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723 | # 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 SmearYoYoCamera {
"""
After transit, this mission dives to yo-yo min depth, turns on red
lights and camera, and begins the cylinder. Lights switch between
red/white every LightDeltaTimeSetting minutes.
"""
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.
MissionTimeout = 4 hour
"""
Maximum duration of mission
"""
NeedCommsTimeInTransit = 30 minute
"""
On the way transiting to the surveying location, how often to surface
for commumications
"""
BeingInterrogatedTimeout = 1 hour
"""
If the vehicle does not receive an acoustic signal for more than this
length of time, it will surface for communications. Set longer than
MissionTimeout to effectively disable.
"""
TrackAcousticTarget = true
"""
Whether to track an acoustic target at all.
"""
# debug
# </Description><False/></DefineArg>
TrackAcousticTargetDuringTransit = false
"""
Whether to track an acoustic target during transit (on condition that
TrackAcousticTarget is True).
"""
AcousticTargetContactLabel = 0 count
"""
The acoustic address of the asset to be tracked
"""
AcousticTargetDepth = NaN meter
"""
Depth of acoustic target if known and fixed (or nearly fixed). For
example, if the acoustic target is a Wave Glider, set it to zero. This
will improve 2D projected position estimates in the Earth reference
frame. Defaults to NaN.
"""
AcousticTargetContactTimeout = 15 minute
"""
Only use a sufficiently fresh handshake to update the tracking center.
"""
PeriodOfParameterSetting = 10.0 minute
"""
Period of taking settings for setting samplers. Set to a large number
(e.g., 20000 minutes = 14 days) to practically diable this
functionality.
"""
LightDeltaTimeSetting = 5.0 minute
"""
Period of red versus white lights.
"""
SpeedTransit = 1.0 meter_per_second
"""
Vehicle speed when transiting to the surveying location.
"""
SpeedSurveySetting = 1.0 meter_per_second
"""
Value for setting vehicle speed when surveying on cylinder yoyo.
"""
MaxDepth = 50 meter
"""
Maximum depth for the entire mission.
"""
YoYoMinDepthSetting = 40 meter
"""
Value for setting minimum depth while performing the YoYo behavior.
"""
YoYoMaxDepthSetting = 50 meter
"""
Value for setting maximum depth while performing the YoYo behavior.
"""
InitDepthTimeout = 20 minute
"""
Maximum time duration for the vehicle to reach the initial yo-yo depth.
The vehicle will switch over to attempting yo-yos after the timeout is
expired.
"""
TransitYoYoMinDepth = 10 meter
"""
Minimum yoyo depth while transiting to the surveying location.
"""
TransitYoYoMaxDepth = 50 meter
"""
Maximum yoyo depth while transiting to the surveying location.
"""
TransitCaptureRadius = 100 meter
"""
Waypoint capture radius for transiting to the surveying location.
"""
CylinderRadiusSetting = 100 meter
"""
Value for setting radius of cylinder centered at the surveying location.
"""
MaxCirclesOnCylinder = 1000 count
"""
Maximum number of circles on cylinder.
"""
# debug
# </Description><Units:count/><Value>3</Value></DefineArg>
TransitLatitude = NaN degree
"""
The latitude of the surveying location. If NaN, will skip transit.
"""
# debug
# </Description><Units:degree/><Value>36.805</Value></DefineArg>
TransitLongitude = NaN degree
"""
The longitude of the surveying location. If NaN, will skip transit.
"""
# debug
# </Description><Units:degree/><Value>-121.825</Value></DefineArg>
CenterLatitude = NaN degree
"""
The latitude of the center of the circle. Fill this in to specify a
start position, it will be overwritten once the vehicle receives an
acoustic signal from the contact.
"""
CenterLongitude = NaN degree
"""
The longitude of the center of the circle. Fill this in to specify a
start position, it will be overwritten once the vehicle receives an
acoustic signal from the contact.
"""
# 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.
TrackingUpdatePeriod = 15 second
"""
How long to wait between acoustic queries
"""
NumberOfPings = 1 count
"""
Number of return pings to request with each acoustic query (more than 1
will activate oneway mode)
"""
NumberOfFixesLowPass = 4 count
"""
Number of fixes to average to produce smoothed lat/lon/dep output
(initialized to 4).
"""
NumberOfStartingFixesToIgnore = 8 count
"""
Number of fixes to ignore at the start of mission (as the vehicle just
leaves surface, contact's location estimate especailly bearing can be
erroneous. Initialized to 8, corresponding to 2 minutes if query
interval TrackingUpdatePeriod = 15 s.
"""
CylinderCircleMaxError = 100 meter
"""
If this distance away from the circle, drive straight towards (or away
from the center). Otherwise, try to reduce distance from the ideal
circle.
"""
CylinderCircleTurnToPort = false
"""
If true, vehicle turns to the left around the center point. If false,
vehicle turns to the right.
