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197 | mission {
"""
Sample on dock.
"""
arguments {
DockedTime = 8 hour
"""
How long to stay on dock.
"""
ESPCartridgeType = -1 count
SettleTime = 3 minute
"""
How long to wait before starting sampling
"""
DetachedTimeout = Dock:Docked.detachTimeout
"""
Time duration limit for determining if the vehicle is detached from the
dock.
"""
RangeTimeout = Dock:Docked.rangeTimeout
"""
Maximum allowed time without acoustic range.
"""
TrackingUpdatePeriod = 2 minute
"""
How long to wait between acoustic queries.
"""
NumberOfPings = 1 count
"""
Number of pings requested each time.
"""
TransponderCode = Dock:Dock.transponderCode
"""
Transponder Address.
"""
MaxDepth = BIT:CBIT.stopDepth
"""
Maximum depth while docked.
"""
MinAltitude = 5 meter
"""
Minimum altitude
"""
MinOffshore = 2 km
"""
Minimum offshore
"""
StayOnDock = false
"""
If true, don't detach from dock at end of mission
"""
# Mission variables (do not change)
MissionTimeout = DockedTime
"""
Mission timeout (local variable, do not change)
"""
}
output {
SampleComplete = false
}
timeout duration=MissionTimeout
behavior Sample:AbortSample {
run in parallel
}
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
# End docking 5 minutes before end of mission to allow clean undock
assign in sequence MissionTimeout = DockedTime + 5 minute
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
# Send data when connection exists
aggregate dataRead {
run while ( true )
readDatum {
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
}
aggregate SampleESP {
run when ( called )
aggregate sample {
run in sequence
syslog important "Requesting ESP cartridge type:" + ESPCartridgeType~count
behavior Science:ESPCartridgeSelect {
run in sequence
timeout duration=P1M
set cartridgeType = ESPCartridgeType
}
readDatum id="TriggerESP" {
Science:ESPComponent.sampling
}
syslog important "ESP sampling at " + Universal:depth~meter
readDatum id="WaitForESP" {
Science:ESPComponent.sample_number
}
}
}
insert Insert/Science.tl
behavior Estimation:TrackAcousticContact {
run in parallel
set contactLabelSetting = TransponderCode
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
}
syslog important "Restarting logs"
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
aggregate ManageSample {
run while (not SampleComplete)
aggregate Sample {
run in sequence
break if ( isNaN ( ESPCartridgeType ) )
behavior Guidance:Wait {
run in sequence
set duration = SettleTime
}
syslog important "Sampling ESP cartridge type " + ESPCartridgeType~count
call priorityHere=false refId="SampleESP"
assign in sequence SampleComplete = true
}
}
behavior Dock:Docked {
run in sequence
timeout duration=DockedTime
set detachTimeout = DetachedTimeout
set rangeTimeout = RangeTimeout
}
# Undock cleanly, instead of relying on DefaultWithUndock to come next
aggregate Detach {
run in sequence
break if ( StayOnDock == true )
syslog important "Mission ending, breaking off. Range: "
+ Estimation:TrackAcousticContact.range_to_contact~meter + "."
behavior Dock:Undock {
run in sequence
}
}
}
|