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599 | # 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 smear_waypoint_sampling {
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) or CANON samplers. Set to 0
to disable sampling.
"""
# debug
# </Description><Units:count/><Value>3</Value></DefineArg>
CartridgeType = -6 count
"""
Cartridge type. Initialized to -6.
"""
CANONSamplerRotateOnly = 0 bool
MissionTimeout = 3 hour
"""
Maximum duration of mission
"""
NeedCommsTimeInTransit = 60 minute
"""
In transit to the start location, how often to surface for commumications. Not applicable when sampling is in process.
"""
NeedCommsSampling = 3 hour
"""
How often to surface for commumications during the process of completing
all samples, in case something goes wrong during sampling.
"""
WaitDurationFirstSample = 0 minute
"""
Wait time before firing the first sample.
"""
WaitDurationNotFirstSample = 0 minute
"""
For the 2nd and later samlples, wait time before firing.
"""
MaxWaitNoFiring = 2 hour
"""
If no firing after more than MaxWaitNoFiring, terminate mission.
"""
# debug
# </Description><Units:hour/><Value>0.05</Value></DefineArg>
ReachEndWaypoint = true
"""
Whether to reach the end waypoint after sampling is completed
(initialized to true).
"""
# debug
# </Description><False/></DefineArg>
Speed = 1.0 meter_per_second
"""
Vehicle speed.
"""
MaxDepth = 50 meter
"""
Maximum depth for the entire mission.
"""
SamplingYoYoMinDepth = 4 meter
"""
Minimum yoyo depth while transiting and sampling.
"""
SamplingYoYoMaxDepth = 30 meter
"""
Maximum yoyo depth while transiting and sampling.
"""
SamplingStartLatitude = NaN degree
"""
The start latitude of sampling. If NaN, start here.
"""
# debug
# </Description><Units:degree/><Value>36.80</Value></DefineArg>
SamplingStartLongitude = NaN degree
"""
The start longitude of sampling. If NaN, start here.
"""
# debug
# </Description><Units:degree/><Value>-121.82</Value></DefineArg>
Repeat = 1 count
"""
Number of times the vehicle cycles through the waypoints..
"""
Lat[1..6] = NaN degree
"""
Latitude of waypoint {$}. If nan, waypoint is skipped.
"""
# debug
# </Description><Units:degree/><Value>36.808</Value></DefineArg>
Lon[1..6] = NaN degree
"""
Longitude of waypoint {$}. If nan, waypoint is skipped.
"""
# debug
# </Description><Units:degree/><Value>-121.838</Value></DefineArg>
# 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.
UseCANONSampler = Science:CANONSampler.loadAtStartup
"""
Whether to use CANON Sampler to sample.
"""
UseESP = Science:ESPComponent.loadAtStartup
"""
Whether to use ESP to sample.
"""
CANONSamplerTriggerTimeout = 3 minute
"""
How long to wait for a CANON Sampler sample to start.
"""
CANONSamplerTimeout = Science:CANONSampler.sampleTimeout
"""
How long to wait for a CANON Sampler sample to complete.
"""
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
"""
# Internal variables that you should not change
}
output {
ElapsedSinceStartOrLastSample = 0 hour
"""
The mission sets this variable to reset the ESP sample timer.
"""
ElapsedTime = 0 hour
"""
Only for syslog.
"""
StoppedForNoFiringForTooLong = false
"""
Mission stopped because of no firing for too long. Initialized to false.
"""
DepthLogged = 0.0 meter
TempLogged = 0.0 celsius
ChlLogged = 0.0 microgram_per_liter
MissionStartCommsCompleted = false
"""
MissionStartComms is completed (initialized to false).
"""
TransitCompleted = false
"""
Transit is completed (initialized to False).
"""
FlagSamplingOngoing = false
"""
Flag of water sampling in process (initialized to false).
"""
SampleCompleted = false
"""
Sampling completed. Initialized to false.
"""
CntSamples = 1 count
"""
Count of water samples (initilized to 1).
"""
}
# 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 = NeedCommsSampling
# 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
}
# 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 TriggerSampling {
run when ( called )
aggregate TriggerESP {
run in sequence
break if ( not ( UseESP ) )
assign in sequence DepthLogged = Universal:depth
assign in sequence TempLogged = Universal:sea_water_temperature
assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water
syslog important "Trigger ESP sampling. DepthLogged, TempLogged, ChlLogged = "
+ DepthLogged~meter + ", " + TempLogged~celsius + ", " + ChlLogged~microgram_per_liter + "."
behavior Science:ESPCartridgeSelect {
run in sequence
timeout duration=P1M
set cartridgeType = CartridgeType
}
readDatum {
Science:ESPComponent.sampling
}
syslog important "Wait for ESP sampling to complete."
readDatum {
Science:ESPComponent.sample_number
}
}
aggregate TriggerCANON {
run in sequence
break if ( not ( UseCANONSampler ) )
assign in sequence DepthLogged = Universal:depth
assign in sequence TempLogged = Universal:sea_water_temperature
assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water
syslog important "Trigger CANON sampling. DepthLogged, TempLogged, ChlLogged = "
+ DepthLogged~meter + ", " + TempLogged~celsius + ", " + ChlLogged~microgram_per_liter + "."
assign in parallel Science:CANONSampler.sampleTimeout = CANONSamplerTimeout
assign in parallel Science:CANONSampler.rotateOnly = CANONSamplerRotateOnly
readDatum id="TriggerCANONSampler" {
timeout duration=CANONSamplerTriggerTimeout {
syslog important "Timed out triggering CANONSampler. Stopping mission."
