Esp sample at depth.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/Science/esp_sample_at_depth.xml:213:5
     | 
 209 |     Descend from the surface to approach depth at ApproachSpeed, limit
 210 |     pitch, depth-rate, and hold the rudder.
 211 |     """
 212 | 
 213 |     break if (
     |     ^^^^^
 214 |       ApproachSpeed == 0.0 meter_per_second
 215 |     )
 216 | 
 217 |     run in sequence
     | 
Unexpected: `break`
One of the following is possible:
  arguments
  output
  run

Generated TethysL

mission esp_sample_at_depth {
  """
  This mission takes ESP samples at the designated depth.
  """

  arguments {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission.
      """

    TargetDepth = 3 meter
      """
      Depth to sample at. Initialized to 3 m.
      """

    ESPCartridgeType_1 = -4 count
      """
      Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this
      sample.
      """

    ESPCartridgeType_2 = -15 count
      """
      Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this
      sample.
      """

    ESPCartridgeType_3 = NaN count
      """
      Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this
      sample.
      """

    ESPCartridgeType_4 = NaN count
      """
      Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this
      sample.
      """

    SettleTime = 3 minute
      """
      How long to wait between samples. This starts *before* the first sample.
      """

    Speed = 0 meter_per_second
      """
      Vehicle speed while sampling. Set to zero to maintain depth using VBS
      (drift).
      """

    ApproachDepth = 1.5 meter
      """
      Depth for initial descent form the surface. Initialized to 3 m.
      """

    ApproachSpeed = 0.9 meter_per_second
      """
      Vehicle speed for initial descent form the surface to target depth. Set
      to zero to disable the thruster and descend using VBS (drift).
      """

    ApproachDepthRate = 0.05 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

    ApproachPitchLimit = 10 degree
      """
      Max vehicle pitch (+/-) when decending from the surface.
      """

    ApproachSettleTimePreDive = 1.5 minute
      """
      Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
      surface.
      """

    ApproachSettleTimePostDive = 1 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    ApproachDepthTimeout = 15 minute
      """
      Maximum time duration for the vehicle to reach the target depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    DepthDeadband = 0.01 meter
      """
      How much vertical drift from the specified depth is allowed while
      sampling.
      """

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

    MaxDepth = 5 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance from the shoreline to maintain.
      """
  }

  output {
    ESPCartridgeType = NaN count
      """
      Mission parameter (don't change). Specifies ESP cartridge type code.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Safety nets and surfacing behaviors

  behavior Sample:AbortSample {
    run in parallel
  }

  insert Insert/StandardEnvelopes.tl


  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/NeedComms.tl id="NeedComms"


  assign in sequence NeedComms:DiveInterval = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

  # Callable aggregate

  aggregate SampleESP {
    run when (
      called
    )

    aggregate sample {
      run in sequence

      syslog important "At "
           + Universal:depth ~ meter
           + ", settling for "
           + SettleTime ~ minute

      behavior Guidance:Wait {
        run in sequence
        set Guidance:Wait.duration = SettleTime
      }

      syslog important "Requesting ESP cartridge type:"
           + ESPCartridgeType ~ count

      behavior Science:ESPCartridgeSelect {
        run in sequence
        timeout duration=P1M
        set Science:ESPCartridgeSelect.cartridgeType = ESPCartridgeType
      }

      readDatum id="TriggerESP" {
        Science:ESPComponent.sampling
      }

      syslog important "ESP sampling at "
           + Universal:depth ~ meter
           + " in "
           + Science:CTD_Seabird.bin_mean_sea_water_temperature ~ celsius
           + " water with "
           + Science:WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water ~ microgram_per_liter
           + "chlorophyll fluorescence."

