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280 | # 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 spiral_cast {
"""
Vehicle spirals downward, then spirals upward, stopping at specified
depths to collect samples.
"""
arguments {
# Almost every mission should start with an overall timeout and a NeedCommsTime.
MissionTimeout = 3 hour
"""
Maximum duration of mission
"""
Depth01 = 200 meter
"""
Depth of sample 1.
"""
Depth02 = 150 meter
"""
Depth of sample 2.
"""
Depth03 = 80 meter
"""
Depth of sample 3.
"""
Depth04 = 60 meter
"""
Depth of sample 4.
"""
Depth05 = 60 meter
"""
Depth of sample 5.
"""
Depth06 = 40 meter
"""
Depth of sample 6.
"""
Depth07 = 40 meter
"""
Depth of sample 7.
"""
Depth08 = 30 meter
"""
Depth of sample 8.
"""
Depth09 = 30 meter
"""
Depth of sample 9.
"""
Depth10 = 20 meter
"""
Depth of sample 10.
"""
Depth11 = 20 meter
"""
Depth of sample 11.
"""
Depth12 = 10 meter
"""
Depth of sample 12.
"""
Depth13 = 10 meter
"""
Depth of sample 13.
"""
Depth14 = 2 meter
"""
Depth of sample 14.
"""
Depth15 = 2 meter
"""
Depth of sample 15.
"""
# You probably do not need to change these.
SettleTime = 0 second
"""
How long to wait after reaching target depth before triggering sample.
"""
RudderAngle = 13 degree
"""
Rudder angle to use while performing the spiral cast.
"""
Speed = 1 meter_per_second
"""
Speed while performing the spiral cast.
"""
# You are even less likely to need to change these.
MinAltitude = 5 meter
"""
Minimum altitude for the entire mission.
"""
MaxDepth = 210 meter
"""
Maximum depth for the entire mission.
"""
}
# Missions should almost always start with a timeout.
timeout duration=MissionTimeout
# Most missions will run the science sensors.
insert Insert/Science.tl {
redefineArg PeakDetectChlActive = true
}
# Most missions will use the NeedComms aggregate. In this case, we use NeedComms for the start of the mission and for the upcast, but set the dive interval to be the same as the mission timeout.
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = MissionTimeout
assign in sequence NeedComms:SurfaceSpeed = Speed
# Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes.
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
# Check for additional instructions first.
call id="StartingMission" refId="NeedComms"
# Many missions will keep mass position and buoyancy volume fixed at defaults.
behavior Guidance:Pitch {
run in parallel
set massPosition = Control:VerticalControl.massDefault
}
behavior Guidance:Buoyancy {
run in parallel
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Point {
run in parallel
set rudderAngle = RudderAngle
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
insert Insert/SampleAtDepth.tl
assign in sequence SampleAtDepth:SettleTime = SettleTime
aggregate SampleWithinEnvelopesWrapper {
"""
Avoid bouncing in and out of safety envelopes. If your specified
sample depth is too deep or too close to the seafloor, skip it.
"""
arguments {
TargetDepth = 1 meter
"""
Depth to sample at.
"""
}
run when ( called )
break if (
Universal:depth >= MaxDepth
and ( TargetDepth >= MaxDepth )
)
assign in sequence SampleAtDepth:TargetDepth = TargetDepth
call id="SampleWithinEnvelopes" refId="SampleAtDepth"
}
aggregate Cast {
run in sequence
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth01
call id="Depth01" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth02
call id="Depth02" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth03
call id="Depth03" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth04
call id="Depth04" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth05
call id="Depth05" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth06
call id="Depth06" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth07
call id="Depth07" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth08
call id="Depth08" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth09
call id="Depth09" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth10
call id="Depth10" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth11
call id="Depth11" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth12
call id="Depth12" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth13
call id="Depth13" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth14
call id="Depth14" refId="SampleWithinEnvelopesWrapper"
assign in sequence SampleWithinEnvelopesWrapper:TargetDepth = Depth15
call id="Depth15" refId="SampleWithinEnvelopesWrapper"
}
call id="CastComplete" refId="NeedComms"
}
|