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306 | # 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.
#! TethysL version initially based on automated translation from original Science/sci2.xml
#! and then (syntactically) simplified with use of array/macro extensions in TethysL.
mission sci2 {
"""
Vehicle yo-yo's to the specified waypoints, with science turned on.
"""
arguments {
MissionTimeout = 2 hour
"""
Maximum duration of mission
"""
NeedCommsTime = 60 minute
"""
How often to surface for communications
"""
Repeat = 1 count
"""
Number of times the vehicle should try to cycle through waypoints..
"""
Lat[1..7] = NaN degree
"""
Latitude of waypoint {$}. If nan, waypoint is skipped.
"""
Lon[1..7] = NaN degree
"""
Longitude of waypoint {$}. If nan, waypoint is skipped.
"""
Speed = 1 meter_per_second
"""
Speed while performing the YoYo behavior.
"""
CaptureRadius = NaN meter
"""
Speed while performing the YoYo behavior.
"""
YoYoMinDepth = 2 meter
"""
Minimum depth while performing the YoYo behavior.
"""
YoYoMaxDepth = 200 meter
"""
Maximum depth while performing the YoYo behavior.
"""
YoYoMinAltitude = 9 meter
"""
Minimum altitude while performing the YoYo behavior (for
bottom-terminated YoYos).
"""
YoYoUpPitch = 20 degree
"""
Vehicle up pitch while performing the YoYo behavior.
"""
YoYoDownPitch = -20 degree
"""
Vehicle down pitch while performing the YoYo behavior.
"""
YoYoLightTerminate = false
"""
Set true to terminate dive once PAR value falls below threshold.
"""
YoYoLightTerminateThreshold = 0.1 micromole_per_second_per_square_meter
"""
Threshold of PAR output at which pitch command will flip positive if vehicle is pitched down.
"""
PeakDetectChl = false
"""
Whether to enable peak chl detection on each yo-yo profile
"""
ShallowBoundChl = NaN meter
"""
Used only when PeakDetectChl is true. Shallow depth bound for peak chl detection
"""
DeepBoundChl = NaN meter
"""
Used only when PeakDetectChl is true. Deep depth bound for peak chl detection
"""
ChlThreshTrigger = false
"""
Whether to enable chl threshold triggering
"""
ChlLowerThreshold = NaN microgram_per_liter
"""
Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChllowerThreshold is ignored if NaN.
"""
ChlUpperThreshold = NaN microgram_per_liter
"""
Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
"""
NumProfilesThreshold = 5 count
"""
Used only when ChlThreshTrigger is true. Triggered when peak chl values on NumProfilesThreshold consecutive yo-yo profiles fall in [ChllowerThreshold ChlUpperThreshold]. ChlUpperThreshold is ignored if NaN.
"""
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
"""
MinAltitude = 5 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MaxDepth = 205 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 2 kilometer
"""
Minimum offshore distance for the entire mission.
"""
}
timeout duration=MissionTimeout
insert Insert/Science.tl {
"""
Most missions will run the science sensors. If you don't place this
aggregate above NeedComms, science instruments get turned off on the
last upcast and while floating on the surface.
"""
redefineArg PeakDetectChlActive = PeakDetectChl
redefineArg PeakShallowBound = ShallowBoundChl
redefineArg PeakDeepBound = DeepBoundChl
redefineArg ChlThreshTriggerActive = ChlThreshTrigger
redefineArg ChlLowerThresh = ChlLowerThreshold
redefineArg ChlUpperThresh = ChlUpperThreshold
redefineArg NumProfilesThresh = NumProfilesThreshold
}
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
call id="StartingMission" refId="NeedComms"
behavior Guidance:Pitch {
run in parallel
set massPosition = MassDefault
}
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:DepthEnvelope {
"""
Another depth 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 depth-terminated YoYos.
"""
run in parallel
set minDepth = YoYoMinDepth
set maxDepth = YoYoMaxDepth
set downPitch = YoYoDownPitch
set upPitch = YoYoUpPitch
}
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
}
behavior Guidance:YoYo {
run in parallel
set downPitch = YoYoDownPitch
set upPitch = YoYoUpPitch
}
aggregate YoYoFlip {
"""
If light value falls below a threshold as we're pointed down, pitch the vehicle back up to terminate the yo.
"""
run when (
Science:PAR_Licor.loadAtStartup
and ( YoYoLightTerminate )
and ( Science:PAR_Licor.downwelling_photosynthetic_photon_flux_in_sea_water < YoYoLightTerminateThreshold )
and ( Universal:platform_pitch_angle < 1 degree )
)
behavior Guidance:Pitch {
run in parallel
set pitch = YoYoUpPitch
}
}
aggregate StopIfTriggered {
"""
If peak chlorophyll values on NumProfilesThresh consecutive yo-yo profiles fall in [ChlLowerThreshold ChlUpperThreshold], stop mission.
"""
run when ( Science:TriggeredOnChl )
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
aggregate Lap {
run in sequence repeat=Repeat
aggregate Wpt1 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[1]
set longitude = Lon[1]
set captureRadius = CaptureRadius
}
}
macro $i = 2..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
}
|