Compact model planned transit.xml

Page auto-generated from XML file.

Failure

The generated TethysL source could not be parsed, likely due to source XML not being well-formed.

Below is the compile error at the TethysL level, as well as the source XML.

The TethysL file name shown below does not necessarily indicate the file exists, but hints about the actual corresponding .xml file.

Syntax error:
    --> lrauv-application/Missions/Engineering/compact_model_planned_transit.xml:203:5
     | 
 199 | 
 200 |     }
 201 | 
 202 | 
 203 |     Estimation:HFRadarModelPoint
     |     ^^^^^^^^^^
 204 |   }
 205 | 
 206 | }
 207 | 
     | 
Unexpected: `Estimation`
One of the following is possible (total 12):
  aggregate
  assign
  behavior
  call
  insert
  readData
  readDatum
  sendData
  syslog
  touch
  macro
  }

  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
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
mission transit {
  """
  Vehicle plans a path using surface currents forecast by compact model,
  then transits to desired waypoint. Can be commanded to use/hold mass or
  buoyancy.
  """
  arguments {
    Depth = 5 meter
      """
      Depth of flat and level flight during the mission.
      """

    MaxDepth = 20 meter
      """
      Maximum depth for the entire mission.
      """

    Wpt1Lat = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

    Wpt1Lon = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    Northings = 0 meter
      """
      Northward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Eastings = 0 meter
      """
      Eastward distance of the waypoint to seek. If combined with Latitude
      and/or Longitude, this is an offset from the specified Latitude and/or
      Longitude.
      """

    Speed = 0.75 meter_per_second
      """
      Speed of vehicle (relative to water) during the mission.
      """

    MassHold = true
      """
      Set to True in order to hold mass at user defined position, False to
      allow mass to run on its own.
      """

    BuoyancyHold = true
      """
      Set to True in order to hold buoyancy at neutral position, False to
      allow buoyancy to run on its own.
      """

    BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
      """
      Buoyancy bladder position while performing the transit. Defaults to
      buoyancyNeutral setting in the Config/Control.cfg file.
      """

    MassDefault = Control:VerticalControl.massDefault
      """
      Static setting for mass during the mission.
      """

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

    NeedCommsTime = 60 minute
      """
      Elapsed time after previous surface communications when vehicle will
      begin to ascend for additional surface communications
      """

    MinAltitude = 7.0 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    TimeoutDuration = 12 hour
      """
      Maximum length of mission
      """

    HFRadarModelGridDivide = 16 count
      """
      If UseHFRadarModel is true, when calculating fine grid, divide coarse
      grid by this number along each axis
      """

  }

  timeout duration=TimeoutDuration
  behavior Guidance:AltitudeEnvelope  {

    run in parallel


    set Guidance:AltitudeEnvelope.minAltitude = MinAltitude

  }


  behavior Guidance:DepthEnvelope  {

    run in parallel


    set Guidance:DepthEnvelope.maxDepth = MaxDepth

  }


  behavior Guidance:OffshoreEnvelope  {

    run in parallel


    set Guidance:OffshoreEnvelope.minOffshore = MinOffshore

  }


  #  The assigns that follow are temporary equivalents to:
  # configSet HFRCMSurfaceCurrentAtVehicleLocation.velocityAccuracy 0.0001 m/s;
  # configSet DeadReckonUsingCompactModelForecast.accuracyPremultiplier 0.01 none;
  # configSet DeadReckonWithRespectToWater.accuracyPremultiplier 1000000 none;
  # configSet DeadReckonWithRespectToSeafloor.accuracyPremultiplier 1000000 none;
  # configSet DeadReckonUsingDVLWaterTrack.accuracyPremultiplier 1000000 none;
  # configSet DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier 1000000 none;
  # configSet SpeedCalculator.speedAccuracy 0.0000001 m/s;

