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591 | # 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 sci2_flat_and_level {
"""
Vehicle transits to the specified waypoints at the commanded depth
(flat-and-level) with science turned on.
"""
arguments {
MissionTimeout = 2 hour
"""
Maximum duration of mission
"""
NeedCommsTime = 60 minute
"""
How often to surface for commumications
"""
Depth1 = 3 meter
"""
Depth of flat and level flight during the mission for the transit of the waypoints
"""
Depth[2..10] = NaN meter
"""
Depth of flat and level flight during the mission for subsequent repetitions of the waypoints.
Skipped if NaN.
"""
Repeat = 1 count
"""
Number of times the vehicle should try to cycle through waypoints and depths.
One run of all waypoints at all target depths is one repetition.
"""
Lat[1..7] = NaN degree
"""
Latitude of waypoint 1. If nan, waypoint is skipped.
"""
Lon[1..7] = NaN degree
"""
Longitude of waypoint 1. If nan, waypoint is skipped.
"""
Speed = 1 meter_per_second
"""
Speed while transiting to waypoints.
"""
ApproachDepth = 2 meter
"""
Depth for initial descent form the surface.
"""
ApproachSpeed = 0.7 meter_per_second
"""
Speed while descending to target depth.
"""
ApproachDepthRate = 0.05 meter_per_second
"""
Descent depth rate (Positive depth rate means going down).
"""
ApproachPitchLimit = 20 degree
"""
Max vehicle pitch (+/-) when decending from the surface.
"""
ApproachDepthTimeout = 15 minute
"""
Maximum time duration for the vehicle to reach the target depth
"""
ApproachSettleTimePreDive = 1 minute
"""
Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
surface.
"""
ApproachSettleTimePostDive = 3 minute
"""
Time duration for the vehicle to settle *AFTER* reaching the target
depth.
"""
kpDepth = 0.07 radian_per_meter
"""
Dive loop proportional gain (applied only while the vehicle is
descending to target depth).
"""
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
"""
Buoyancy bladder position during the mission. 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 = 2 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MaxDepth = 15 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 2 kilometer
"""
Minimum offshore distance for the entire mission.
"""
}
output {
DiveMode = 0 count
"""
Mission variable (don't change). The mission sets this variable to
switch between dive modes. Initialized to DoingComms.
"""
DoingComms = 0 count
"""
Mission variable (don't change). The mission will run in this to mode
when doing surface comms.
"""
InitialDive = 1 count
"""
Mission variable (don't change). The mission will run in this mode after
surface comms are done to dive the vehicle to the approach depth.
"""
SettleAtDepth = 2 count
"""
Mission variable (don't change). The mission will run in this mode to
settle the vehicle at the target depth.
"""
MaintainDepth = 3 count
"""
Mission variable (don't change). The mission will run in this mode to
maintain the vehicle at the target depth.
"""
LegDepth = Depth1
}
# Mission timeout
timeout duration=MissionTimeout
# Science!
insert Insert/Science.tl {
"""
Run the science sensors.
"""
}
# 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
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
aggregate SurfaceComms {
run when (
called
or ( elapsed ( Universal:time_fix ) > NeedCommsTime )
)
assign in sequence DiveMode = DoingComms
call refId="NeedComms"
assign in sequence DiveMode = InitialDive
}
assign in sequence LegDepth = Depth1
aggregate DiveCmd {
"""
Called when the vehicle should be underwater. Arbitrates between 3
dive modes: 1) descend from the surface to initial depth. 2) settle
at target depth using the VB. 3) cruise at target depth.
"""
run when ( called )
aggregate InitialDive {
"""
Descend from the surface to target depth, limit pitch and
depth-rate.
"""
run while ( DiveMode == InitialDive )
aggregate dive {
run in sequence
assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit
assign in parallel Control:VerticalControl.kpDepth = kpDepth
behavior Guidance:Mass {
run in parallel
set position = MassDefault
}
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
syslog info "Waiting for " + ApproachSettleTimePreDive~minute
+ "while pumping down to neutral."
behavior Guidance:Wait {
"""
Take a few moments to ensure the VBS reaches neutral.
