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1103 | # 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 CircleSample {
arguments {
# Almost every mission should start with an overall timeout and a NeedCommsTime. Drift Missions will have an acoustic timeout instead of a NeedCommsTime.
# You probably need to change these.
NumSamplers = 1 count
"""
Total number of ESP cartridges (Maximum 60).
"""
# debug
# </Description><Units:count/><Value>2</Value></DefineArg>
StartIndex = 1 count
"""
Start index in ESP settings. If re-running mission, can skip settings of
already-completed samples. Default is 1 (no skipping).
"""
MissionTimeout = 24 hour
"""
Maximum duration of mission
"""
AcousticTrackingTimeout = 24 hour
"""
If the vehicle does not receive an acoustic signal for more than this
length of time, it will surface for communications. Set longer than
MissionTimeout to effectively disable.
"""
NeedCommsTimeVeryLong = 240 hour
"""
How often to surface for commumications during sampling. Huge number to
disable needcomms during sampling.
"""
NeedCommsMissionStart = true
"""
Whether to run NeedComms at start of mission.
"""
UseOtherLRAUVSignals = false
"""
Whether to use the other LRAUV's sample start and completion signals to
trigger sampling.
"""
# debug
# </Description><True/></DefineArg>
TrackAcousticTarget = true
"""
Whether to track an acoustic target.
"""
# debug
# </Description><False/></DefineArg>
AcousticTargetContactLabel = 21 count
"""
The acoustic address of the asset to be tracked
"""
AcousticTargetDepth = NaN meter
"""
Depth of acoustic target if known and fixed (or nearly fixed). For
example, if the acoustic target is a Wave Glider, set it to zero. This
will improve 2D projected position estimates in the Earth reference
frame. Defaults to NaN.
"""
AcousticTargetContactTimeout = 15 minute
"""
Only use a sufficiently fresh handshake to update the tracking center.
"""
SendSampleResultToWG = true
"""
Whether to send sample result to Wave Glider.
"""
ModemIDofWG = 21 enum
"""
Modem ID of Wave Glider. Initialized to 1.
"""
ModemIDofOtherLRAUV = 4 enum
"""
Modem ID of the other LRAUV. Initialized to 4.
"""
WaitBeforeFiring = 5 minute
"""
Wait time before firing the next sample to listen to the other LRAUV's
sample start signal. No less than 5 minutes.
"""
MaxWaitFirstSample = 10 minute
"""
For the 1st sample, if not receiving the other LRAUV's sample start
signal after longer than MaxWaitFirstSample, fire.
"""
MaxWaitMustFire = 20 minute
"""
For all samples, if no firing MaxWaitMustFire after the last firing,
fire.
"""
# debug
# </Description><Units:minute/><Value>120</Value></DefineArg>
MaxWaitStopMission = 2.5 hour
"""
If no firing after more than MaxWaitNoFiring, terminate mission.
"""
MaxWaitNotAchievingDepth = 0.5 hour
"""
Maximum wait time the vehicle cannot reach the targeted depth.
"""
SpeedSampling = 1.0 meter_per_second
"""
Vehicle speed when sampling on circle.
"""
DepthCircle = NaN meter
"""
Circle depth.
"""
# debug
# </Description><Units:meter/><Value>10</Value></DefineArg>
CircleYoYoMinDepth = NaN meter
"""
Minimum yoyo depth while circling when not sampling. If NaN, then LRAUV
will circle at DepthCircle.
"""
# debug
# </Description><Units:meter/><Value>5</Value></DefineArg>
CircleYoYoMaxDepth = NaN meter
"""
Maximum yoyo depth while circling when not sampling. If NaN, then LRAUV
will circle at DepthCircle.
"""
# debug
# </Description><Units:meter/><Value>30</Value></DefineArg>
MaxDepth = 50 meter
"""
Maximum depth for the entire mission.
"""
CircleRadius = 20 meter
"""
Radius of circle centered at the Wave Glider latitude and longitude.
"""
MaxNumCircles = 10000 count
"""
Maximum number of circles.
