Science/spiral_cast.tl

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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"
}