Skip to content

_examples/Surface.tl

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
#   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.

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
    }
  }
}