"""
CenterLatitude = NaN degree
"""
The latitude of the center of the circle. Fill this in to specify a
start position, it will be overwritten once the vehicle receives an
acoustic signal from the contact.
"""
# debug
# </Description><Units:degree/><Value>36.80</Value></DefineArg>
CenterLongitude = NaN degree
"""
The longitude of the center of the circle. Fill this in to specify a
start position, it will be overwritten once the vehicle receives an
acoustic signal from the contact.
"""
# debug
# </Description><Units:degree/><Value>-121.82</Value></DefineArg>
CartridgeTypeCommon = -1 count
"""
Value common to all samples unless set diffently: cartridge type.
"""
CartridgeType[1..60] = NaN count
"""
Cartridge {$}.
"""
SettleCommon = 1 minute
"""
Settle time before firing. Value common to all samples except Sample 1.
"""
Settle1 = 5 minute
"""
Settle time before firing. Sample 1.
"""
# Use caution when changing these.
YoYoMinAltitude = 9 meter
"""
Minimum altitude while performing the YoYo behavior (for
bottom-terminated YoYos).
"""
MinAltitude = 7 meter
"""
Minimum altitude for the entire mission.
"""
MinOffshore = 2 kilometer
"""
Minimum offshore distance for the entire mission.
"""
# You probably do not need to change these.
IntervalRestartLogs = 24 hour
TrackingUpdatePeriod = 15 second
"""
How long to wait between acoustic queries
"""
NumberOfPings = 1 count
"""
Number of return pings to request with each acoustic query (more than 1
will activate oneway mode)
"""
NumberOfFixesLowPass = 4 count
"""
Number of fixes to average to produce smoothed lat/lon/dep output
(initialized to 4).
"""
NumberOfStartingFixesToIgnore = 1 count
"""
Number of fixes to ignore at the start of mission (as the vehicle just
leaves surface, contact's location estimate especailly bearing can be
erroneous. Initialized to 1, corresponding to 15 s if query
interval TrackingUpdatePeriod = 15 s.
"""
CircleMaxError = 100 meter
"""
If this distance away from the circle, drive straight towards (or away
from the center). Otherwise, try to reduce distance from the ideal
circle.
"""
CircleTurnToPort = false
"""
If true, vehicle turns to the left around the center point. If false,
vehicle turns to the right.
"""
KwpHeading = 0.010 radian_per_meter
"""
Used to relax waypoint cross-track error constant that is adjusted for
docking. (You can override this setting by passing an argument.)
"""
YoYoUpPitch = 20 degree
"""
Vehicle up pitch while performing the YoYo behavior.
"""
YoYoDownPitch = -20 degree
"""
Vehicle down pitch while performing the YoYo behavior.
"""
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
"""
}
output {
# Internal variables that you should not change
CartridgeTypeIndividual = NaN count
"""
Cartridge type individual.
"""
CartType = -6 count
"""
Cartridge type. Initialized to -6.
"""
ElapsedSinceStartOrLastFiring = 0 hour
"""
The mission sets this variable to reset the ESP sample timer.
"""
ElapsedSinceLastCenterUpdate = 0 hour
"""
The mission sets this variable to reset the center update timer.
"""
ElapsedTime = 0 hour
"""
Only for syslog.
"""
SettleDuration = 5.0 minute
"""
Settle time before firing a sample. Program will set for each sampler,
e.g., Settle1 or SettleCommon.
"""
StoppedForNoFiringForTooLong = false
"""
Mission stopped because of no firing for too long. Initialized to false.
"""
MissionStartCommsCompleted = false
"""
MissionStartComms is completed (initialized to false).
"""
FlagSamplingOngoing = false
"""
Flag of water sampling in process (initialized to false).
"""
SampleCompleted = false
"""
Sampling completed. Initialized to false.
"""
SampleOptionsSet = false
"""
Sample options (DepDiffFromPeakChl, ReportAtSurface, ReacquirePeak)
already set. Initialized to false.
