Science/sci2_backseat_massOnly.tl

#   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.

# ====================
#     Generated by TethysL
#     ====================
mission {
  """
  Vehicle yo-yo's to the specified waypoints, with science and backseat turned on. This mission uses the mass shifter only for vertical control
  """

  arguments {
    MissionTimeout = 2 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 60 minute
      """
      How often to surface for commumications
      """

    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.
      """

    Speed = 1 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    CaptureRadius = NaN meter
      """
      Speed while performing the YoYo behavior.
      """

    YoYoMinDepth = 5 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 100 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    YoYoMinAltitude = 15 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

    YoYoUpPitch = 15 degree
      """
      Vehicle up pitch while performing the YoYo behavior.
      """

    YoYoDownPitch = -15 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
      """

    ElevatorDefault = 0 degree
      """
      Static setting for elevators during the mission. Normally held at 0 for this mission but available to change in case of offset.
      """

    MinAltitude = 10 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 250 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 = true
  }

  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

  call id="StartingMission" refId="NeedComms"

  insert Insert/BackseatDriver.tl

  assign in sequence BackseatDriver:EnableBackseat = true

  insert Insert/PowerOnly.tl

  behavior Guidance:Pitch {
    run in parallel

    set elevatorAngle = ElevatorDefault
  }

  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 Lap {
    run in sequence repeat=Repeat

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat1
        set longitude = Lon1
        set captureRadius = CaptureRadius
      }
    }

    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
      }
    }
  }
}