
TransitLat = NaN degree
"""
Latitude of tranist waypoint. Transit is skipped if set to NaN.
"""
TransitLon = NaN degree
"""
Longitude of tranist waypoint. Transit is skipped if set to NaN.
"""
TransitDepth = 10 meter
"""
Depth of flat and level flight during the transit part of the mission.
"""
ApproachDepthRate = 0.025 meter_per_second
"""
Descent depth rate (Positive depth rate means going down).
"""
Repeat = 1 count
"""
Number of times the vehicle should try to cycle through waypoints.
"""
Lat1 = NaN degree
"""
Latitude of waypoint 1. If nan, waypoint is skipped.
"""
Lon1 = NaN degree
"""
Longitude of waypoint 1. If nan, waypoint is skipped.
"""
Lat2 = NaN degree
"""
Latitude of waypoint 2. If nan, waypoint is skipped.
"""
Lon2 = NaN degree
"""
Longitude of waypoint 2. If nan, waypoint is skipped.
"""
Lat3 = NaN degree
"""
Latitude of waypoint 3. If nan, waypoint is skipped.
"""
Lon3 = NaN degree
"""
Longitude of waypoint 3. If nan, waypoint is skipped.
"""
Lat4 = NaN degree
"""
Latitude of waypoint 4. If nan, waypoint is skipped.
"""
Lon4 = NaN degree
"""
Longitude of waypoint 4. If nan, waypoint is skipped.
"""
Lat5 = NaN degree
"""
Latitude of waypoint 5. If nan, waypoint is skipped.
"""
Lon5 = NaN degree
"""
Longitude of waypoint 5. If nan, waypoint is skipped.
"""
Lat6 = NaN degree
"""
Latitude of waypoint 6. If nan, waypoint is skipped.
"""
Lon6 = NaN degree
"""
Longitude of waypoint 6. If nan, waypoint is skipped.
"""
Lat7 = NaN degree
"""
Latitude of waypoint 7. If nan, waypoint is skipped.
"""
Lon7 = NaN degree
"""
Longitude of waypoint 7. If nan, waypoint is skipped.
"""
Lat8 = NaN degree
"""
Latitude of waypoint 8. If nan, waypoint is skipped.
"""
Lon8 = NaN degree
"""
Longitude of waypoint 8. If nan, waypoint is skipped.
"""
Lat9 = NaN degree
"""
Latitude of waypoint 9. If nan, waypoint is skipped.
"""
Lon9 = NaN degree
"""
Longitude of waypoint 9. If nan, waypoint is skipped.
"""
Lat10 = NaN degree
"""
Latitude of waypoint 10. If nan, waypoint is skipped.
"""
Lon10 = NaN degree
"""
Longitude of waypoint 10. If nan, waypoint is skipped.
"""
Lat11 = NaN degree
"""
Latitude of waypoint 11. If nan, waypoint is skipped.
"""
Lon11 = NaN degree
"""
Longitude of waypoint 11. If nan, waypoint is skipped.
"""
Lat12 = NaN degree
"""
Latitude of waypoint 12. If nan, waypoint is skipped.
"""
Lon12 = NaN degree
"""
Longitude of waypoint 12. If nan, waypoint is skipped.
"""
Lat13 = NaN degree
"""
Latitude of waypoint 13. If nan, waypoint is skipped.
"""
Lon13 = NaN degree
"""
Longitude of waypoint 13. If nan, waypoint is skipped.
"""
Lat14 = NaN degree
"""
Latitude of waypoint 14. If nan, waypoint is skipped.
"""
Lon14 = NaN degree
"""
Longitude of waypoint 14. If nan, waypoint is skipped.
"""
Lat15 = NaN degree
"""
Latitude of waypoint 15. If nan, waypoint is skipped.
"""
Lon15 = NaN degree
"""
Longitude of waypoint 15. If nan, waypoint is skipped.
"""
Lat16 = NaN degree
"""
Latitude of waypoint 16. If nan, waypoint is skipped.
"""
Lon16 = NaN degree
"""
Longitude of waypoint 16. If nan, waypoint is skipped.