"""
OtherLRAUVSampleStartReceived = false
"""
Whether the other LRAUV's sample start signal is received. Initialized
to False.
"""
OtherLRAUVSampleCompleteReceived = false
"""
Whether the other LRAUV's sample completed signal is received.
Initialized to False.
"""
CntSamples = 1 count
"""
Count of water samples (initilized to 1).
"""
TrueVar = true
"""
A True boolean, defined as an arg because you can't directly place
values in a call to SendData.
"""
FiredOnMaxWait = false
FiredOnReceivingOtherLRAUVSampleComplete = false
}
# Missions should almost always start with a timeout and a NeedComms aggregate. Drift missions will not use NeedComms.
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTimeVeryLong
# Missions should almost always start with standard safety envelopes
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
behavior Sample:AbortSample {
run in parallel
}
insert Insert/AbortDrift.tl {
redefineArg AcousticTimeout = AcousticTrackingTimeout
}
insert Insert/SampleAtDepth.tl {
redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth
}
# Many missions will keep mass position fixed at the default.
behavior Guidance:Pitch {
run in parallel
set massPosition = MassDefault
}
insert Insert/Science.tl
behavior Guidance:AltitudeEnvelope {
"""
Another altitude envelope for the YoYo behavior. This envelope
should fall within the limits of the standard safety envelopes in
Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
angles for bottom-terminated YoYos.
"""
run in parallel
set minAltitude = YoYoMinAltitude
}
aggregate TrackingAcousticTarget {
run while ( TrackAcousticTarget )
behavior Estimation:TrackAcousticContact {
run in parallel
set contactLabelSetting = AcousticTargetContactLabel
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
set numFixesLowPassSetting = NumberOfFixesLowPass
set numStartingFixesToIgnoreSetting = NumberOfStartingFixesToIgnore
set contactDepthSetting = AcousticTargetDepth
}
}
aggregate UpdateCenter {
run when (
elapsed ( Estimation:TrackAcousticContact.range_to_contact ) < AcousticTargetContactTimeout
and ( elapsed ( ElapsedSinceLastCenterUpdate ) >= TrackingUpdatePeriod )
)
assign in sequence CenterLatitude = Estimation:TrackAcousticContact.contact_latitude
assign in sequence CenterLongitude = Estimation:TrackAcousticContact.contact_longitude
assign in sequence ElapsedTime = elapsed ( ElapsedSinceLastCenterUpdate )
syslog info "Updating. Elapsed time since last center update, CenterLatitude, CenterLongitude = "
+ ElapsedTime~second + ", " + CenterLatitude~degree + ", " + CenterLongitude~degree
assign in sequence ElapsedSinceLastCenterUpdate = 0 hour
}
aggregate SendSampleStartMessage {
run when ( called )
aggregate SampleStartSignal {
run in sequence
break if ( not ( UseOtherLRAUVSignals ) )
behavior Sensor:SendDirect {
run in sequence
set destType = "modem"
set destId = ModemIDofOtherLRAUV
set destName = "_.sampleStart"
set value = TrueVar
set unit = "bool"
}
syslog important "Set _.sampleStart to " + TrueVar~bool
}
}
aggregate SendSampleCompleteMessage {
run when ( called )
aggregate SampleCompleteSignal {
run in sequence
break if ( not ( UseOtherLRAUVSignals ) )
behavior Sensor:SendDirect {
run in sequence
set destType = "modem"
set destId = ModemIDofOtherLRAUV
set destName = "_.sampleComplete"
set value = TrueVar
set unit = "bool"
}
syslog important "Set _.sampleComplete to " + TrueVar~bool
}
}
aggregate SendSampleInfo {
run when ( called )
aggregate SampleInfo {
run in sequence
break if ( not ( SendSampleResultToWG ) )
behavior Sensor:SendDirect {
run in sequence
set destType = "modem"
set destId = ModemIDofWG
set destName = "_.LRAUVcntSamples"
set value = CntSamples
set unit = "count"
}