  # <Assign><Parallel/><Estimation:HFRCMSurfaceCurrentAtVehicleLocation.velocityAccuracy/><Units:meter_per_second/><Value>0.0001</Value></Assign>

  assign in parallel Estimation:HFRadarModelCalc.velocityAccuracy = 0.0001 meter_per_second
  assign in parallel Navigation:DeadReckonUsingCompactModelForecast.accuracyPremultiplier = 0.01 none
  assign in parallel Navigation:DeadReckonWithRespectToWater.accuracyPremultiplier = 1000000 none
  assign in parallel Navigation:DeadReckonWithRespectToSeafloor.accuracyPremultiplier = 1000000 none
  assign in parallel Navigation:DeadReckonUsingDVLWaterTrack.accuracyPremultiplier = 1000000 none
  assign in parallel Navigation:DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier = 1000000 none
  assign in parallel Derivation:SpeedCalculator.speedAccuracy = 0.0000001 meter_per_second
  insert Insert/NeedComms.xml id="NeedComms"

  # NOTE: The <Assign> clause below will not take effect until you actually run the mission. RedefineArg will not work in this case if you use a "set" after loading the mission.

  assign in sequence  NeedComms:DiveInterval = NeedCommsTime
  # Use the default NeedComms:SurfaceSpeed of 1 m/s, regardless of the commanded speed during the mission.

  behavior Guidance:Buoyancy id="BuoyancyHold"  {

    run while ( BuoyancyHold
  )


    set Guidance:Buoyancy.position = BuoyancyNeutral

  }


  behavior Guidance:Pitch id="MassHold"  {

    run while ( MassHold
  )


    set Guidance:Pitch.massPosition = MassDefault

  }


  aggregate WaypointOne {
    run in sequence
    # Go to Wpt1

    behavior Guidance:Pitch  {

      run in parallel


      set Guidance:Pitch.depth = Depth

    }


    behavior Guidance:SetSpeed  {

      run in parallel


      set Guidance:SetSpeed.speed = Speed

    }


    Estimation:HFRadarModelPoint
  }

}

  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
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
<?xml version="1.0" encoding="utf-8"?>
<Mission xmlns="Tethys"
        xmlns:Control="Tethys/Control"
        xmlns:Derivation="Tethys/Derivation"
        xmlns:Estimation="Tethys/Estimation"
        xmlns:Guidance="Tethys/Guidance" 
        xmlns:Navigation="Tethys/Navigation" 
        xmlns:Units="Tethys/Units"
        xmlns:Universal="Tethys/Universal"
        xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
        xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                            Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                            Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                            Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                            Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd                            
                            Tethys/Navigation http://okeanids.mbari.org/tethys/Xml/Navigation.xsd                            
                            Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                            Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd" 
        Id="transit">

    <Description>
        Vehicle plans a path using surface currents forecast by compact model,
        then transits to desired waypoint. Can be commanded to use/hold mass or
        buoyancy.
    </Description>

    <DefineArg Name="Depth"><Description>
        Depth of flat and level flight during the mission.
    </Description><Units:meter /><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="Wpt1Lat"><Description>
        Latitude of waypoint to seek. If set to NaN, uses latitude at mission
        initialization.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Description>
        Longitude of waypoint to seek. If set to NaN, uses longitude at mission
        initialization.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Northings"><Description>
        Northward distance of the waypoint to seek. If combined with Latitude
        and/or Longitude, this is an offset from the specified Latitude and/or
        Longitude.
    </Description><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="Eastings"><Description>
        Eastward distance of the waypoint to seek. If combined with Latitude
        and/or Longitude, this is an offset from the specified Latitude and/or
        Longitude.
    </Description><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Speed of vehicle (relative to water) during the mission.
    </Description><Units:meter_per_second/><Value>0.75</Value></DefineArg>

    <DefineArg Name="MassHold"><Description>
        Set to True in order to hold mass at user defined position, False to
        allow mass to run on its own.
    </Description><True/></DefineArg>

    <DefineArg Name="BuoyancyHold"><Description>
        Set to True in order to hold buoyancy at neutral position, False to
        allow buoyancy to run on its own.
    </Description><True/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the transit. Defaults to
        buoyancyNeutral setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance offshore for the entire mission.
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        Elapsed time after previous surface communications when vehicle will
        begin to ascend for additional surface communications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>7.0</Value></DefineArg>

    <DefineArg Name="TimeoutDuration"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>12</Value></DefineArg>

