missionprofile_station_umodem{""" This mission yoyos in a circle around a specified location and does a-comms over the umodem. This mission is currently being used for engineering test and should be rolled into the Science/profile_station mission once it's working properly. """# Mission-wide settingsarguments{MissionTimeout=4hour""" Maximum duration of mission """NeedCommsTime=60minute""" Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications """# You probably need to change these.Lat=34.404711degree""" The latitude of the center of the circle. """Lon=-119.932995degree""" The longitude of the center of the circle. """Radius=500meter""" Radius to circle at """# You probably do not need to change these.YoYoMinDepth=2meter""" Minimum depth while performing the YoYo behavior. """YoYoMaxDepth=70meter""" Maximum depth while performing the YoYo behavior. """YoYoMinAltitude=7meter""" Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). """YoYoPitch=20degree""" Pitch (plus and minus) for yo-yo behavior. """Speed=1meter_per_second""" Vehicle speed. """# You are even less likely to need to change these.CircleMaxError=100meter""" If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. """CircleTurnToPort=false""" If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. """KwpHeading=0.010radian_per_meter""" Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) """MinAltitude=5meter""" Minimum height above the sea floor for the entire mission. """MaxDepth=90meter""" Maximum depth for the entire mission. """MinOffshore=2kilometer""" Minimum offshore distance for the entire mission. """MicromodemCommsInterval=2minute""" How often to trigger Umodem communications """SendDataInterval=60second""" How often to send back some a-comms data """DataTimer=NaNminute""" Elapsed time for a-comms. """}# Missions should almost always start with a timeouttimeoutduration=MissionTimeoutinsertInsert/Science.xml{""" Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface. """redefineArgPeakDetectChlActive=true}# Most missions should use the NeedComms aggregate.insertInsert/NeedComms.xmlid="NeedComms"assigninsequenceNeedComms:DiveInterval=NeedCommsTimeinsertInsert/MicromodemComms.xmlid="MicromodemComms"{redefineArgCommsInterval=MicromodemCommsInterval}# Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes.insertInsert/StandardEnvelopes.xmlassigninsequenceStandardEnvelopes:MinAltitude=MinAltitudeassigninsequenceStandardEnvelopes:MaxDepth=MaxDepthassigninsequenceStandardEnvelopes:MinOffshore=MinOffshore# Check for additional instructions first.callid="StartingMission"refId="NeedComms"# Many missions will keep mass position and buoyancy volume fixed at defaults.behaviorGuidance:Pitch{runinparallelsetGuidance:Pitch.massPosition=Control:VerticalControl.massDefault}behaviorGuidance:Buoyancy{runinparallelsetGuidance:Buoyancy.position=Control:VerticalControl.buoyancyNeutral}behaviorGuidance:SetSpeed{runinparallelsetGuidance:SetSpeed.speed=Speed}behaviorGuidance:DepthEnvelope{""" Another depth envelope for the YoYo behavior. This envelope should fall within the limits of the standard safety envelopes in Insert/StandardEnvelopes.xml in order to avoid commanding high pitch angles for depth-terminated YoYos. """runinparallelsetGuidance:DepthEnvelope.minDepth=YoYoMinDepthsetGuidance:DepthEnvelope.maxDepth=YoYoMaxDepthsetGuidance:DepthEnvelope.pitch=YoYoPitch}behaviorGuidance:AltitudeEnvelope{""" Another altitude envelope for the YoYo behavior. This envelope should fall within the limits of the standard safety envelopes in Insert/StandardEnvelopes.xml in order to avoid commanding high pitch angles for bottom-terminated YoYos. """runinparallelsetGuidance:AltitudeEnvelope.minAltitude=YoYoMinAltitudesetGuidance:AltitudeEnvelope.pitch=YoYoPitch}behaviorGuidance:YoYo{runinparallelsetGuidance:YoYo.pitch=YoYoPitch}assigninsequenceDataTimer=Universal:timeaggregateSendData{runwhen((Universal:time-DataTimer)>SendDataInterval)assigninsequenceDataTimer=Universal:timesyslogcourier"depth:"+Universal:depth~meter+"."syslogcourier"oil:"+Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water~kilogram_per_cubic_meter}aggregateCircleWrapper{runinsequencerepeat=4096assigninparallelControl:HorizontalControl.kwpHeading=KwpHeadingbehaviorGuidance:Circle{runinsequencesetGuidance:Circle.latitude=LatsetGuidance:Circle.longitude=LonsetGuidance:Circle.radius=RadiussetGuidance:Circle.maxError=CircleMaxErrorsetGuidance:Circle.turnToPort=CircleTurnToPort}}}
<?xml version="1.0" encoding="UTF-8"?><Missionxmlns="Tethys"xmlns:Control="Tethys/Control"xmlns:Derivation="Tethys/Derivation"xmlns:Estimation="Tethys/Estimation"xmlns:Guidance="Tethys/Guidance"xmlns:Sensor="Tethys/Sensor"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/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"Id="profile_station_umodem"><Description>
This mission yoyos in a circle around a specified location and does
a-comms over the umodem. This mission is currently being used for
engineering test and should be rolled into the Science/profile_station
mission once it's working properly.