"""
KwpHeading = 0.010 radian_per_meter
"""
Used to relax waypoint cross-track error constant that is adjusted for
docking. (You can override this setting by passing an argument.)
"""
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
LightDeltaTime = 5.0 minute
"""
Period of red versus white lights.
"""
SpeedSurvey = 1.0 meter_per_second
"""
Vehicle speed when surveying on cylinder yoyo.
"""
YoYoMinDepth = 1.5 meter
"""
Minimum depth while performing the YoYo behavior. Initialized to 1.5 m.
"""
YoYoMaxDepth = 20 meter
"""
Maximum depth while performing the YoYo behavior. Initialized to 20 m.
"""
CylinderRadius = 100 meter
"""
Radius of cylinder centered at the surveying location. Initialized to
100 m.
"""
FlagFirstTimeParameterSetting = true
"""
Flag of first time setting samplers (initialized to True).
"""
ContactLatitudeLowpass = NaN degree
"""
Low-pass filtered latitude of contact (initialized to NaN).
"""
ContactLongitudeLowpass = NaN degree
"""
Low-pass filtered longitude of contact (initialized to NaN).
"""
FromLastTimeFixToCenterUpdate = 0 minute
"""
Elapsed time from last time-fix to center update time (initialized to
zero).
"""
FromLastTimeFixToParameterSetting = NaN minute
"""
Elapsed time from last time-fix to setting of samplers.
"""
LastLightSwitchTime = NaN minute
"""
Elapsed time from last time the light color was switched.
"""
WhiteLightsRequested = false
"""
Indicates white lights should be turned on (default is red to start so
we don't scare the fish). If false, red will be turned on.
"""
TransitWaypointCompleted = false
"""
Transit waypoint is completed (initialized to false).
"""
}
# Missions should almost always start with a timeout and a NeedComms aggregate. Drift missions will not use NeedComms.
timeout duration=MissionTimeout
# 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
insert Insert/AbortDrift.tl {
redefineArg AcousticTimeout = BeingInterrogatedTimeout
}
# 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 SetAllParameters {
run when ( called )
assign in sequence SpeedSurvey = SpeedSurveySetting
assign in sequence YoYoMinDepth = YoYoMinDepthSetting
assign in sequence YoYoMaxDepth = YoYoMaxDepthSetting
assign in sequence CylinderRadius = CylinderRadiusSetting
assign in sequence LightDeltaTime = LightDeltaTimeSetting
syslog important "Set SpeedSurvey = " + SpeedSurvey~meter_per_second + ", YoYoMinDepth = "
+ YoYoMinDepth~meter + ", YoYoMaxDepth = " + YoYoMaxDepth~meter + ", CylinderRadius = "
+ CylinderRadius~meter + ", LightingPeriod = " + LightDeltaTime~minute + "."
}
aggregate TrackingAcousticTarget {
run while (
TrackAcousticTarget
and TrackAcousticTargetDuringTransit
or (
TrackAcousticTarget
and (
not ( TrackAcousticTargetDuringTransit )
and TransitWaypointCompleted
)
)
or (
TrackAcousticTarget
and ( isNaN ( TransitLatitude ) )
)
or (
TrackAcousticTarget
and ( isNaN ( TransitLongitude ) )
)
)
behavior Estimation:Tracking {
run in parallel
set contactLabelSetting = AcousticTargetContactLabel
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
set numFixesLowPassSetting = NumberOfFixesLowPass
set numStartingFixesToIgnoreSetting = NumberOfStartingFixesToIgnore
set contactDepthSetting = AcousticTargetDepth
}
}
aggregate MissionStart {
run in sequence
insert id="NeedComms" Insert/NeedComms.tl
call id="MissionStartComms" refId="NeedComms"
}
aggregate TransitToSurveyingLocation {
run in sequence
break if (
isNaN ( TransitLatitude )
or ( isNaN ( TransitLongitude ) )
)
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransit
behavior Guidance:SetSpeed {
run in parallel
set speed = SpeedTransit
}
behavior Guidance:DepthEnvelope {
run in parallel
set minDepth = TransitYoYoMinDepth
set maxDepth = TransitYoYoMaxDepth
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 = TransitLatitude
set longitude = TransitLongitude
set captureRadius = TransitCaptureRadius
}
assign in sequence TransitWaypointCompleted = true
}
aggregate InitializeWithGPSlatlon {
run when (
isNaN ( CenterLatitude )
or ( isNaN ( CenterLongitude ) )
)
assign in sequence CenterLatitude = Universal:latitude_fix
assign in sequence CenterLongitude = Universal:longitude_fix
syslog important "Initialize CenterLatitude and CenterLongitude to GPS fix: "
+ CenterLatitude~degree + ", " + CenterLongitude~degree + "."