"""
Lat17 = NaN degree
"""
Latitude of waypoint 17. If nan, waypoint is skipped.
"""
Lon17 = NaN degree
"""
Longitude of waypoint 17. If nan, waypoint is skipped.
"""
Lat18 = NaN degree
"""
Latitude of waypoint 18. If nan, waypoint is skipped.
"""
Lon18 = NaN degree
"""
Longitude of waypoint 18. If nan, waypoint is skipped.
"""
Lat19 = NaN degree
"""
Latitude of waypoint 19. If nan, waypoint is skipped.
"""
Lon19 = NaN degree
"""
Longitude of waypoint 19. If nan, waypoint is skipped.
"""
Lat20 = NaN degree
"""
Latitude of waypoint 20. If nan, waypoint is skipped.
"""
Lon20 = NaN degree
"""
Longitude of waypoint 20. If nan, waypoint is skipped.
"""
Lat21 = NaN degree
"""
Latitude of waypoint 21. If nan, waypoint is skipped.
"""
Lon21 = NaN degree
"""
Longitude of waypoint 21. If nan, waypoint is skipped.
"""
Lat22 = NaN degree
"""
Latitude of waypoint 22. If nan, waypoint is skipped.
"""
Lon22 = NaN degree
"""
Longitude of waypoint 22. If nan, waypoint is skipped.
"""
Lat23 = NaN degree
"""
Latitude of waypoint 23. If nan, waypoint is skipped.
"""
Lon23 = NaN degree
"""
Longitude of waypoint 23. If nan, waypoint is skipped.
"""
Lat24 = NaN degree
"""
Latitude of waypoint 24. If nan, waypoint is skipped.
"""
Lon24 = NaN degree
"""
Longitude of waypoint 24. If nan, waypoint is skipped.
"""
Lat25 = NaN degree
"""
Latitude of waypoint 25. If nan, waypoint is skipped.
"""
Lon25 = NaN degree
"""
Longitude of waypoint 25. If nan, waypoint is skipped.
"""
Lat26 = NaN degree
"""
Latitude of waypoint 26. If nan, waypoint is skipped.
"""
Lon26 = NaN degree
"""
Longitude of waypoint 26. If nan, waypoint is skipped.
"""
Lat27 = NaN degree
"""
Latitude of waypoint 27. If nan, waypoint is skipped.
"""
Lon27 = NaN degree
"""
Longitude of waypoint 27. If nan, waypoint is skipped.
"""
Lat28 = NaN degree
"""
Latitude of waypoint 28. If nan, waypoint is skipped.
"""
Lon28 = NaN degree
"""
Longitude of waypoint 28. If nan, waypoint is skipped.
"""
Lat29 = NaN degree
"""
Latitude of waypoint 29. If nan, waypoint is skipped.
"""
Lon29 = NaN degree
"""
Longitude of waypoint 29. If nan, waypoint is skipped.
"""
Lat30 = NaN degree
"""
Latitude of waypoint 30. If nan, waypoint is skipped.
"""
Lon30 = NaN degree
"""
Longitude of waypoint 30. If nan, waypoint is skipped.
"""
Lat31 = NaN degree
"""
Latitude of waypoint 31. If nan, waypoint is skipped.
"""
Lon31 = NaN degree
"""
Longitude of waypoint 31. If nan, waypoint is skipped.
"""
Lat32 = NaN degree
"""
Latitude of waypoint 32. If nan, waypoint is skipped.
"""
Lon32 = NaN degree
"""
Longitude of waypoint 32. If nan, waypoint is skipped.
"""
Lat33 = NaN degree
"""
Latitude of waypoint 33. If nan, waypoint is skipped.
"""
Lon33 = NaN degree
"""
Longitude of waypoint 33. If nan, waypoint is skipped.
"""
Lat34 = NaN degree
"""
Latitude of waypoint 34. If nan, waypoint is skipped.
"""
Lon34 = NaN degree
"""
Longitude of waypoint 34. If nan, waypoint is skipped.