# <Sensor:SendDirect>
# <Sequence/>
# <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
# <Setting><Sensor:SendDirect.destId/><Arg Name="ModemIDofWG"/></Setting>
# <Setting><Sensor:SendDirect.destName/><String>_.ESPsampleNumber</String></Setting>
# <Setting><Sensor:SendDirect.value/><Science:ESPComponent.sample_number/></Setting>
# <Setting><Sensor:SendDirect.unit/><String>count</String></Setting>
# </Sensor:SendDirect>
# <Sensor:SendDirect>
# <Sequence/>
# <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
# <Setting><Sensor:SendDirect.destId/><Arg Name="ModemIDofWG"/></Setting>
# <Setting><Sensor:SendDirect.destName/><String>_.ESPcartridgeType</String></Setting>
# <Setting><Sensor:SendDirect.value/><Science:ESPComponent.cartridge/></Setting>
# <Setting><Sensor:SendDirect.unit/><String>count</String></Setting>
# </Sensor:SendDirect>
behavior Sensor:SendDirect {
run in sequence
set destType = "modem"
set destId = ModemIDofWG
set destName = "_.ESPsampleVolume"
set value = Science:ESPComponent.sampleVolume
set unit = "milliliter"
}
# <Sensor:SendDirect>
# <Sequence/>
# <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
# <Setting><Sensor:SendDirect.destId/><Arg Name="ModemIDofWG"/></Setting>
# <Setting><Sensor:SendDirect.destName/><String>_.sampleDepth</String></Setting>
# <Setting><Sensor:SendDirect.value/><Universal:depth/></Setting>
# <Setting><Sensor:SendDirect.unit/><String>meter</String></Setting>
# </Sensor:SendDirect>
# <Sensor:SendDirect>
# <Sequence/>
# <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
# <Setting><Sensor:SendDirect.destId/><Arg Name="ModemIDofWG"/></Setting>
# <Setting><Sensor:SendDirect.destName/><String>_.sampleTemperature</String></Setting>
# <Setting><Sensor:SendDirect.value/><Universal:sea_water_temperature/></Setting>
# <Setting><Sensor:SendDirect.unit/><String>celsius</String></Setting>
# </Sensor:SendDirect>
# <Sensor:SendDirect>
# <Sequence/>
# <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
# <Setting><Sensor:SendDirect.destId/><Arg Name="ModemIDofWG"/></Setting>
# <Setting><Sensor:SendDirect.destName/><String>_.sampleChlorophyll</String></Setting>
# <Setting><Sensor:SendDirect.value/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Setting>
# <Setting><Sensor:SendDirect.unit/><String>microgram_per_liter</String></Setting>
# </Sensor:SendDirect>
syslog important "CntSamples = "
+ CntSamples~count
syslog important "Science:ESPComponent.sample_number = "
+ Science:ESPComponent.sample_number~count
syslog important "Science:ESPComponent.cartridge = " + Science:ESPComponent.cartridge~count
syslog important "Science:ESPComponent.sampleVolume = "
+ Science:ESPComponent.sampleVolume~milliliter
syslog important "Universal:depth = " + Universal:depth~meter
syslog important "Universal:sea_water_temperature = "
+ Universal:sea_water_temperature~celsius
syslog important "Universal:mass_concentration_of_chlorophyll_in_sea_water = "
+ Universal:mass_concentration_of_chlorophyll_in_sea_water~microgram_per_liter
}
}
aggregate SetSampleOptions {
run when ( called )
aggregate SettingCartridgeTypeIndividual {
run in sequence
break if ( isNaN ( CartridgeTypeIndividual ) )
assign in sequence CartType = CartridgeTypeIndividual
}
aggregate SettingCartridgeTypeCommon {
run in sequence
break if (
not ( isNaN ( CartridgeTypeIndividual ) )
)
assign in sequence CartType = CartridgeTypeCommon
}
aggregate SettingSettle1 {
run in sequence
break if ( CntSamples >= 2 count )
assign in sequence SettleDuration = Settle1
}
aggregate SettingSettleCommon {
run in sequence
break if ( CntSamples == 1 count )
assign in sequence SettleDuration = SettleCommon
}
syslog important "Set CartridgeType (if ESP), SettleDuration to " + CartType~count + ", "
+ SettleDuration~minute + "."