      readDatum id="WaitForESP" {
        Science:ESPComponent.sample_number
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="NeedComms"

  insert Insert/Science.tl


  aggregate InitialDive {
    """
    Descend from the surface to approach depth at ApproachSpeed, limit
    pitch, depth-rate, and hold the rudder.
    """

    break if (
      ApproachSpeed == 0.0 meter_per_second
    )

    run in sequence

    assign in parallel Control:VerticalControl.pitchLimit = ApproachPitchLimit

    assign in parallel Control:VerticalControl.kpDepth = kpDepth

    behavior Guidance:Pitch {
      run in parallel
      set Guidance:Pitch.massPosition = Control:VerticalControl.massDefault
    }

    behavior Guidance:Point {
      run in parallel
      set Guidance:Point.rudderAngle = 9 degree
    }

    behavior Guidance:Buoyancy {
      run in parallel
      set Guidance:Buoyancy.position = Control:VerticalControl.buoyancyNeutral
    }

    syslog info "Waiting for "
         + ApproachSettleTimePreDive ~ minute
         + "while pumping down to neutral."

    behavior Guidance:Wait {
      """
      Take a few moments to ensure the VBS reaches neutral.
      """
      run in sequence
      set Guidance:Wait.duration = ApproachSettleTimePreDive
    }

    syslog "Moving to "
         + ApproachDepth ~ meter

    aggregate ApproachDepth {
      run in sequence

      behavior Guidance:SetSpeed {
        run in parallel
        set Guidance:SetSpeed.speed = ApproachSpeed
      }

      behavior Guidance:Pitch {
        run in sequence
        timeout duration=ApproachDepthTimeout {
          syslog important "Timed out while trying to reach target depth at current depth of "
               + Universal:depth ~ meter
               + "."
          behavior Guidance:Execute {
            run in sequence
            set Guidance:Execute.command = "stop"
          }
        }

        set Guidance:Pitch.depth = ApproachDepth
        set Guidance:Pitch.depthRate = ApproachDepthRate
      }
    }
  }

  aggregate SettleAtDepth {
    """
    Take a few more moments here to ensure the vechile is settled at the
    target depth.
    """

    run in sequence

    behavior Guidance:Pitch {
      run in progression
      set Guidance:Pitch.depth = TargetDepth
    }

    syslog info "Reached "
         + Universal:depth ~ meter
         + ", settling for "
         + ApproachSettleTimePostDive ~ minute

    behavior Guidance:Wait {
      run in sequence
      set Guidance:Wait.duration = ApproachSettleTimePostDive
    }
  }

  aggregate SampleAtTargetDepth {
    """
    Maintain target depth and acquire ESP samples.
    """

    run in sequence

    behavior Guidance:SetSpeed {
      run in parallel
      set Guidance:SetSpeed.speed = Speed
    }

    behavior Guidance:Pitch {
      run in parallel
      set Guidance:Pitch.depth = TargetDepth
    }

    aggregate Spinout {
      """
      A speed has been specified, spin in circels while sampling.
      """

      run while ( Speed > 0.0 meter_per_second )

      behavior Guidance:Pitch id="HoldMassPosition" {
        run in parallel
        set Guidance:Pitch.massPosition = Control:VerticalControl.massDefault
      }

      behavior Guidance:Buoyancy id="HoldBuoyancyPosition" {
        run in parallel
        set Guidance:Buoyancy.position = Control:VerticalControl.buoyancyNeutral
      }

      behavior Guidance:Point id="HoldRudderAngle" {
        set Guidance:Point.rudderAngle = 9 degree
      }
    }

    aggregate GrabSamples {
      run in sequence

      aggregate Sample1 {
        break if (
          isNaN ( ESPCartridgeType_1 )
        )

        assign in sequence ESPCartridgeType = ESPCartridgeType_1

        call refId="SampleESP"
      }

      aggregate Sample2 {
        break if (
          isNaN ( ESPCartridgeType_2 )
        )

        assign in sequence ESPCartridgeType = ESPCartridgeType_2

        call refId="SampleESP"
      }

      aggregate Sample3 {
        break if (
          isNaN ( ESPCartridgeType_3 )
        )