</Description><!-- Mission-wide settings --><DefineArgName="MissionTimeout"><Description>
Maximum duration of mission
</Description><Units:hour/><Value>4</Value></DefineArg><DefineArgName="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><!-- You probably need to change these. --><DefineArgName="Lat"><Description>
The latitude of the center of the circle.
</Description><Units:degree/><Value>34.404711</Value></DefineArg><DefineArgName="Lon"><Description>
The longitude of the center of the circle.
</Description><Units:degree/><Value>-119.932995</Value></DefineArg><DefineArgName="Radius"><Description>
Radius to circle at
</Description><Units:meter/><Value>500</Value></DefineArg><!-- You probably do not need to change these. --><DefineArgName="YoYoMinDepth"><Description>
Minimum depth while performing the YoYo behavior.
</Description><Units:meter/><Value>2</Value></DefineArg><DefineArgName="YoYoMaxDepth"><Description>
Maximum depth while performing the YoYo behavior.
</Description><Units:meter/><Value>70</Value></DefineArg><DefineArgName="YoYoMinAltitude"><Description>
Minimum altitude while performing the YoYo behavior (for
bottom-terminated YoYos).
</Description><Units:meter/><Value>7</Value></DefineArg><DefineArgName="YoYoPitch"><Description>
Pitch (plus and minus) for yo-yo behavior.
</Description><Units:degree/><Value>20</Value></DefineArg><DefineArgName="Speed"><Description>
Vehicle speed.
</Description><Units:meter_per_second/><Value>1</Value></DefineArg><!-- You are even less likely to need to change these. --><DefineArgName="CircleMaxError"><Description>
If this distance away from the circle, drive straight towards (or away
from the center). Otherwise, try to reduce distance from the ideal
circle.
</Description><Units:meter/><Value>100</Value></DefineArg><DefineArgName="CircleTurnToPort"><Description>
If true, vehicle turns to the left around the center point. If false,
vehicle turns to the right.
</Description><False/></DefineArg><DefineArgName="KwpHeading"><Description>
Used to relax waypoint cross-track error constant that is adjusted for
docking. (You can override this setting by passing an argument.)
</Description><Units:radian_per_meter/><Value>0.010</Value></DefineArg><DefineArgName="MinAltitude"><Description>
Minimum height above the sea floor for the entire mission.
</Description><Units:meter/><Value>5</Value></DefineArg><DefineArgName="MaxDepth"><Description>
Maximum depth for the entire mission.
</Description><Units:meter/><Value>90</Value></DefineArg><DefineArgName="MinOffshore"><Description>
Minimum offshore distance for the entire mission.
</Description><Units:kilometer/><Value>2</Value></DefineArg><DefineArgName="MicromodemCommsInterval"><Description>
How often to trigger Umodem communications
</Description><Units:minute/><Value>2</Value></DefineArg><DefineArgName="SendDataInterval"><Description>
How often to send back some a-comms data
</Description><Units:second/><Value>60</Value></DefineArg><DefineArgName="DataTimer"><Description>
Elapsed time for a-comms.
</Description><Units:minute/><Value>NaN</Value></DefineArg><!-- Missions should almost always start with a timeout --><TimeoutDuration="MissionTimeout"/><InsertFilename="Insert/Science.xml"><Description>
Most missions will run the science sensors. If you don't place this
aggregate above NeedComms, science instruments get turned off on the
last upcast and while floating on the surface.