}
# Automatically restart logs
aggregate CycleLogs {
run in parallel
aggregate {
run in sequence
behavior Guidance:Wait {
run in sequence
set duration = IntervalRestartLogs
}
syslog important "Restarting logs."
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
}
}
aggregate CheckOtherLRAUVSampleStart {
run when (
elapsed ( customUri "_.sampleStart" ) < ( elapsed ( OtherLRAUVSampleStartReceived ) )
)
# Reset ElapsedSinceStartOrLastFiring timer for firing on maxwait.
assign in sequence ElapsedSinceStartOrLastFiring = 0 hour
syslog important "Received the other LRAUV's sample start signal."
assign in sequence OtherLRAUVSampleStartReceived = customUri "_.sampleStart"
}
aggregate CheckOtherLRAUVSampleComplete {
run when (
elapsed ( customUri "_.sampleComplete" ) < ( elapsed ( OtherLRAUVSampleCompleteReceived ) )
)
syslog important "Received the other LRAUV's sample completed signal."
assign in sequence OtherLRAUVSampleCompleteReceived = customUri "_.sampleComplete"
}
aggregate MissionStartComms {
run in sequence
break if (
not ( NeedCommsMissionStart )
or MissionStartCommsCompleted
)
syslog important "Mission start comms."
call id="MissionStartComms" refId="NeedComms"
assign in sequence ElapsedSinceStartOrLastFiring = 0 hour
assign in sequence MissionStartCommsCompleted = true
}
aggregate MissionStartNoComms {
run in sequence
break if (
NeedCommsMissionStart
or MissionStartCommsCompleted
)
syslog important "Mission start no comms."
assign in sequence ElapsedSinceStartOrLastFiring = 0 hour
assign in sequence MissionStartCommsCompleted = true
}
aggregate CircleAndSample {
run in sequence
break if (
CntSamples == ( NumSamplers + 1 count )
or ( isNaN ( DepthCircle ) )
or ( not ( MissionStartCommsCompleted ) )
)
behavior Guidance:SetSpeed {
run in parallel
set speed = SpeedSampling
}
syslog important "Circle around location " + CenterLatitude~degree + ","
+ CenterLongitude~degree + ", at radius = " + CircleRadius~meter + ". Sampling depth = "
+ DepthCircle~meter + ". When not sampling, circle at sampling depth or circle-yoyo."
aggregate Circle {
run in sequence repeat=MaxNumCircles
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
syslog info "Circle around location " + CenterLatitude~degree + "," + CenterLongitude~degree
+ "."
aggregate CircleAtDepthWhenSampling {
run in sequence
break if (
not ( FlagSamplingOngoing )
or ( isNaN ( DepthCircle ) )
)
behavior Guidance:Pitch {
run in parallel
set depth = DepthCircle
}
assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading
behavior Guidance:Circle {
run in sequence
set latitude = CenterLatitude
set longitude = CenterLongitude
set radius = CircleRadius
set maxError = CircleMaxError
set turnToPort = CircleTurnToPort
}
}
aggregate WhenNotSampling {
run in sequence
break if ( FlagSamplingOngoing )
aggregate CircleAtDepthWhenNotSampling {
run in sequence
break if (
not (
isNaN ( CircleYoYoMinDepth )
or ( isNaN ( CircleYoYoMaxDepth ) )
)
or ( isNaN ( DepthCircle ) )
)
behavior Guidance:Pitch {
run in parallel
set depth = DepthCircle
}
assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading
behavior Guidance:Circle {
run in sequence
set latitude = CenterLatitude
set longitude = CenterLongitude
set radius = CircleRadius
set maxError = CircleMaxError
set turnToPort = CircleTurnToPort
}
}
aggregate CircleAndYoyoWhenNotSampling {
run in sequence
