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1002 | mission CorkAndScrew {
# Almost every mission should start with an overall timeout and a NeedCommsTime. Drift Missions will have an acoustic timeout instead of a NeedCommsTime.
# You probably need to change these.
arguments {
MissionTimeout = 20 hour
"""
Maximum duration of mission
"""
NumRoundsWholeSet = 1 count
"""
Number of rounds of whole set of outer cylinders and inner screws.
"""
NumScrewsPerCylinder = 1 count
"""
Number of inner screws per outer cylinder.
"""
NumDepths = 10 count
"""
Total number of inner screw depths.
"""
# debug
# </Description><Units:count/><Value>3</Value></DefineArg>
NeedCommsTimeOnCorkScrew = 60 minute
"""
On cork and screw, how often to surface for commumications
"""
# debug
# </Description><Units:minute/><Value>20</Value></DefineArg>
AcousticTrackingTimeout = 21 hour
"""
If the vehicle does not receive an acoustic signal for more than this
length of time, it will surface for communications. Set longer than
MissionTimeout to effectively disable.
"""
AcousticContactTimeout = 15 minute
"""
Only use a sufficiently fresh handshake to update the tracking center.
"""
MaxWaitNotAchievingDepth = 2 hour
"""
Maximum wait time the vehicle cannot reach the targeted depth.
"""
OuterCylinder = true
"""
Whether to do an outer cylinder yoyo. Initialized to True.
"""
# debug
# </Description><False/></DefineArg>
InnerScrew = true
"""
Whether to do an inner screw. Initialized to True.
"""
# debug
# </Description><False/></DefineArg>
CylinderTimeout = 240 minute
"""
Maximum duration of cylinder yoyo.
"""
ScrewEachDepthTimeout = 120 minute
"""
Maximum duration at each depth on inner screw.
"""
SpeedCylinder = 1.0 meter_per_second
"""
Vehicle speed on cylinder.
"""
SpeedScrew = 1.0 meter_per_second
"""
Vehicle speed on screw.
"""
MaxDepth = 100 meter
"""
Maximum depth for the entire mission.
"""
ContactLabel = 0 count
"""
The acoustic address of the asset to be tracked
"""
AcousticTargetDepth = NaN meter
"""
Depth of acoustic target if known and fixed (or nearly fixed). For
example, if the acoustic target is a Wave Glider, set it to zero. This
will improve 2D projected position estimates in the Earth reference
frame. Defaults to NaN.
"""
CenterLatitude = NaN degree
"""
The latitude of the center of the circle. Fill this in to specify a
start position, it will be overwritten once the vehicle receives an
acoustic signal from the contact.
"""
# debug
# </Description><Units:degree/><Value>36.80</Value></DefineArg>
CenterLongitude = NaN degree
"""
The longitude of the center of the circle. Fill this in to specify a
start position, it will be overwritten once the vehicle receives an
acoustic signal from the contact.
"""
# debug
# </Description><Units:degree/><Value>-121.82</Value></DefineArg>
CylinderYoYoMinDep = 1.5 meter
"""
Minimum depth while performing the YoYo behavior on outer cylinder.
"""
CylinderYoYoMaxDep = 30 meter
"""
Maximum depth while performing the YoYo behavior on outer cylinder.
"""
CylinderRadius = 200 meter
"""
Radius of outer cylinder.
"""
MaxCirclesOnCylinder = 1 count
"""
Maximum number of circles on cylinder.
"""
ScrewRadius = 100 meter
"""
Radius of inner screw.
"""
MaxCirclesEachDepthOnScrew = 1 count
"""
Maximum number of circles on cylinder.
"""
Depth1 = NaN meter
"""
Depth 1.
"""
# debug
# </Description><Units:meter/><Value>10</Value></DefineArg>
Depth2 = NaN meter
"""
Depth 2.
"""
# debug
# </Description><Units:meter/><Value>20</Value></DefineArg>
Depth3 = NaN meter
"""
Depth 3.
"""
# debug
# </Description><Units:meter/><Value>30</Value></DefineArg>
Depth4 = NaN meter
"""
Depth 4.
"""
# debug
# </Description><Units:meter/><Value>40</Value></DefineArg>
Depth5 = NaN meter
"""
Depth 5.
"""
# debug
# </Description><Units:meter/><Value>50</Value></DefineArg>
Depth6 = NaN meter
"""
Depth 6.
