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1077 | # ==================================
# Generated by TethysL (do not edit)
# ==================================
# 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_yoyo_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>
StartIndex = 1 count
"""
Start index in ESP settings. If re-running mission, can skip settings of
already-completed samples. Default is 1 (no skipping).
"""
# debug
# </Description><Units:count/><Value>2</Value></DefineArg>
CANONSamplerRotateOnly = 0 bool
MissionTimeout = 2 hour
"""
Maximum duration of mission
"""
SurfaceCommsEndOfEachSample = true
"""
Whether to go to surface for comms at completion of each sample
(initialized to True.)
"""
# debug
# </Description><False/></DefineArg>
NeedCommsTimeInTransit = 30 minute
"""
On the way transiting to the sampling location, how often to surface for
commumications
"""
BeingInterrogatedTimeout = 21 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 = false
"""
Whether to track an acoustic target.
"""
# debug
# </Description><True/></DefineArg>
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.
"""
MaxWaitNoFiring = 2 hour
"""
If no firing after more than MaxWaitNoFiring, terminate mission.
"""
# debug
# </Description><Units:hour/><Value>0.05</Value></DefineArg>
SpeedTransit = 1.0 meter_per_second
"""
Vehicle speed when transiting to the sampling location.
"""
SpeedSampling = 1.0 meter_per_second
"""
Vehicle speed when sampling on cylinder yoyo.
"""
MaxDepth = 50 meter
"""
Maximum depth for the entire mission.
"""
TransitYoYoMinDepth = 3 meter
"""
Minimum yoyo depth while transiting to the sampling location.
"""
TransitYoYoMaxDepth = 30 meter
"""
Maximum yoyo depth while transiting to the sampling location.
"""
TransitCaptureRadius = 100 meter
"""
Waypoint capture radius for transiting to the sampling location.
"""
CylinderRadius = 20 meter
"""
Radius of cylinder centered at the sampling location.
"""
MaxCirclesOnCylinder = 1000 count
"""
Maximum number of circles on cylinder.
"""
TransitLatitude = NaN degree
"""
The latitude of the sampling location. If NaN, will skip transit.
"""
# debug
# </Description><Units:degree/><Value>36.80</Value></DefineArg>
TransitLongitude = NaN degree
"""
The longitude of the sampling location. If NaN, will skip transit.
"""
# debug
# </Description><Units:degree/><Value>-121.82</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.
"""
# debug
# </Description><Units:degree/><Value>36.80</Value></DefineArg>
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.
"""
# debug
# </Description><Units:degree/><Value>-121.82</Value></DefineArg>
CartridgeTypeCommon = -6 count
"""
Value common to all samples unless set diffently: cartridge type.
"""
CartridgeType[1..60] = -6 count
"""
Sample {$}. Cartridge type.
"""
ShallowBoundSmearCommon = 3 meter
"""
Value common to all samples unless set diffently: shallow depth bound
for smear sampling.
"""
ShallowBoundSmear[1..60] = NaN meter
"""
Shallow depth bound for smear sampling. Sample {$}.
"""
DeepBoundSmearCommon = 30 meter
"""
Value common to all samples unless set diffently: deep depth bound for
smear sampling.
"""
DeepBoundSmear[1..60] = NaN meter
"""
Deep depth bound for smear sampling. Sample {$}.
"""
WaitCommonBeforeFiring = 5.0 minute
"""
Value common to all samples unless set diffently: Wait time before
firing.
"""
WaitCommonAfterFiring = 5.0 minute
"""
Value common to all samples unless set diffently: Wait time after
firing.
"""
WaitBeforeFiring[1..60] = NaN minute
"""
Wait time before firing. Sample {$}.
"""
WaitAfterFiring[1..60] = NaN minute
"""
Wait time after firing. Sample {$}.
"""
# 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 = 1 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.
"""
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
NeedCommsTimeVeryLong = 100 hour
"""
How often to surface for commumications during sampling. Huge number to
disable needcomms.
"""
}
output {
ShallowBoundSmearIndividual = NaN meter
"""
YoYoMinDepth individual.
"""
DeepBoundSmearIndividual = NaN meter
"""
YoYoMaxDepth individual.