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
Science:CANONSampler.sampling
}
readDatum {
timeout duration=CANONSamplerTimeout {
syslog important "Timed out sampling with CANONSampler. Stopping mission."
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
}
Science:CANONSampler.sample_number
}
}
}
aggregate InsertWait {
run when ( called )
aggregate If1stSample {
run in sequence
break if ( CntSamples >= 2 count )
syslog important "Wait " + WaitDurationFirstSample~minute + " before firing sample."
behavior Guidance:Wait {
run in sequence
set duration = WaitDurationFirstSample
}
}
aggregate IfNot1stSample {
run in sequence
break if ( CntSamples == 1 count )
syslog important "Wait " + WaitDurationNotFirstSample~minute + " before firing sample."
behavior Guidance:Wait {
run in sequence
set duration = WaitDurationNotFirstSample
}
}
}
aggregate MissionStart {
run in sequence
call id="MissionStartComms" refId="NeedComms"
assign in sequence MissionStartCommsCompleted = true
assign in sequence ElapsedSinceStartOrLastSample = 0 hour
assign in sequence TransitCompleted = true
}
aggregate TransitToSamplingLocation {
run in sequence
break if (
isNaN ( SamplingStartLatitude )
or ( isNaN ( SamplingStartLongitude ) )
)
assign in sequence TransitCompleted = false
assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransit
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:DepthEnvelope {
run in parallel
set minDepth = SamplingYoYoMinDepth
set maxDepth = SamplingYoYoMaxDepth
set downPitch = YoYoDownPitch
set upPitch = YoYoUpPitch
}
behavior Guidance:YoYo {
run in parallel
set downPitch = YoYoDownPitch
set upPitch = YoYoUpPitch
}
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
behavior Guidance:Waypoint {
run in sequence
set latitude = SamplingStartLatitude
set longitude = SamplingStartLongitude
}
assign in sequence NeedComms:DiveInterval = NeedCommsSampling
assign in sequence ElapsedSinceStartOrLastSample = 0 hour
assign in sequence TransitCompleted = true
}
aggregate SamplingWaypoints {
run in sequence repeat=Repeat
break if (
isNaN ( Lat[1] )
or ( isNaN ( Lon[1] ) )
or (
not ( ReachEndWaypoint )
and ( CntSamples == ( NumSamplers + 1 count ) )
)
)
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:DepthEnvelope {
run in parallel
set minDepth = SamplingYoYoMinDepth
set maxDepth = SamplingYoYoMaxDepth
set downPitch = YoYoDownPitch
set upPitch = YoYoUpPitch
}
behavior Guidance:YoYo {
run in parallel
set downPitch = YoYoDownPitch
set upPitch = YoYoUpPitch
}
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
macro $i = 1..6 {
aggregate Wpt$i {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set latitude = Lat[$i]
set longitude = Lon[$i]
}
}
}
aggregate TakeSamples {
run in parallel
aggregate NoFiringForTooLong {
run when (
TransitCompleted
and ( elapsed ( ElapsedSinceStartOrLastSample ) > MaxWaitNoFiring )
and ( not ( FlagSamplingOngoing ) )
and ( not ( CntSamples == ( NumSamplers + 1 count ) ) )
and ( not ( StoppedForNoFiringForTooLong ) )
)
assign in sequence ElapsedTime = elapsed ( ElapsedSinceStartOrLastSample )
syslog important "No firing for too long. Stopping mission. ElapsedTime, MaxWaitNoFiring = "
+ ElapsedTime~minute + ", " + MaxWaitNoFiring~minute
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
assign in sequence StoppedForNoFiringForTooLong = true
}
aggregate Firing {
run when (
Universal:depth >= SamplingYoYoMinDepth
and ( Universal:depth <= SamplingYoYoMaxDepth )
and MissionStartCommsCompleted
and TransitCompleted
and ( not ( FlagSamplingOngoing ) )
and ( CntSamples <= NumSamplers )
and ( not ( SampleCompleted ) )
)
assign in sequence FlagSamplingOngoing = true
syslog important "Taking sample No." + CntSamples~count + "."
assign in sequence ElapsedSinceStartOrLastSample = 0 hour
assign in sequence NeedComms:DiveInterval = NeedCommsSampling
call id="WaitBeforeFiring" refId="InsertWait"
call id="Sampling" refId="TriggerSampling"
syslog important " Sample No." + CntSamples~count + " completed."
call id="CommsSampling" refId="NeedComms"
assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransit
assign in sequence SampleCompleted = true
assign in sequence ElapsedSinceStartOrLastSample = 0 hour
assign in sequence FlagSamplingOngoing = false
}
aggregate IncrementSampleCounter {
run when ( SampleCompleted )
assign in sequence CntSamples = CntSamples + 1 count
assign in sequence SampleCompleted = false
}
}
}
}
|