aggregate SurfaceComms {
arguments {
SurfaceDepthRate = NaN meter_per_second
SurfacePitch = 20 degree
SurfaceSpeed = 1.0 meter_per_second
IridiumTimeout = 30 minute
UnpackSplitAtSurface = false
}
run in sequence
behavior Guidance:GoToSurface {
run in progression
set depthRate = SurfaceDepthRate
set pitch = SurfacePitch
set speed = SurfaceSpeed
}
aggregate {
run in sequence
break if ( UnpackSplitAtSurface == false )
syslog "##UnpackSplit##"
}
aggregate {
run in sequence
preemptive ( true )
readDatum {
Universal:latitude_fix
}
readDatum {
timeout duration=IridiumTimeout
Universal:platform_communications
}
readDatum {
Universal:latitude_fix
}
}
}