"""
run in sequence
set duration = ApproachSettleTimePreDive
}
syslog "Moving to " + ApproachDepth~meter
aggregate ApproachDepth {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = ApproachSpeed
}
behavior Guidance:Pitch {
run in sequence
timeout duration=ApproachDepthTimeout {
syslog important "Timed out while trying to reach target depth at current depth of "
+ Universal:depth~meter
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
set depth = ApproachDepth
set depthRate = ApproachDepthRate
}
}
assign in sequence DiveMode = SettleAtDepth
}
}
aggregate SettleAtDepth {
"""
Take a few more moments here to make sure the vechile is settled
at the target depth.
"""
run while ( DiveMode == SettleAtDepth )
aggregate dive {
run in sequence
syslog info "Reached " + Universal:depth~meter + ", settling for "
+ ApproachSettleTimePostDive~minute
behavior Guidance:Pitch {
run in parallel
set depth = ApproachDepth
}
behavior Guidance:Wait {
run in sequence
set duration = ApproachSettleTimePostDive
}
assign in sequence DiveMode = MaintainDepth
}
}
aggregate MaintainDepth {
"""
Cruise at the target depth.
"""
run while ( DiveMode == MaintainDepth )
aggregate dive {
run in parallel
aggregate ThrusterDive {
run while ( Speed > 0.0 meter_per_second )
behavior Guidance:Mass {
run in parallel
set position = MassDefault
}
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Pitch {
run in parallel
set depth = LegDepth
}
}
}
}
# Start mission sequence
call id="StartingMission" refId="SurfaceComms"
aggregate Lap {
run in sequence repeat=Repeat
aggregate Dive {
run while ( not ( DiveMode == DoingComms ) )
call refId="DiveCmd"
}
aggregate Leg1 {
run in sequence
assign in sequence LegDepth = Depth1
macro $i = 1..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
aggregate Leg2 {
run in sequence
break if ( isNaN ( Depth[2] ) )
syslog important "Transiting waypoints at depth " + Depth[2]~meter
assign in sequence LegDepth = Depth[2]
macro $i = 1..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
aggregate Leg3 {
run in sequence
break if ( isNaN ( Depth[3] ) )
syslog important "Transiting waypoints at depth " + Depth[3]~meter
assign in sequence LegDepth = Depth[3]
macro $i = 1..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
aggregate Leg4 {
run in sequence
break if ( isNaN ( Depth[4] ) )
syslog important "Transiting waypoints at depth " + Depth[4]~meter
assign in sequence LegDepth = Depth[4]
macro $i = 1..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
aggregate Leg5 {
run in sequence
break if ( isNaN ( Depth[5] ) )
syslog important "Transiting waypoints at depth " + Depth[5]~meter
assign in sequence LegDepth = Depth[5]
macro $i = 1..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
aggregate Leg6 {
run in sequence
break if ( isNaN ( Depth[6] ) )
syslog important "Transiting waypoints at depth " + Depth[6]~meter
assign in sequence LegDepth = Depth[6]
macro $i = 1..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
aggregate Leg7 {
run in sequence
break if ( isNaN ( Depth[7] ) )
syslog important "Transiting waypoints at depth " + Depth[7]~meter
assign in sequence LegDepth = Depth[7]
macro $i = 1..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
aggregate Leg8 {
run in sequence
break if ( isNaN ( Depth[8] ) )
syslog important "Transiting waypoints at depth " + Depth[8]~meter
assign in sequence LegDepth = Depth[8]
macro $i = 1..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
aggregate Leg9 {
run in sequence
break if ( isNaN ( Depth[9] ) )
syslog important "Transiting waypoints at depth " + Depth[9]~meter
assign in sequence LegDepth = Depth[9]
macro $i = 1..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
aggregate Leg10 {
run in sequence
break if ( isNaN ( Depth[10] ) )
syslog important "Transiting waypoints at depth " + Depth[10]~meter
assign in sequence LegDepth = Depth[10]
macro $i = 1..7 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
}
}
}
|