"""
# debug
# </Description><Units:meter/><Value>60</Value></DefineArg>
Depth7 = NaN meter
"""
Depth 7.
"""
# debug
# </Description><Units:meter/><Value>70</Value></DefineArg>
Depth8 = NaN meter
"""
Depth 8.
"""
# debug
# </Description><Units:meter/><Value>80</Value></DefineArg>
Depth9 = NaN meter
"""
Depth 9.
"""
# debug
# </Description><Units:meter/><Value>90</Value></DefineArg>
Depth10 = NaN meter
"""
Depth 10.
"""
# debug
# </Description><Units:meter/><Value>100</Value></DefineArg>
Depth11 = NaN meter
"""
Depth 11.
"""
# debug
# </Description><Units:meter/><Value>100</Value></DefineArg>
Depth12 = NaN meter
"""
Depth 12.
"""
# debug
# </Description><Units:meter/><Value>90</Value></DefineArg>
Depth13 = NaN meter
"""
Depth 13.
"""
# debug
# </Description><Units:meter/><Value>80</Value></DefineArg>
Depth14 = NaN meter
"""
Depth 14.
"""
# debug
# </Description><Units:meter/><Value>70</Value></DefineArg>
Depth15 = NaN meter
"""
Depth 15.
"""
# debug
# </Description><Units:meter/><Value>60</Value></DefineArg>
Depth16 = NaN meter
"""
Depth 16.
"""
# debug
# </Description><Units:meter/><Value>50</Value></DefineArg>
Depth17 = NaN meter
"""
Depth 17.
"""
# debug
# </Description><Units:meter/><Value>40</Value></DefineArg>
Depth18 = NaN meter
"""
Depth 18.
"""
# debug
# </Description><Units:meter/><Value>30</Value></DefineArg>
Depth19 = NaN meter
"""
Depth 19.
"""
# debug
# </Description><Units:meter/><Value>20</Value></DefineArg>
Depth20 = NaN meter
"""
Depth 20.
"""
# debug
# </Description><Units:meter/><Value>10</Value></DefineArg>
# Use caution when changing these.
YoYoMinAltitude = 9 meter
"""
Minimum altitude while performing the YoYo behavior (for
bottom-terminated YoYos).
"""
MinAltitude = 7 meter
"""
Minimum altitude for the entire mission.
"""
MinOffshore = 2 kilometer
"""
Minimum offshore distance for the entire mission.
"""
# You probably do not need to change these.
TrackingUpdatePeriod = 15 second
"""
How long to wait between acoustic queries
"""
NumberOfPings = 1 count
"""
Number of return pings to request with each acoustic query (more than 1
will activate oneway mode)
"""
NumberOfFixesLowPass = 4 count
"""
Number of fixes to average to produce smoothed lat/lon/dep output
(initialized to 4).
"""
NumberOfStartingFixesToIgnore = 8 count
"""
Number of fixes to ignore at the start of mission (as the vehicle just
leaves surface, contact's location estimate especailly bearing can be
erroneous. Initialized to 8, corresponding to 2 minutes if query
interval TrackingUpdatePeriod = 15 s.
"""
# debug
# </Description><Units:count/><Value>0</Value></DefineArg>
VerticalTolerance = 0.1 meter
"""
Depth error allowed for being considered at/near the target depth.
"""
CylinderCircleMaxError = 100 meter
"""
If this distance away from the circle, drive straight towards (or away
from the center). Otherwise, try to reduce distance from the ideal
circle.
"""
CylinderCircleTurnToPort = true
"""
If true, vehicle turns to the left around the center point. If false,
vehicle turns to the right.
"""
ScrewCircleMaxError = 50 meter
"""
If this distance away from the circle, drive straight towards (or away
from the center). Otherwise, try to reduce distance from the ideal
circle.
"""
ScrewCircleTurnToPort = true
"""
If true, vehicle turns to the left around the center point. If false,
vehicle turns to the right.
"""
KwpHeading = 0.010 radian_per_meter
"""
Used to relax waypoint cross-track error constant that is adjusted for
docking. (You can override this setting by passing an argument.)
"""
YoYoUpPitch = 20 degree
"""
Vehicle up pitch while performing the YoYo behavior.