"""
Lat35 = NaN degree
"""
Latitude of waypoint 35. If nan, waypoint is skipped.
"""
Lon35 = NaN degree
"""
Longitude of waypoint 35. If nan, waypoint is skipped.
"""
Lat36 = NaN degree
"""
Latitude of waypoint 36. If nan, waypoint is skipped.
"""
Lon36 = NaN degree
"""
Longitude of waypoint 36. If nan, waypoint is skipped.
"""
Lat37 = NaN degree
"""
Latitude of waypoint 37. If nan, waypoint is skipped.
"""
Lon37 = NaN degree
"""
Longitude of waypoint 37. If nan, waypoint is skipped.
"""
Lat38 = NaN degree
"""
Latitude of waypoint 38. If nan, waypoint is skipped.
"""
Lon38 = NaN degree
"""
Longitude of waypoint 38. If nan, waypoint is skipped.
"""
Lat39 = NaN degree
"""
Latitude of waypoint 39. If nan, waypoint is skipped.
"""
Lon39 = NaN degree
"""
Longitude of waypoint 39. If nan, waypoint is skipped.
"""
Lat40 = NaN degree
"""
Latitude of waypoint 40. If nan, waypoint is skipped.
"""
Lon40 = NaN degree
"""
Longitude of waypoint 40. If nan, waypoint is skipped.
"""
Lat41 = NaN degree
"""
Latitude of waypoint 41. If nan, waypoint is skipped.
"""
Lon41 = NaN degree
"""
Longitude of waypoint 41. If nan, waypoint is skipped.
"""
Lat42 = NaN degree
"""
Latitude of waypoint 42. If nan, waypoint is skipped.
"""
Lon42 = NaN degree
"""
Longitude of waypoint 42. If nan, waypoint is skipped.
"""
Lat43 = NaN degree
"""
Latitude of waypoint 43. If nan, waypoint is skipped.
"""
Lon43 = NaN degree
"""
Longitude of waypoint 43. If nan, waypoint is skipped.
"""
Lat44 = NaN degree
"""
Latitude of waypoint 44. If nan, waypoint is skipped.
"""
Lon44 = NaN degree
"""
Longitude of waypoint 44. If nan, waypoint is skipped.
"""
Lat45 = NaN degree
"""
Latitude of waypoint 45. If nan, waypoint is skipped.
"""
Lon45 = NaN degree
"""
Longitude of waypoint 45. If nan, waypoint is skipped.
"""
Lat46 = NaN degree
"""
Latitude of waypoint 46. If nan, waypoint is skipped.
"""
Lon46 = NaN degree
"""
Longitude of waypoint 46. If nan, waypoint is skipped.
"""
Lat47 = NaN degree
"""
Latitude of waypoint 47. If nan, waypoint is skipped.
"""
Lon47 = NaN degree
"""
Longitude of waypoint 47. If nan, waypoint is skipped.
"""
Lat48 = NaN degree
"""
Latitude of waypoint 48. If nan, waypoint is skipped.
"""
Lon48 = NaN degree
"""
Longitude of waypoint 48. If nan, waypoint is skipped.
"""
Lat49 = NaN degree
"""
Latitude of waypoint 49. If nan, waypoint is skipped.
"""
Lon49 = NaN degree
"""
Longitude of waypoint 49. If nan, waypoint is skipped.
"""
Lat50 = NaN degree
"""
Latitude of waypoint 50. If nan, waypoint is skipped.
"""
Lon50 = NaN degree
"""
Longitude of waypoint 50. If nan, waypoint is skipped.
"""
HoldAltitude = 2.2 meter
"""
Desired vehicle altitude to maintain.
"""
InvalidAltitudeTimeout = NaN minute
"""
The mission will abort if no valid altitude readings are received within
this specified time duration. Set this variable to NaN to disable this
timeout functionality.
"""
AltitudeIIRFilterDecay = 0.2 none
"""
AltitudeServo single-pole IIR filter decay value.
Low-pass filters the AltitudeServo depth command.
The Decay value should be btween 0 to 1, set to 0 disable filtering.