"""
WaitIndividualBeforeFiring = NaN minute
"""
Wait before firing for each individual sample.
"""
WaitIndividualAfterFiring = NaN minute
"""
Wait after firing for each individual sample.
"""
CartridgeTypeIndividual = NaN count
"""
Cartridge type individual.
"""
CartridgeTypeSet = -6 count
"""
Cartridge type. Initialized to -6.
"""
ElapsedSinceStartOrLastSample = 0 hour
"""
The mission sets this variable to reset the ESP sample timer.
"""
ElapsedSinceLastCenterUpdate = 0 hour
"""
The mission sets this variable to reset the center update timer.
"""
ElapsedTime = 0 hour
"""
Only for syslog.
"""
ContactLatitudeLowpass = NaN degree
"""
Low-pass filtered latitude of contact (initialized to NaN).
"""
ContactLongitudeLowpass = NaN degree
"""
Low-pass filtered longitude of contact (initialized to NaN).
"""
YoYoMinDepth = 1.5 meter
"""
Minimum depth while performing the YoYo behavior. Program will overwrite
for each sampler, e.g., ShallowBoundSmear1.
"""
YoYoMaxDepth = 20 meter
"""
Maximum depth while performing the YoYo behavior. Program will overwrite
for each sampler, e.g., DeepBoundSmear1
"""
WaitDurationBeforeFiring = 5.0 minute
"""
Wait time before firing a sample. Program will set for each sampler,
e.g., WaitBeforeFiring1.
"""
WaitDurationAfterFiring = 5.0 minute
"""
Wait time after firing a sample. Program will set for each sampler,
e.g., WaitAfterFiring1.
"""
CommsEndOfSampleCompleted = false
"""
End-of-sample comms completed. Initialized to False.
"""
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.
"""
SampleOptionsSet = false
"""
Sample options (DepDiffFromPeakChl, ReportAtSurface, ReacquirePeak)
already set. 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
insert Insert/Science.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTimeVeryLong
# 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
}
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
}
behavior Guidance:Buoyancy {
run in parallel
set position = BuoyancyNeutral
}
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 TrackingAcousticTarget {
run while ( TrackAcousticTarget )
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 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 = CartridgeTypeSet
}
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 InsertWaitBeforeFiring {
run when ( called )
syslog important "Wait " + WaitDurationBeforeFiring~minute + " before firing sample."
behavior Guidance:Wait {
run in sequence
set duration = WaitDurationBeforeFiring
}
}
aggregate InsertWaitAfterFiring {
run when ( called )
syslog important "Wait " + WaitDurationAfterFiring~minute + " after firing sample."
behavior Guidance:Wait {
run in sequence
set duration = WaitDurationAfterFiring
}
}
aggregate SetSampleOptions {
run when ( called )
aggregate SettingCartridgeTypeIndividual {
run in sequence
break if (
isNaN ( CartridgeTypeIndividual )
or ( not ( UseESP ) )
)
assign in sequence CartridgeTypeSet = CartridgeTypeIndividual
}
aggregate SettingCartridgeTypeCommon {
run in sequence
break if (
not ( isNaN ( CartridgeTypeIndividual ) )
or ( not ( UseESP ) )
)
assign in sequence CartridgeTypeSet = CartridgeTypeCommon
}
aggregate SettingYoYoMinDepthIndividual {
run in sequence
break if ( isNaN ( ShallowBoundSmearIndividual ) )
assign in sequence YoYoMinDepth = ShallowBoundSmearIndividual
}
aggregate SettingYoYoMinDepthCommon {
run in sequence
break if (
not ( isNaN ( ShallowBoundSmearIndividual ) )
)
assign in sequence YoYoMinDepth = ShallowBoundSmearCommon
}
aggregate SettingYoYoMaxDepthIndividual {
run in sequence
break if ( isNaN ( DeepBoundSmearIndividual ) )
assign in sequence YoYoMaxDepth = DeepBoundSmearIndividual
}
aggregate SettingYoYoMaxDepthCommon {
run in sequence
break if (
not ( isNaN ( DeepBoundSmearIndividual ) )
)
assign in sequence YoYoMaxDepth = DeepBoundSmearCommon
}
aggregate SettingWaitIndividualBeforeFiring {
run in sequence
break if (
not ( WaitIndividualBeforeFiring >= 0 minute )
)
assign in sequence WaitDurationBeforeFiring = WaitIndividualBeforeFiring
}
aggregate SettingWaitCommonBeforeFiring {
run in sequence
break if ( WaitIndividualBeforeFiring >= 0 minute )
assign in sequence WaitDurationBeforeFiring = WaitCommonBeforeFiring
}
aggregate SettingWaitIndividualAfterFiring {
run in sequence
break if (
not ( WaitIndividualAfterFiring >= 0 minute )
)
assign in sequence WaitDurationAfterFiring = WaitIndividualAfterFiring
}
aggregate SettingWaitCommonAfterFiring {
run in sequence
break if ( WaitIndividualAfterFiring >= 0 minute )
assign in sequence WaitDurationAfterFiring = WaitCommonAfterFiring
}
syslog important "Set CartridgeType (if ESP), YoYoMinDepth, YoYoMaxDepth, WaitDurationBeforeFiring, WaitDurationAfterFiring to "
+ CartridgeTypeSet~count + ", " + YoYoMinDepth~meter + ", " + YoYoMaxDepth~meter + ", "
+ WaitDurationBeforeFiring~minute + ", " + WaitDurationAfterFiring~minute + "."