    <DefineArg Name="HFRadarModelGridDivide"><Description>
        If UseHFRadarModel is true, when calculating fine grid, divide coarse
        grid by this number along each axis
    </Description><Units:count/><Value>16</Value></DefineArg>

    <Timeout Duration="TimeoutDuration"/>

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
    </Guidance:OffshoreEnvelope>

<!-- The assigns that follow are temporary equivalents to:
configSet HFRCMSurfaceCurrentAtVehicleLocation.velocityAccuracy 0.0001 m/s;
configSet DeadReckonUsingCompactModelForecast.accuracyPremultiplier 0.01 none;
configSet DeadReckonWithRespectToWater.accuracyPremultiplier 1000000 none;
configSet DeadReckonWithRespectToSeafloor.accuracyPremultiplier 1000000 none;
configSet DeadReckonUsingDVLWaterTrack.accuracyPremultiplier 1000000 none;
configSet DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier 1000000 none;
configSet SpeedCalculator.speedAccuracy 0.0000001 m/s;
 -->

<!--    <Assign><Parallel/><Estimation:HFRCMSurfaceCurrentAtVehicleLocation.velocityAccuracy/><Units:meter_per_second/><Value>0.0001</Value></Assign> -->

    <Assign><Parallel/><Estimation:HFRadarModelCalc.velocityAccuracy/><Units:meter_per_second/><Value>0.0001</Value></Assign>

    <Assign><Parallel/><Navigation:DeadReckonUsingCompactModelForecast.accuracyPremultiplier/><Units:none/><Value>0.01</Value></Assign>

    <Assign><Parallel/><Navigation:DeadReckonWithRespectToWater.accuracyPremultiplier/><Units:none/><Value>1000000</Value></Assign>

    <Assign><Parallel/><Navigation:DeadReckonWithRespectToSeafloor.accuracyPremultiplier/><Units:none/><Value>1000000</Value></Assign>

    <Assign><Parallel/><Navigation:DeadReckonUsingDVLWaterTrack.accuracyPremultiplier/><Units:none/><Value>1000000</Value></Assign>

    <Assign><Parallel/><Navigation:DeadReckonUsingMultipleVelocitySources.accuracyPremultiplier/><Units:none/><Value>1000000</Value></Assign>

    <Assign><Parallel/><Derivation:SpeedCalculator.speedAccuracy/><Units:meter_per_second/><Value>0.0000001</Value></Assign>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

<!-- NOTE: The <Assign> clause below will not take effect until you actually run the mission. RedefineArg will not work in this case if you use a "set" after loading the mission. -->

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="NeedCommsTime"/></Assign>

<!-- Use the default NeedComms:SurfaceSpeed of 1 m/s, regardless of the commanded speed during the mission. -->

    <Guidance:Buoyancy Id="BuoyancyHold">
        <While>
            <Arg Name="BuoyancyHold"/>
        </While>
        <Setting><Guidance:Buoyancy.position /><Arg Name="BuoyancyNeutral"/></Setting>
    </Guidance:Buoyancy>

    <Guidance:Pitch Id="MassHold">
        <While>
            <Arg Name="MassHold"/>
        </While>
        <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
    </Guidance:Pitch>

    <Aggregate Id="WaypointOne">

        <Sequence/>

<!-- Go to Wpt1 -->

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

        <Estimation:HFRadarModelPoint Id="HFRadarModelPointW1">
            <Sequence/>
            <Setting><Estimation:HFRadarModelPoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
            <Setting><Estimation:HFRadarModelPoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
            <Setting><Estimation:HFRadarModelPoint.northingsDelta/><Arg Name="Northings"/></Setting>
            <Setting><Estimation:HFRadarModelPoint.eastingsDelta/><Arg Name="Eastings"/></Setting>
            <Setting><Estimation:HFRadarModelPoint.speed/><Arg Name="Speed"/></Setting>
            <Setting><Estimation:HFRadarModelPoint.gridDivide/><Arg Name="HFRadarModelGridDivide"/></Setting>
        </Estimation:HFRadarModelPoint>

    </Aggregate>

</Mission>
<!-- Unless otherwise directed, vehicle will enter Default mission and go to the surface to call home. -->