underIce/sci2Under.tl

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# ====================
#     Generated by TethysL
#     ====================
mission sci2Under {
  """
  Vehicle yo-yo's to the specified waypoints, with science turned on.
  Designed for under ice.
  """

  arguments {
    MissionTimeout = 2 hour
      """
      Maximum duration of mission
      """

    DetachTimeout = 20 minute
      """
      Maximum time to spend getting off the dock
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through waypoints..
      """

    Lat1 = NaN degree
      """
      Latitude of waypoint 1. If nan, waypoint is skipped.
      """

    Lon1 = NaN degree
      """
      Longitude of waypoint 1. If nan, waypoint is skipped.
      """

    Lat2 = NaN degree
      """
      Latitude of waypoint 2. If nan, waypoint is skipped.
      """

    Lon2 = NaN degree
      """
      Longitude of waypoint 2. If nan, waypoint is skipped.
      """

    Lat3 = NaN degree
      """
      Latitude of waypoint 3. If nan, waypoint is skipped.
      """

    Lon3 = NaN degree
      """
      Longitude of waypoint 3. If nan, waypoint is skipped.
      """

    Lat4 = NaN degree
      """
      Latitude of waypoint 4. If nan, waypoint is skipped.
      """

    Lon4 = NaN degree
      """
      Longitude of waypoint 4. If nan, waypoint is skipped.
      """

    Lat5 = NaN degree
      """
      Latitude of waypoint 5. If nan, waypoint is skipped.
      """

    Lon5 = NaN degree
      """
      Longitude of waypoint 5. If nan, waypoint is skipped.
      """

    Lat6 = NaN degree
      """
      Latitude of waypoint 6. If nan, waypoint is skipped.
      """

    Lon6 = NaN degree
      """
      Longitude of waypoint 6. If nan, waypoint is skipped.
      """

    Lat7 = NaN degree
      """
      Latitude of waypoint 7. If nan, waypoint is skipped.
      """

    Lon7 = NaN degree
      """
      Longitude of waypoint 7. If nan, waypoint is skipped.
      """

    Speed = 1 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    CaptureRadius = NaN meter
      """
      Speed while performing the YoYo behavior.
      """

    YoYoMinDepth = 2.5 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 5 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    YoYoMinAltitude = 4 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

    YoYoUpPitch = 15 degree
      """
      Vehicle up pitch while performing the YoYo behavior.
      """

    YoYoDownPitch = -15 degree
      """
      Vehicle down pitch while performing the YoYo behavior.
      """

    BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
      """
      Buoyancy bladder position while performing the YoYo behavior. Defaults
      to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
      for active buoyancy
      """

    MassDefault = Control:VerticalControl.massDefault
      """
      Static setting for mass during the mission. Set to NaN mm for active
      mass position
      """

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 8 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 meter
      """
      Minimum offshore distance for the entire mission.
      """

    MicromodemCommsInterval = 2 minute
      """
      How often to trigger Umodem communications
      """

    TransponderCode = 2 count
      """
      Transponder Address.
      """

    TrackingUpdatePeriod = 2.5 second
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """
  }

  timeout duration=MissionTimeout

  insert Insert/Science.tl {
    """
    Most missions will run the science sensors.
    """

    redefineArg PeakDetectChlActive = true
  }

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  aggregate Detach {
    run in sequence

    timeout duration=DetachTimeout {
      syslog important "Timed out trying to detach from dock. Stopping mission."

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }
    }

    syslog important "Detaching from dock."

    # Turn on tracking so we get some ranges to see how far we are from the dock

    behavior Estimation:TrackAcousticContact {
      run in parallel

      set contactLabelSetting = TransponderCode
      set numberOfSamplesSetting = NumberOfPings
      set updatePeriodSetting = TrackingUpdatePeriod
    }

    # Time to leave the dock!

    behavior Dock:Undock {
      run in sequence
    }
  }

  aggregate Sci2 {
    run in sequence

    behavior Guidance:Pitch {
      run in parallel

      set massPosition = MassDefault
    }

    behavior Guidance:Buoyancy {
      run in parallel

      set position = BuoyancyNeutral
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    behavior Guidance:DepthEnvelope {
      """
      Another depth envelope for the YoYo behavior. This envelope
      should fall within the limits of the standard safety envelopes
      in Insert/StandardEnvelopes.tl in order to avoid commanding
      high pitch angles for depth-terminated YoYos.
      """

      run in parallel

      set minDepth = YoYoMinDepth
      set maxDepth = YoYoMaxDepth
      set downPitch = YoYoDownPitch
      set upPitch = YoYoUpPitch
    }

    behavior Guidance:AltitudeEnvelope {
      """
      Another altitude envelope for the YoYo behavior. This envelope
      should fall within the limits of the standard safety envelopes
      in Insert/StandardEnvelopes.tl in order to avoid commanding
      high pitch angles for bottom-terminated YoYos.
      """

      run in parallel

      set minAltitude = YoYoMinAltitude
    }

    behavior Guidance:YoYo {
      run in parallel

      set downPitch = YoYoDownPitch
      set upPitch = YoYoUpPitch
    }

    aggregate Lap {
      run in sequence repeat=Repeat

      insert id="MicromodemComms" Insert/MicromodemComms.tl {
        redefineArg CommsInterval = MicromodemCommsInterval
      }

      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat1
          set longitude = Lon1
          set captureRadius = CaptureRadius
        }
      }

      aggregate Wpt2 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat2
          set longitude = Lon2
        }
      }

      aggregate Wpt3 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat3
          set longitude = Lon3
        }
      }

      aggregate Wpt4 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat4
          set longitude = Lon4
        }
      }

      aggregate Wpt5 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat5
          set longitude = Lon5
        }
      }

      aggregate Wpt6 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat6
          set longitude = Lon6
        }
      }

      aggregate Wpt7 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence

          set latitude = Lat7
          set longitude = Lon7
        }
      }
    }
  }
}