}
aggregate Transit {
run when ( called )
aggregate TransitToSamplingLocation {
run in sequence
break if (
isNaN ( TransitLatitude )
or ( isNaN ( TransitLongitude ) )
)
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:Waypoint {
run in sequence
set latitude = TransitLatitude
set longitude = TransitLongitude
set captureRadius = TransitCaptureRadius
}
assign in sequence NeedComms:DiveInterval = NeedCommsTimeVeryLong
assign in sequence ElapsedSinceStartOrLastSample = 0 hour
assign in sequence TransitCompleted = true
}
aggregate NoTransit {
run in sequence
break if (
not (
isNaN ( TransitLatitude )
or ( isNaN ( TransitLongitude ) )
)
)
assign in sequence TransitCompleted = true
}
}
aggregate MissionStart {
run in sequence
call id="MissionStartComms" refId="NeedComms"
assign in sequence ElapsedSinceStartOrLastSample = 0 hour
assign in sequence MissionStartCommsCompleted = true
}
call id="TransitSamplingLocation" refId="Transit"
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 (
TrackAcousticTarget
and ( 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
# debug
# <Syslog Severity="Important">Overwrite or update. CenterLatitude, CenterLongitude, contact_latitude, contact_longitude, contact_latitude_lowpass, contact_longitude_lowpass = <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/>, <Estimation:Tracking.contact_latitude/><Units:degree/>, <Estimation:Tracking.contact_longitude/><Units:degree/>, <Estimation:Tracking.contact_latitude_lowpass/><Units:degree/>, <Estimation:Tracking.contact_longitude_lowpass/><Units:degree/></Syslog>
aggregate UpdateWithContactLowpassLatLon {
run when (
not ( isNaN ( ContactLatitudeLowpass ) )
and ( not ( isNaN ( ContactLongitudeLowpass ) ) )
and ( elapsed ( ElapsedSinceLastCenterUpdate ) >= TrackingUpdatePeriod )
)
assign in sequence CenterLatitude = ContactLatitudeLowpass
assign in sequence CenterLongitude = ContactLongitudeLowpass
assign in sequence ElapsedTime = elapsed ( ElapsedSinceLastCenterUpdate )
syslog info "Updating. Elapsed time since last center update, CenterLatitude, CenterLongitude = "
+ ElapsedTime~second + ", " + CenterLatitude~degree + ", " + CenterLongitude~degree
assign in sequence ElapsedSinceLastCenterUpdate = 0 hour
}
}
aggregate Cylinder {
run in sequence
break if ( CntSamples == ( NumSamplers + 1 count ) )
behavior Guidance:SetSpeed {
run in parallel
set speed = SpeedSampling
}
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
}
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
}
}
}
}
aggregate TakeSamples {
run in parallel
break if ( CntSamples == ( NumSamplers + 1 count ) )
aggregate NoFiringForTooLong {
run when (
TransitCompleted
and ( elapsed ( ElapsedSinceStartOrLastSample ) > MaxWaitNoFiring )
and ( not ( FlagSamplingOngoing ) )
and ( not ( StoppedForNoFiringForTooLong ) )
)
assign in sequence ElapsedTime = elapsed ( ElapsedSinceStartOrLastSample )
syslog important "No firing for too long. Stopping mission. Elapsed time since start or last sample, MaxWaitNoFiring, CntSamples = "
+ ElapsedTime~minute + ", " + MaxWaitNoFiring~minute + ", " + CntSamples~count
behavior Guidance:Execute {