</Description><RedefineArgName="PeakDetectChlActive"><True/></RedefineArg></Insert><!-- Most missions should use the NeedComms aggregate. --><InsertFilename="Insert/NeedComms.xml"Id="NeedComms"/><Assign><Sequence/><ArgName="NeedComms:DiveInterval"/><ArgName="NeedCommsTime"/></Assign><InsertFilename="Insert/MicromodemComms.xml"Id="MicromodemComms"><RedefineArgName="CommsInterval"><ArgName="MicromodemCommsInterval"/></RedefineArg></Insert><!-- Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes. --><InsertFilename="Insert/StandardEnvelopes.xml"/><Assign><Sequence/><ArgName="StandardEnvelopes:MinAltitude"/><ArgName="MinAltitude"/></Assign><Assign><Sequence/><ArgName="StandardEnvelopes:MaxDepth"/><ArgName="MaxDepth"/></Assign><Assign><Sequence/><ArgName="StandardEnvelopes:MinOffshore"/><ArgName="MinOffshore"/></Assign><!-- Check for additional instructions first. --><CallId="StartingMission"RefId="NeedComms"/><!-- Many missions will keep mass position and buoyancy volume fixed at defaults. --><Guidance:Pitch><Parallel/><Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting></Guidance:Pitch><Guidance:Buoyancy><Parallel/><Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting></Guidance:Buoyancy><Guidance:SetSpeed><Parallel/><Setting><Guidance:SetSpeed.speed/><ArgName="Speed"/></Setting></Guidance:SetSpeed><Guidance:DepthEnvelope><Description>
Another depth envelope for the YoYo behavior. This envelope should
fall within the limits of the standard safety envelopes in
Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
angles for depth-terminated YoYos.
</Description><Parallel/><Setting><Guidance:DepthEnvelope.minDepth/><ArgName="YoYoMinDepth"/></Setting><Setting><Guidance:DepthEnvelope.maxDepth/><ArgName="YoYoMaxDepth"/></Setting><Setting><Guidance:DepthEnvelope.pitch/><ArgName="YoYoPitch"/></Setting></Guidance:DepthEnvelope><Guidance:AltitudeEnvelope><Description>
Another altitude envelope for the YoYo behavior. This envelope
should fall within the limits of the standard safety envelopes in
Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
angles for bottom-terminated YoYos.
</Description><Parallel/><Setting><Guidance:AltitudeEnvelope.minAltitude/><ArgName="YoYoMinAltitude"/></Setting><Setting><Guidance:AltitudeEnvelope.pitch/><ArgName="YoYoPitch"/></Setting></Guidance:AltitudeEnvelope><Guidance:YoYo><Parallel/><Setting><Guidance:YoYo.pitch/><ArgName="YoYoPitch"/></Setting></Guidance:YoYo><Assign><Sequence/><ArgName="DataTimer"/><Universal:time/></Assign><AggregateId="SendData"><When><Universal:time/><Sub><ArgName="DataTimer"/></Sub><Gt><ArgName="SendDataInterval"/></Gt></When><Assign><Sequence/><ArgName="DataTimer"/><Universal:time/></Assign><SyslogSeverity="Courier">depth:<Universal:depth/><Units:meter/>.</Syslog><SyslogSeverity="Courier">oil:<Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water/><Units:kilogram_per_cubic_meter/></Syslog></Aggregate><AggregateId="CircleWrapper"><SequenceRepeat="4096"/><Assign><Parallel/><Control:HorizontalControl.kwpHeading/><ArgName="KwpHeading"/></Assign><Guidance:Circle><Sequence/><Setting><Guidance:Circle.latitude/><ArgName="Lat"/></Setting><Setting><Guidance:Circle.longitude/><ArgName="Lon"/></Setting><Setting><Guidance:Circle.radius/><ArgName="Radius"/></Setting><Setting><Guidance:Circle.maxError/><ArgName="CircleMaxError"/></Setting><Setting><Guidance:Circle.turnToPort/><ArgName="CircleTurnToPort"/></Setting></Guidance:Circle></Aggregate></Mission>