        assign in sequence ESPCartridgeType = ESPCartridgeType_3

        call refId="SampleESP"
      }

      aggregate Sample4 {
        break if (
          isNaN ( ESPCartridgeType_4 )
        )

        assign in sequence ESPCartridgeType = ESPCartridgeType_4

        call refId="SampleESP"
      }
    }
  }
}

Source XML

<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Units="Tethys/Units"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Control="Tethys/Control"
         xmlns:Sample="Tethys/Sample"
         xmlns:Science="Tethys/Science"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                             Tethys/Sample http://okeanids.mbari.org/tethys/Xml/Sample.xsd
                             Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="esp_sample_at_depth">

    <Description>
        This mission takes ESP samples at the designated depth.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission.
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="TargetDepth"><Description>
        Depth to sample at. Initialized to 3 m.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this
        sample.
    </Description><Units:count/><Value>-4</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this
        sample.
    </Description><Units:count/><Value>-15</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this
        sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this
        sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="SettleTime"><Description>
        How long to wait between samples. This starts *before* the first sample.
    </Description><Units:minute/><Value>3</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed while sampling. Set to zero to maintain depth using VBS
        (drift).
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="ApproachDepth"><Description>
        Depth for initial descent form the surface. Initialized to 3 m.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="ApproachSpeed"><Description>
        Vehicle speed for initial descent form the surface to target depth. Set
        to zero to disable the thruster and descend using VBS (drift).
    </Description><Units:meter_per_second/><Value>0.9</Value></DefineArg>

    <DefineArg Name="ApproachDepthRate"><Description>
        Descent depth rate (Positive depth rate means going down).
    </Description><Units:meter_per_second/><Value>0.05</Value></DefineArg>

    <DefineArg Name="ApproachPitchLimit"><Description>
        Max vehicle pitch (+/-) when decending from the surface.
    </Description><Units:degree/><Value>10</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePreDive"><Description>
        Time duration for the vehicle to pump down the VBS *BEFORE* leaving the
        surface.
    </Description><Units:minute/><Value>1.5</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePostDive"><Description>
        Time duration for the vehicle to settle *AFTER* reaching the target
        depth.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="ApproachDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the target depth.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="kpDepth"><Description>
        Dive loop proportional gain (applied only while the vehicle is
        descending to target depth).
    </Description><Units:radian_per_meter/><Value>0.07</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while
        sampling.
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain.
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="ESPCartridgeType"><Description>
        Mission parameter (don't change). Specifies ESP cartridge type code.
    </Description><Units:count/><Value>NaN</Value></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- Safety nets and surfacing behaviors -->

    <Sample:AbortSample>
        <Parallel/>
    </Sample:AbortSample>

    <Insert Filename="Insert/StandardEnvelopes.tl"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

<!-- Callable aggregate -->

    <Aggregate Id="SampleESP">

        <When>
            <Called/>
        </When>

        <Aggregate Id="sample">

            <Sequence/>

            <Syslog Severity="Important">At <Universal:depth/><Units:meter/>, settling for <Arg Name="SettleTime"/><Units:minute/></Syslog>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="SettleTime"/></Setting>
            </Guidance:Wait>

            <Syslog Severity="Important">Requesting ESP cartridge type:<Arg Name="ESPCartridgeType"/><Units:count/></Syslog>

            <Science:ESPCartridgeSelect>
                <Sequence/>
                <Timeout Duration="P1M"/>
                <Setting><Science:ESPCartridgeSelect.cartridgeType/><Arg Name="ESPCartridgeType"/></Setting>
            </Science:ESPCartridgeSelect>

            <ReadDatum Id="TriggerESP">
                <Science:ESPComponent.sampling/>
            </ReadDatum>

            <Syslog Severity="Important">ESP sampling at <Universal:depth/><Units:meter/> in <Science:CTD_Seabird.bin_mean_sea_water_temperature/><Units:celsius/> water with <Science:WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water/><Units:microgram_per_liter/>chlorophyll fluorescence.</Syslog>