run in sequence
set command = "stop"
}
assign in sequence StoppedForNoFiringForTooLong = true
}
macro $k = 1..60 {
aggregate SetOptionsOfSample$k {
run when (
not ( SampleOptionsSet )
and ( CntSamples + StartIndex - 1 count == $k count )
and ( CntSamples <= NumSamplers )
and ( not ( FlagSamplingOngoing ) )
)
assign in sequence CartridgeTypeIndividual = CartridgeType[$k]
assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear[$k]
assign in sequence DeepBoundSmearIndividual = DeepBoundSmear[$k]
assign in sequence WaitIndividualBeforeFiring = WaitBeforeFiring[$k]
assign in sequence WaitIndividualAfterFiring = WaitAfterFiring[$k]
call id="SetOptionsForSample$k" refId="SetSampleOptions"
assign in sequence SampleOptionsSet = true
}
}
aggregate FiringNoCommsEndOfSample {
run when (
Universal:depth >= YoYoMinDepth
and ( Universal:depth <= YoYoMaxDepth )
and MissionStartCommsCompleted
and ( not ( FlagSamplingOngoing ) )
and ( CntSamples <= NumSamplers )
and SampleOptionsSet
and ( not ( SampleCompleted ) )
and ( not ( SurfaceCommsEndOfEachSample ) )
)
assign in sequence CommsEndOfSampleCompleted = false
assign in sequence FlagSamplingOngoing = true
call id="TransitSamplingLocation" refId="Transit"
syslog important "Taking sample No." + CntSamples~count + "."
assign in sequence ElapsedSinceStartOrLastSample = 0 hour
call id="WaitBeforeFiring" refId="InsertWaitBeforeFiring"
call id="Sampling" refId="TriggerSampling"
call id="WaitAfterFiring" refId="InsertWaitAfterFiring"
syslog important "Sample No." + CntSamples~count + " completed."
assign in sequence SampleCompleted = true
assign in sequence ElapsedSinceStartOrLastSample = 0 hour
assign in sequence FlagSamplingOngoing = false
}
aggregate FiringCommsEndOfSample {
run when (
Universal:depth >= YoYoMinDepth
and ( Universal:depth <= YoYoMaxDepth )
and MissionStartCommsCompleted
and ( not ( FlagSamplingOngoing ) )
and ( CntSamples <= NumSamplers )
and SampleOptionsSet
and ( not ( SampleCompleted ) )
and SurfaceCommsEndOfEachSample
)
assign in sequence CommsEndOfSampleCompleted = false
assign in sequence FlagSamplingOngoing = true
call id="TransitSamplingLocation" refId="Transit"
syslog important "Taking sample No." + CntSamples~count + "."
assign in sequence ElapsedSinceStartOrLastSample = 0 hour
call id="WaitBeforeFiring" refId="InsertWaitBeforeFiring"
call id="Sampling" refId="TriggerSampling"
call id="WaitAfterFiring" refId="InsertWaitAfterFiring"
syslog important "Sample No." + CntSamples~count + " completed."
call id="CommsSampling" refId="NeedComms"
assign in sequence CommsEndOfSampleCompleted = true
assign in sequence SampleCompleted = true
assign in sequence ElapsedSinceStartOrLastSample = 0 hour
assign in sequence FlagSamplingOngoing = false
}
aggregate IncrementSampleCounter {
run when (
SampleCompleted
and (
not ( SurfaceCommsEndOfEachSample )
or (
SurfaceCommsEndOfEachSample
and CommsEndOfSampleCompleted
)
)
)
assign in sequence CntSamples = CntSamples + 1 count
assign in sequence SampleOptionsSet = false
assign in sequence SampleCompleted = false
}
}
}
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