"""
YoYoDownPitch = -20 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
"""
# Internal variables that you should not change
YoYoMinDepth = 4.5 meter
"""
Minimum depth while performing the YoYo behavior. Program will set to
CylinderYoYoMinDep.
"""
YoYoMaxDepth = 27 meter
"""
Maximum depth while performing the YoYo behavior. Program will set to
CylinderYoYoMaxDep.
"""
DepthLogged = 0.0 meter
TempLogged = 0.0 celsius
ChlLogged = 0.0 microgram_per_liter
MissionStartCommsCompleted = false
"""
MissionStartComms is completed (initialized to false).
"""
StartScrew = false
"""
Start screw (initialized to false).
"""
DepthSet = 10.0 meter
"""
Depth held for inner screw. Initialized to 10 meters.
"""
DepthOptionsSet = false
"""
Depth options for inner screw already set. Initialized to false.
"""
DepthCompleted = false
"""
Depth holding on inner screw completed. Initialized to false.
"""
FromLastTimeFixToCenterUpdate = 0 minute
"""
Elapsed time from last time-fix to center update time (initialized to
zero).
"""
ElapsedTimeFix = 0 minute
"""
Elapsed time from last time-fix since last fix (initialized to zero).
"""
ContactLatitudeLowpass = NaN degree
"""
Low-pass filtered latitude of contact (initialized to NaN).
"""
ContactLongitudeLowpass = NaN degree
"""
Low-pass filtered longitude of contact (initialized to NaN).
"""
CntScrews = 1 count
"""
Count of inner screws (initilized to 1).
"""
CntDepths = 1 count
"""
Count of inner screw depths (initilized to 1).
"""
}
# Missions should almost always start with a timeout and a NeedComms aggregate. Drift missions will not use NeedComms.
timeout duration=MissionTimeout
insert Insert/NeedComms.xml id="NeedComms"
assign in sequence NeedComms:DiveInterval = NeedCommsTimeOnCorkScrew
# Add tracking directive high in the stack (above NeedComms to enable tracking from surface).
behavior Estimation:Tracking {
run in parallel
set Estimation:Tracking.contactLabelSetting = ContactLabel
set Estimation:Tracking.numberOfSamplesSetting = NumberOfPings
set Estimation:Tracking.updatePeriodSetting = TrackingUpdatePeriod
set Estimation:Tracking.numFixesLowPassSetting = NumberOfFixesLowPass
set Estimation:Tracking.numStartingFixesToIgnoreSetting = NumberOfStartingFixesToIgnore
set Estimation:Tracking.contactDepthSetting = AcousticTargetDepth
}
aggregate UpdateCenter {
run when ( elapsed ( Estimation:Tracking.range_to_contact ) < AcousticContactTimeout )
assign in sequence ContactLatitudeLowpass = Estimation:Tracking.contact_latitude_lowpass
assign in sequence ContactLongitudeLowpass = Estimation:Tracking.contact_longitude_lowpass
assign in sequence ElapsedTimeFix = elapsed ( Universal:time_fix )
# debug
# <Syslog Severity="Important">Overwrite or update. elapsed_time_fix, FromLastTimeFixToCenterUpdate, latitude_fix, longitude_fix = <Arg Name="ElapsedTimeFix"/><Units:second/>, <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/>, <Universal:latitude_fix/><Units:degree/>, <Universal:longitude_fix/><Units:degree/></Syslog>
# <Syslog Severity="Important">Overwrite or update. CenterLatitude, CenterLongitude, contact_latitude, contact_longitude, contact_latitude_lowpass, contact_longitude_lowpass = <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/>, <Estimation:Tracking.contact_latitude/><Units:degree/>, <Estimation:Tracking.contact_longitude/><Units:degree/>, <Estimation:Tracking.contact_latitude_lowpass/><Units:degree/>, <Estimation:Tracking.contact_longitude_lowpass/><Units:degree/></Syslog>
aggregate UpdateWithContactLowpassLatLon {
run in sequence
run when ( (not ( isNaN ( ContactLatitudeLowpass ) ) and not ( isNaN ( ContactLongitudeLowpass ) )) and elapsed ( Universal:time_fix ) >= FromLastTimeFixToCenterUpdate + TrackingUpdatePeriod )
assign in sequence CenterLatitude = Estimation:Tracking.contact_latitude_lowpass
assign in sequence CenterLongitude = Estimation:Tracking.contact_longitude_lowpass
# debug
# <Syslog Severity="Important">Updating. FromLastTimeFixToCenterUpdate, CenterLatitude, CenterLongitude = <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/>, <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/></Syslog>
assign in sequence FromLastTimeFixToCenterUpdate = elapsed ( Universal:time_fix )
}
aggregate OverwriteWithGPSLatLon {
run in sequence