            <ReadDatum Id="WaitForESP">
                <Science:ESPComponent.sample_number/>
            </ReadDatum>

        </Aggregate>

    </Aggregate>

<!-- Start mission sequence -->

    <Call Id="StartingMission" RefId="NeedComms"/>

    <Insert Filename="Insert/Science.tl"></Insert>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from the surface to approach depth at ApproachSpeed, limit
            pitch, depth-rate, and hold the rudder.
        </Description>

        <Break>
            <Arg Name="ApproachSpeed"/>
            <Eq><Units:meter_per_second/><Value>0.0</Value></Eq>
        </Break>

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.pitchLimit/><Arg Name="ApproachPitchLimit"/></Assign>

        <Assign><Parallel/><Control:VerticalControl.kpDepth/><Arg Name="kpDepth"/></Assign>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Guidance:Point>
            <Parallel/>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>9</Value></Setting>
        </Guidance:Point>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Syslog Severity="Info">Waiting for <Arg Name="ApproachSettleTimePreDive"/><Units:minute/>while pumping down to neutral.</Syslog>

        <Guidance:Wait>
            <Description>
                Take a few moments to ensure the VBS reaches neutral.
            </Description>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="ApproachSettleTimePreDive"/></Setting>
        </Guidance:Wait>

        <Syslog>Moving to <Arg Name="ApproachDepth"/><Units:meter/></Syslog>

        <Aggregate Id="ApproachDepth">

            <Sequence/>

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

            <Guidance:Pitch>
                <Sequence/>
                <Timeout Duration="ApproachDepthTimeout">
                    <Syslog Severity="Important">Timed out while trying to reach target depth at current depth of <Universal:depth/><Units:meter/>.</Syslog>
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                    </Guidance:Execute>
                </Timeout>
                <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
                <Setting><Guidance:Pitch.depthRate/><Arg Name="ApproachDepthRate"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SettleAtDepth">

        <Description>
            Take a few more moments here to ensure the vechile is settled at the
            target depth.
        </Description>

        <Sequence/>

        <Guidance:Pitch>
            <Progression/>
            <Setting><Guidance:Pitch.depth/><Arg Name="TargetDepth"/></Setting>
        </Guidance:Pitch>

        <Syslog Severity="Info">Reached <Universal:depth/><Units:meter/>, settling for <Arg Name="ApproachSettleTimePostDive"/><Units:minute/></Syslog>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="ApproachSettleTimePostDive"/></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="SampleAtTargetDepth">

        <Description>
            Maintain target depth and acquire ESP samples.
        </Description>

        <Sequence/>

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

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

        <Aggregate Id="Spinout">

            <Description>
                A speed has been specified, spin in circels while sampling.
            </Description>

            <While>
                <Arg Name="Speed"/>
                <Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>

            <Guidance:Pitch Id="HoldMassPosition">
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
            </Guidance:Pitch>

            <Guidance:Buoyancy Id="HoldBuoyancyPosition">
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Point Id="HoldRudderAngle">
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>9</Value></Setting>
            </Guidance:Point>

        </Aggregate>

        <Aggregate Id="GrabSamples">

            <Sequence/>

            <Aggregate Id="Sample1">

                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_1"/>
                    </IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>

                <Call RefId="SampleESP"/>

            </Aggregate>

            <Aggregate Id="Sample2">

                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_2"/>
                    </IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>

                <Call RefId="SampleESP"/>

            </Aggregate>

            <Aggregate Id="Sample3">

                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_3"/>
                    </IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>

                <Call RefId="SampleESP"/>

            </Aggregate>

            <Aggregate Id="Sample4">

                <Break>
                    <IsNaN><Arg Name="ESPCartridgeType_4"/>
                    </IsNaN>
                </Break>

                <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                <Call RefId="SampleESP"/>

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>