}
aggregate UpdateCenter {
run when (
elapsed ( Estimation:Tracking.range_to_contact ) < AcousticTargetContactTimeout
)
assign in sequence ContactLatitudeLowpass = Estimation:Tracking.contact_latitude_lowpass
assign in sequence ContactLongitudeLowpass = Estimation:Tracking.contact_longitude_lowpass
aggregate UpdateWithContactLowpassLatLon {
run when (
not ( isNaN ( ContactLatitudeLowpass ) )
and ( not ( isNaN ( ContactLongitudeLowpass ) ) )
and ( elapsed ( Universal:time_fix ) >= ( FromLastTimeFixToCenterUpdate + TrackingUpdatePeriod ) )
)
assign in sequence CenterLatitude = ContactLatitudeLowpass
assign in sequence CenterLongitude = ContactLongitudeLowpass
syslog info "Updating. FromLastTimeFixToCenterUpdate, CenterLatitude, CenterLongitude = "
+ FromLastTimeFixToCenterUpdate~second + ", " + CenterLatitude~degree + ", "
+ CenterLongitude~degree
assign in sequence FromLastTimeFixToCenterUpdate = elapsed ( Universal:time_fix )
}
}
aggregate PeriodicSetting {
run when (
FlagFirstTimeParameterSetting
or ( elapsed ( Universal:time_fix ) >= ( FromLastTimeFixToParameterSetting + PeriodOfParameterSetting ) )
)
call id="SetLightingAndOtherParameters" refId="SetAllParameters"
assign in sequence FlagFirstTimeParameterSetting = false
assign in sequence FromLastTimeFixToParameterSetting = elapsed ( Universal:time_fix )
}
aggregate InitialDive {
"""
Descend from to initial depth prior to beginning yo-yos and turning
on the lights/camera.
"""
run in sequence
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
behavior Guidance:SetSpeed {
run in parallel
set speed = SpeedSurvey
}
behavior Guidance:Pitch {
run in sequence
timeout duration=InitDepthTimeout {
syslog important "Timed out at current depth of " + Universal:depth~meter
+ ". Switching to yo-yo command."
}
set depth = YoYoMinDepth
}
}
# Now that the initial dive is done, get on with the yo-yos
aggregate Cylinder {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set speed = SpeedSurvey
}
behavior Guidance:DepthEnvelope {
run in parallel
set minDepth = YoYoMinDepth
set maxDepth = YoYoMaxDepth
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
}
# Power Camera
readData id="PowerCamera" {
Sensor:PowerOnly.sampleLoad1
}
syslog info "Activating camera."
# Wait one minute for camera to start recording
behavior Guidance:Wait {
run in sequence
set duration = 25 second
}
# Here we start the light clock and effectively turn on the default (red) lights
assign in sequence LastLightSwitchTime = elapsed ( Universal:time_fix )
syslog info "Activating Red Lights."
# As long as the time hasn't expired and white lights are requested, turn on the white ones
aggregate WhiteLights {
run while (
elapsed ( Universal:time_fix ) <= ( LastLightSwitchTime + LightDeltaTime )
and WhiteLightsRequested
)
aggregate PowerRequest {
run in sequence
# Power White Lights
readData id="PowerWhiteLights" {
Sensor:PowerOnly.sampleLoad3
}
}
}
# As long as the time hasn't expired and white lights are NOT requested, turn on the red ones
aggregate RedLights {
run while (
elapsed ( Universal:time_fix ) <= ( LastLightSwitchTime + LightDeltaTime )
and ( not ( WhiteLightsRequested ) )
)
aggregate PowerRequest {
run in sequence
# Power Red Lights
readData id="PowerRedLights" {
Sensor:PowerOnly.sampleLoad2
}
}
}
# These two aggregates below handle the logic for turning lights from white to red by setting the boolean and resetting the timer
aggregate FlipLightsWhite {
run when (
elapsed ( Universal:time_fix ) >= ( LastLightSwitchTime + LightDeltaTime )
and ( not ( WhiteLightsRequested ) )
)
aggregate {
run in sequence
syslog info "Activating White Lights."
assign in parallel WhiteLightsRequested = true
assign in parallel LastLightSwitchTime = elapsed ( Universal:time_fix )
}
}
aggregate FlipLightsRed {
run when (
elapsed ( Universal:time_fix ) >= ( LastLightSwitchTime + LightDeltaTime )
and WhiteLightsRequested
)
aggregate {
run in sequence
syslog info "Activating Red Lights."
assign in parallel WhiteLightsRequested = false
assign in parallel LastLightSwitchTime = elapsed ( Universal:time_fix )
}
}
aggregate CylinderYoYo {
run in sequence
syslog important "Yoyo profile on a cylinder around location " + CenterLatitude~degree + ","
+ CenterLongitude~degree + ", at radius = " + CylinderRadius~meter + "."
aggregate CylinderWrapper {
run in sequence repeat=MaxCirclesOnCylinder
assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading
behavior Guidance:Circle {
run in sequence
set latitude = CenterLatitude
set longitude = CenterLongitude
set radius = CylinderRadius
set maxError = CylinderCircleMaxError
set turnToPort = CylinderCircleTurnToPort
}
}
}
}
}
|