"""
InitDepth = 50 meter
"""
Initial depth. The vehicle will spiral dive to this depth when leaving
the surface. Necessary if no altitude reading is available form the
surface (e.g., when the bottom is out of DVL range).
"""
InitDepthTimeout = 45 minute
"""
Maximum time duration for the vehicle to reach the initial depth. The
vehicle will switch over to altitude following after the timeout is
expired.
"""
Speed = 1 meter_per_second
"""
Thruster speed for the entier mission.
"""
DepthDeadband = 0.0 meter
MinAltitude = 1.2 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MaxDepth = 205 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 1 kilometer
"""
Minimum offshore distance for the entire mission.
"""
PowerBackseat = 1 bool
"""
Default backseat on for this mission
"""
}
output {
DoingComms = false
"""
Mission variable (don't change). The mission sets this to true *before*
the vehicle surfaces for comms.
"""
StartFromSurface = true
"""
Mission variable (don't change). The mission sets this to true *after*
the vehicle surfaces for comms.
"""
}
# Mission timeout
timeout duration=MissionTimeout
# Safety nets and surfacing behaviors
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = MissionTimeout
assign in sequence NeedComms:WaitForPitchUp = 0 minute
aggregate SurfaceComms {
run when (
called
or elapsed ( Universal:time_fix ) > NeedCommsTime
)
assign in sequence DoingComms = true
call refId="NeedComms"
assign in sequence DoingComms = false
assign in sequence StartFromSurface = true
}
# Set default mass and VBS positions
behavior Guidance:Mass {
run in parallel
set position = Control:VerticalControl.massDefault
}
behavior Guidance:Buoyancy {
run in parallel
set position = Control:VerticalControl.buoyancyNeutral
}
# Callable aggregates (priority matters, so these are done below important safety directives like StandardEnvelopes).
aggregate DiveCmd {
run when ( called )
aggregate SpiralDive {
"""
Spiral down from the surface to initial depth. Necessary when no
altitude reading is available form the surface.
"""
run while (
StartFromSurface
and not ( DoingComms )
)
break if (
Universal:height_above_sea_floor <= HoldAltitude
)
aggregate dive {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Point {
run in parallel
set rudderAngle = 13 degree
}
behavior Guidance:Pitch {
run in sequence
timeout duration=InitDepthTimeout {
syslog important "Timed out at current depth of " + Universal:depth~meter
+ ". Switching to altitude servo."
assign in sequence StartFromSurface = false
}
set depth = InitDepth
set depthRate = ApproachDepthRate
}
assign in sequence StartFromSurface = false
}
}
aggregate BreakOnAltitude {
run when (
Universal:height_above_sea_floor <= HoldAltitude
and ( StartFromSurface )
)
syslog important "Ending dive at current depth of " + Universal:depth~meter
+ " based on altitude " + Universal:height_above_sea_floor~meter + " and HoldAltitude "
+ HoldAltitude~meter + ". Switching to altitude servo."
assign in sequence StartFromSurface = false
}
aggregate AltitudeServo {
"""
Follow commanded altitude.
"""
run while (
not ( StartFromSurface )
and not ( DoingComms )
)
aggregate dive {
run in parallel
assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:AltitudeServo {
run in parallel
set targetAltitude = HoldAltitude
set invalidAltitudeTimeout = InvalidAltitudeTimeout
set iirFilterDecay = AltitudeIIRFilterDecay
}
}
}
}
# Mission
call id="StartingMission" refId="SurfaceComms"
# Fire up science sensors
insert Insert/Science.tl
insert Insert/BackseatDriver.tl
assign in sequence BackseatDriver:EnableBackseat = PowerBackseat
insert Insert/PowerOnly.tl
assign in sequence PowerOnly:SampleLoad1 = true
assign in sequence PowerOnly:SampleLoad2 = true
syslog important "Powering Strobes, Cameras, and Altimeter"
# Run
aggregate Transit {
"""
Transit flat and level to the starting waypoint at a fixed depth
(skipped when transit Lat/Lon are set to NaN).