break if (
isNaN ( CircleYoYoMinDepth )
or ( isNaN ( CircleYoYoMaxDepth ) )
)
behavior Guidance:DepthEnvelope {
run in parallel
set minDepth = CircleYoYoMinDepth
set maxDepth = CircleYoYoMaxDepth
set downPitch = YoYoDownPitch
set upPitch = YoYoUpPitch
}
behavior Guidance:YoYo {
run in parallel
set downPitch = YoYoDownPitch
set upPitch = YoYoUpPitch
}
assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading
behavior Guidance:Circle {
run in sequence
set latitude = CenterLatitude
set longitude = CenterLongitude
set radius = CircleRadius
set maxError = CircleMaxError
set turnToPort = CircleTurnToPort
}
}
}
}
aggregate Sampling {
run in parallel
aggregate NoFiringForTooLong {
run when (
MissionStartCommsCompleted
and ( elapsed ( ElapsedSinceStartOrLastFiring ) > MaxWaitStopMission )
and ( not ( FlagSamplingOngoing ) )
and ( not ( StoppedForNoFiringForTooLong ) )
)
assign in sequence ElapsedTime = elapsed ( ElapsedSinceStartOrLastFiring )
syslog important "No firing for too long. Stopping mission. Elapsed time since start or last firing, MaxWaitStopMission, CntSamples = "
+ ElapsedTime~minute + ", " + MaxWaitStopMission~minute + ", " + CntSamples~count
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
assign in sequence StoppedForNoFiringForTooLong = true
}
macro $k = 1..60 {
aggregate SetOptionsOfSample$k {
run when (
not ( SampleOptionsSet )
and ( CntSamples + StartIndex - 1 count == $k count )
and ( CntSamples <= NumSamplers )
and ( not ( FlagSamplingOngoing ) )
)
assign in sequence CartridgeTypeIndividual = CartridgeType[$k]
call id="SetOptionsForSample1" refId="SetSampleOptions"
assign in sequence SampleOptionsSet = true
}
}
aggregate FiringOnMaxWaitOrNotReceivingOtherLRAUVSampleStartFirstSample {
run when (
MissionStartCommsCompleted
and ( not ( FlagSamplingOngoing ) )
and ( CntSamples <= NumSamplers )
and SampleOptionsSet
and ( not ( SampleCompleted ) )
and (
CntSamples == 1 count
and (
UseOtherLRAUVSignals
and ( not ( OtherLRAUVSampleStartReceived ) )
and ( elapsed ( ElapsedSinceStartOrLastFiring ) > MaxWaitFirstSample )
or (
not ( UseOtherLRAUVSignals )
and ( elapsed ( ElapsedSinceStartOrLastFiring ) > MaxWaitFirstSample )
)
)
or ( elapsed ( ElapsedSinceStartOrLastFiring ) > MaxWaitMustFire )
)
)
assign in sequence FiredOnMaxWait = true
assign in sequence OtherLRAUVSampleStartReceived = false
assign in sequence OtherLRAUVSampleCompleteReceived = false
assign in sequence FlagSamplingOngoing = true
assign in sequence ElapsedTime = elapsed ( ElapsedSinceStartOrLastFiring )
syslog important "Elapsed time since start or last firing(= " + ElapsedTime~minute
+ ") is longer than MaxWaitFirstSample (= " + MaxWaitFirstSample~minute
+ ") for the 1st sample, or longer than MaxWaitMustFire (= " + MaxWaitMustFire~minute
+ ") for non-1st samples. Firing sample No." + CntSamples~count
assign in sequence ElapsedSinceStartOrLastFiring = 0 hour
assign in sequence SampleAtDepth:TargetDepth = DepthCircle
assign in sequence SampleAtDepth:SettleTime = SettleDuration
assign in sequence SampleAtDepth:ESPCartridgeType = CartType
call id="SampleStartSignal" refId="SendSampleStartMessage"
call id="Sampling" refId="SampleAtDepth"
call id="SampleCompleteSignal" refId="SendSampleCompleteMessage"
call id="SampleInfo" refId="SendSampleInfo"
syslog important "Sample No." + CntSamples~count + " completed."