run when ( elapsed ( Universal:time_fix ) < FromLastTimeFixToCenterUpdate )
# debug
# <Assign><Sequence/><Arg Name="ElapsedTimeFix"/><Elapsed><Universal:time_fix/></Elapsed></Assign>
# <Syslog Severity="Important">To overwriteWithGPSLatLon. latitude_fix, longitude_fix, elapsed_time_fix, FromLastTimeFixToCenterUpdate = <Universal:latitude_fix/><Units:degree/>, <Universal:longitude_fix/><Units:degree/>, <Arg Name="ElapsedTimeFix"/><Units:second/>, <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/></Syslog>
assign in sequence CenterLatitude = Universal:latitude_fix
assign in sequence CenterLongitude = Universal:longitude_fix
assign in sequence FromLastTimeFixToCenterUpdate = elapsed ( Universal:time_fix )
# debug
# <Syslog Severity="Important">Overwriting. FromLastTimeFixToCenterUpdate, CenterLatitude, CenterLongitude = <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/>, <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/></Syslog>
}
}
# Missions should almost always start with standard safety envelopes
insert Insert/StandardEnvelopes.xml
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/AbortDrift.xml {
redefineArg AcousticTimeout = AcousticTrackingTimeout
}
# Many missions will keep mass position fixed at the default. This mission allows the buoyancy volume to change to track the chlorophyll peak while drifting.
behavior Guidance:Pitch {
run in parallel
set Guidance:Pitch.massPosition = MassDefault
}
insert Insert/Science.xml
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.xml in order to avoid commanding high pitch
angles for bottom-terminated YoYos.
"""
run in parallel
set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude
set Guidance:AltitudeEnvelope.upPitch = YoYoUpPitch
}
aggregate MissionStart {
run in sequence
insert Insert/NeedComms.xml id="NeedComms"
call id="MissionStartComms" refId="NeedComms"
assign in sequence MissionStartCommsCompleted = true
}
aggregate CircleAtDesignatedDepth {
run when ( called )
syslog important "Circle at depth " + DepthSet~meter + " around location " + CenterLatitude~degree + "," + CenterLongitude~degree + ", at radius = " + ScrewRadius~meter
aggregate CircleWrapper {
run in sequence repeat=MaxCirclesEachDepthOnScrew
timeout duration=ScrewEachDepthTimeout
assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading
behavior Guidance:Circle {
run in sequence
set Guidance:Circle.latitude = CenterLatitude
set Guidance:Circle.longitude = CenterLongitude
set Guidance:Circle.radius = ScrewRadius
set Guidance:Circle.maxError = ScrewCircleMaxError
set Guidance:Circle.turnToPort = ScrewCircleTurnToPort
}
}
}
aggregate OuterCylinderAndInnerScrew {
run in sequence repeat=NumRoundsWholeSet
aggregate OuterCylinder {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set Guidance:SetSpeed.speed = SpeedCylinder
}
behavior Guidance:DepthEnvelope {
run in parallel
set Guidance:DepthEnvelope.minDepth = YoYoMinDepth
set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth
set Guidance:DepthEnvelope.downPitch = YoYoDownPitch
set Guidance:DepthEnvelope.upPitch = YoYoUpPitch
}
behavior Guidance:YoYo {
run in parallel
set Guidance:YoYo.downPitch = YoYoDownPitch
set Guidance:YoYo.upPitch = YoYoUpPitch
}
behavior Guidance:Buoyancy {
run in parallel
set Guidance:Buoyancy.position = BuoyancyNeutral
}
aggregate OuterCylinderYoYo {
run in sequence
aggregate CylinderIfNonNaNLatLon {
run in sequence
break if ( (not ( OuterCylinder ) or isNaN ( CenterLatitude )) or isNaN ( CenterLongitude ) )
timeout duration=CylinderTimeout
syslog important "Yoyo profile on a cylinder around location " + CenterLatitude~degree + "," + CenterLongitude~degree + ", at radius = " + CylinderRadius~meter
assign in sequence YoYoMinDepth = CylinderYoYoMinDep
assign in sequence YoYoMaxDepth = CylinderYoYoMaxDep
aggregate CylinderWrapper {
run in sequence repeat=MaxCirclesOnCylinder
assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading
behavior Guidance:Circle {
run in sequence
set Guidance:Circle.latitude = CenterLatitude
set Guidance:Circle.longitude = CenterLongitude
set Guidance:Circle.radius = CylinderRadius
set Guidance:Circle.maxError = CylinderCircleMaxError
set Guidance:Circle.turnToPort = CylinderCircleTurnToPort
}
}
}
syslog "Outer cylinder completed."
