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_examples/Surface.tl

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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
    }
  }
}