assign in sequence SampleCompleted = true
behavior Guidance:Wait {
run in sequence
set duration = WaitBeforeFiring
}
assign in sequence FlagSamplingOngoing = false
}
aggregate FiringOnNotReceivingOtherLRAUVSampleStartNotFirstSample {
run when (
UseOtherLRAUVSignals
and MissionStartCommsCompleted
and ( not ( FlagSamplingOngoing ) )
and ( CntSamples <= NumSamplers )
and ( CntSamples >= 2 count )
and SampleOptionsSet
and ( not ( SampleCompleted ) )
and ( not ( OtherLRAUVSampleStartReceived ) )
and ( not ( FiredOnMaxWait ) )
and ( not ( FiredOnReceivingOtherLRAUVSampleComplete ) )
)
assign in sequence OtherLRAUVSampleStartReceived = false
assign in sequence OtherLRAUVSampleCompleteReceived = false
assign in sequence FlagSamplingOngoing = true
syslog important "Not receiving other LRAUV sample start. Firing sample No."
+ CntSamples~count + "."
assign in sequence ElapsedSinceStartOrLastFiring = 0 hour
assign in sequence SampleAtDepth:TargetDepth = DepthCircle
assign in sequence SampleAtDepth:SettleTime = SettleDuration
assign in sequence SampleAtDepth:ESPCartridgeType = CartType
call id="SampleStartSignal" refId="SendSampleStartMessage"
call id="Sampling" refId="SampleAtDepth"
call id="SampleCompleteSignal" refId="SendSampleCompleteMessage"
call id="SampleInfo" refId="SendSampleInfo"
syslog important "Sample No." + CntSamples~count + " completed."
assign in sequence SampleCompleted = true
behavior Guidance:Wait {
run in sequence
set duration = WaitBeforeFiring
}
assign in sequence FlagSamplingOngoing = false
}
aggregate FiringOnReceivingOtherLRAUVSampleComplete {
run when (
UseOtherLRAUVSignals
and MissionStartCommsCompleted
and ( not ( FlagSamplingOngoing ) )
and ( CntSamples <= NumSamplers )
and SampleOptionsSet
and ( not ( SampleCompleted ) )
and OtherLRAUVSampleStartReceived
and OtherLRAUVSampleCompleteReceived
and ( elapsed ( OtherLRAUVSampleStartReceived ) > ( elapsed ( OtherLRAUVSampleCompleteReceived ) ) )
)
assign in sequence FiredOnReceivingOtherLRAUVSampleComplete = true
assign in sequence OtherLRAUVSampleStartReceived = false
assign in sequence OtherLRAUVSampleCompleteReceived = false
assign in sequence FlagSamplingOngoing = true
syslog important "Other LRAUV sample completed. Firing sample No." + CntSamples~count + "."
assign in sequence ElapsedSinceStartOrLastFiring = 0 hour
assign in sequence SampleAtDepth:TargetDepth = DepthCircle
assign in sequence SampleAtDepth:SettleTime = SettleDuration
assign in sequence SampleAtDepth:ESPCartridgeType = CartType
call id="SampleStartSignal" refId="SendSampleStartMessage"
call id="Sampling" refId="SampleAtDepth"
call id="SampleCompleteSignal" refId="SendSampleCompleteMessage"
call id="SampleInfo" refId="SendSampleInfo"
syslog important "Sample No." + CntSamples~count + " completed."
assign in sequence SampleCompleted = true
behavior Guidance:Wait {
run in sequence
set duration = WaitBeforeFiring
}
assign in sequence FlagSamplingOngoing = false
}
aggregate IncrementSampleCounter {
run when ( SampleCompleted )
assign in sequence CntSamples = CntSamples + 1 count
assign in sequence FiredOnMaxWait = false
assign in sequence FiredOnReceivingOtherLRAUVSampleComplete = false
assign in sequence SampleOptionsSet = false
assign in sequence SampleCompleted = false
}
}
}
}
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