assign in sequence StartScrew = true
assign in sequence DepthCompleted = false
assign in sequence CntScrews = 1 count
assign in sequence CntDepths = 1 count
}
}
aggregate InnerScrew {
run in sequence
break if ( ((not ( InnerScrew ) or isNaN ( CenterLatitude )) or isNaN ( CenterLongitude )) or CntScrews == NumScrewsPerCylinder + 1 count )
aggregate DepthHolding {
run while ( MissionStartCommsCompleted and StartScrew
)
behavior Guidance:Pitch {
run in parallel
set Control:VerticalControl.depthDeadband = VerticalTolerance
set Guidance:Pitch.depth = DepthSet
}
behavior Guidance:SetSpeed {
run in parallel
set Guidance:SetSpeed.speed = SpeedScrew
}
behavior Guidance:Buoyancy {
run in parallel
set Guidance:Buoyancy.position = BuoyancyNeutral
}
}
aggregate ScrewThroughDepths {
run in parallel
aggregate SetOptionsOfDepth1 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 1 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth1
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth2 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 2 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth2
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth3 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 3 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth3
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth4 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 4 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth4
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth5 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 5 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth5
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth6 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 6 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth6
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth7 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 7 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth7
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth8 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 8 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth8
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth9 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 9 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth9
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth10 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 10 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth10
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth11 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 11 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth11
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth12 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 12 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth12
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth13 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 13 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth13
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth14 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 14 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth14
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth15 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 15 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth15
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth16 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 16 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth16
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth17 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 17 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth17
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth18 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 18 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth18
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth19 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 19 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth19
assign in sequence DepthOptionsSet = true
}
aggregate SetOptionsOfDepth20 {
run when ( (not ( DepthOptionsSet ) and CntDepths == 20 count) and CntDepths <= NumDepths )
assign in sequence DepthSet = Depth20
assign in sequence DepthOptionsSet = true
}
aggregate CircleAtDepth {
run when ( ((MissionStartCommsCompleted and StartScrew) and DepthOptionsSet) and not ( DepthCompleted ) )
syslog important "Go to depth " + DepthSet~meter + "."
behavior Guidance:Circle {
run in progression
set Guidance:Circle.latitude = CenterLatitude
set Guidance:Circle.longitude = CenterLongitude
set Guidance:Circle.radius = ScrewRadius
set Guidance:Circle.maxError = ScrewCircleMaxError
set Guidance:Circle.turnToPort = ScrewCircleTurnToPort
}
behavior Guidance:Pitch {
run in progression
timeout duration=MaxWaitNotAchievingDepth {
syslog important "Timed out trying to reach the targeted depth. Stopping mission."
behavior Guidance:Execute {
run in sequence
set Guidance:Execute.command = "stop"
}
}
set Guidance:Pitch.depth = DepthSet
}
call id="Hold" refId="CircleAtDesignatedDepth"
assign in sequence DepthCompleted = true
assign in sequence DepthOptionsSet = false
}
aggregate IncrementDepthCounter {
run when ( DepthCompleted )
assign in sequence CntDepths = CntDepths + 1 count
syslog important "CntDepths = " + CntDepths~count + "."
assign in sequence DepthCompleted = false
}
aggregate IncrementScrewCounter {
run when ( DepthCompleted and CntDepths == NumDepths + 1 count )
assign in sequence CntDepths = 1 count
assign in sequence CntScrews = CntScrews + 1 count
syslog important "CntScrews = " + CntScrews~count + "."
}
}
}
}
aggregate MissionCompleted {
run in sequence
syslog important "Completed outer cylinders and inner screws. Stopping mission."
behavior Guidance:Execute {
run in sequence
set Guidance:Execute.command = "stop"
}
}
}
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