"""
run in sequence
break if (
isNaN ( TransitLat )
or isNaN ( TransitLon )
)
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Pitch {
run in parallel
set depth = TransitDepth
}
behavior Guidance:Waypoint id="TransitWpt" {
run in sequence
set latitude = TransitLat
set longitude = TransitLon
}
call refId="SurfaceComms"
}
aggregate Lap {
run in sequence repeat=Repeat
aggregate Dive {
run while ( not ( DoingComms ) )
call refId="DiveCmd"
}
aggregate Wpt1 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat1
set longitude = Lon1
}
}
aggregate Wpt2 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat2
set longitude = Lon2
}
}
aggregate Wpt3 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat3
set longitude = Lon3
}
}
aggregate Wpt4 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat4
set longitude = Lon4
}
}
aggregate Wpt5 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat5
set longitude = Lon5
}
}
aggregate Wpt6 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat6
set longitude = Lon6
}
}
aggregate Wpt7 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat7
set longitude = Lon7
}
}
aggregate Wpt8 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat8
set longitude = Lon8
}
}
aggregate Wpt9 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat9
set longitude = Lon9
}
}
aggregate Wpt10 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat10
set longitude = Lon10
}
}
aggregate Wpt11 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat11
set longitude = Lon11
}
}
aggregate Wpt12 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat12
set longitude = Lon12
}
}
aggregate Wpt13 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat13
set longitude = Lon13
}
}
aggregate Wpt14 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat14
set longitude = Lon14
}
}
aggregate Wpt15 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat15
set longitude = Lon15
}
}
aggregate Wpt16 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat16
set longitude = Lon16
}
}
aggregate Wpt17 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat17
set longitude = Lon17
}
}
aggregate Wpt18 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat18
set longitude = Lon18
}
}
aggregate Wpt19 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat19
set longitude = Lon19
}
}
aggregate Wpt20 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat20
set longitude = Lon20
}
}
aggregate Wpt21 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat21
set longitude = Lon21
}
}
aggregate Wpt22 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat22
set longitude = Lon22
}
}
aggregate Wpt23 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat23
set longitude = Lon23
}
}
aggregate Wpt24 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat24
set longitude = Lon24
}
}
aggregate Wpt25 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat25
set longitude = Lon25
}
}
aggregate Wpt26 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat26
set longitude = Lon26
}
}
aggregate Wpt27 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat27
set longitude = Lon27
}
}
aggregate Wpt28 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat28
set longitude = Lon28
}
}
aggregate Wpt29 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat29
set longitude = Lon29
}
}
aggregate Wpt30 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat30
set longitude = Lon30
}
}
aggregate Wpt31 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat31
set longitude = Lon31
}
}
aggregate Wpt32 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat32
set longitude = Lon32
}
}
aggregate Wpt33 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat33
set longitude = Lon33
}
}
aggregate Wpt34 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat34
set longitude = Lon34
}
}
aggregate Wpt35 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat35
set longitude = Lon35
}
}
aggregate Wpt36 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat36
set longitude = Lon36
}
}
aggregate Wpt37 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat37
set longitude = Lon37
}
}
aggregate Wpt38 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat38
set longitude = Lon38
}
}
aggregate Wpt39 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat39
set longitude = Lon39
}
}
aggregate Wpt40 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat40
set longitude = Lon40
}
}
aggregate Wpt41 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat41
set longitude = Lon41
}
}
aggregate Wpt42 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat42
set longitude = Lon42
}
}
aggregate Wpt43 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat43
set longitude = Lon43
}
}
aggregate Wpt44 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat44
set longitude = Lon44
}
}
aggregate Wpt45 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat45
set longitude = Lon45
}
}
aggregate Wpt46 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat46
set longitude = Lon46
}
}
aggregate Wpt47 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat47
set longitude = Lon47
}
}
aggregate Wpt48 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat48
set longitude = Lon48
}
}
aggregate Wpt49 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat49
set longitude = Lon49
}
}
aggregate Wpt50 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat50
set longitude = Lon50
}
}
call id="PhoneHome" refId="SurfaceComms"
}
}
|