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1635 | mission mapPatch_undock {
"""
Vehicle yo-yos with patch detect enabled for oil concentration. NOTE:
oil concentrations may vary strongly with depth! Suggested settings for
simulaton: Config/sim/[username]/Simulator.cfg: oceanModelData =
"Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3";
eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; //
vel x wrto LV Config/sim/[username]/workSite.cfg: initLat =
71.2225805280196 arcdeg; // Initial latitude initLon =
-163.5093252100575 arcdeg; // Initial longitude
Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool;
WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool;
WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial =
"SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7
1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count;
WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count;
WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count;
WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb;
WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count;
WetLabsSeaOWL_UV_A.darkCountsChl = 50 count;
WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l;
WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count;
WetLabsSeaOWL_UV_A.darkCountsOil = 50 count;
WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts =
"US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM";
"""
# Vehicle safety parameters
arguments {
MissionTimeout = 12 hour
"""
Timeout for the entire mission
"""
DetachTimeout = 20 minute
"""
Timeout for detaching from dock.
"""
TransponderCode = 2 count
"""
The acoustic address of the asset to be tracked
"""
Speed = 1 meter_per_second
"""
Vehicle speed.
"""
CommsAtMissionStart = true
"""
Whether to do comms at start of mission.
"""
# debug
# </Description><False/></DefineArg>
PeakDetectChl = false
"""
Chlorophyll patch mapping.
"""
PeakDetectSalinity = false
"""
Salinity patch mapping.
"""
PeakDetectOil = true
"""
Oil patch mapping.
"""
# debug
# </Description><False/></DefineArg>
DetectTheTrough = false
"""
Whether to track a trough. If false, track peak; if true, track trough.
Default is false.
"""
# debug
# </Description><True/></DefineArg>
MinAltitude = 3 meter
"""
Minimum altitude for the entire mission.
"""
MaxDepth = 10 meter
"""
Maximum depth for the entire mission.
"""
MinWaterDepth = 10 meter
"""
Minimum water depth for the entire mission.
"""
MinOffshore = 2000 meter
"""
Minimum offshore distance for the entire mission.
"""
MinDistFromPolygonSides = 200 meter
"""
If a operational safety polygon is specified and the vehicle is closer
than this minimum distance to the polygon sides, turn back.
"""
NeedCommsTimeInTransit = 300 minute
"""
Maximum time between surfacings for communications during transit
"""
NeedCommsTimePatchMapping = 300 minute
"""
Maximum time between surfacings for communications during patch mapping.
This is checked only on every NumRoundsBtnCrossLegSurfacings rounds of
CrossLeg or every NumRoundsBtnInLegSurfacings InLeg.
"""
ElapsedTimeSinceLastGPSForCheckingOutsidePolygon = 60 minute
"""
Check whether vehicle is outside of polygon only after the elapsed time
since last GPS is greater than this parameter.
"""
CheckNaNTimeout = 10 minute
"""
If the patch peak value is NaN by this time, stop mission.
"""
TimePastOffPeakThreshold = 30 minute
"""
Time to swim past off-peak threshold point, in order to cover low-value
areas.
"""
WaitAfterHittingWall = 15 minute
"""
After the vehicle bounces off the boundary (defined by the shortest
distance to polygon sides), wait this long before re-checking the
distance.
"""
LatPatchMappingStart = NaN degree
"""
Latitude of patch mapping start location. If nan, transit is skipped.
"""
# debug
# </Description><Units:degree/><Value>36.810</Value></DefineArg>
LonPatchMappingStart = NaN degree
"""
Longitude of patch mapping start location. If nan, transit is skipped.
"""
# debug
# </Description><Units:degree/><Value>-121.855</Value></DefineArg>
Repeat = 100 count
"""
Maximum number of legs. Set to a large number.
"""
WpMaxDistance = 6000 meter
"""
Maximum length of each mapping leg
"""
WpTimeoutBase = 6000 second
"""
Maximum duration of each mapping leg
"""
TransitYoYoMinDepth = 2 meter
"""
Minimum depth while performing the YoYo behavior during transit.
"""
TransitYoYoMaxDepth = 8 meter
"""
Maximum depth while performing the YoYo behavior during transit.
"""
PatchMappingYoYoMinDepth = 2 meter
"""
Minimum depth while performing the YoYo behavior during patch mapping.
"""
PatchMappingYoYoMaxDepth = 8 meter
"""
Maximum depth while performing the YoYo behavior during patch mapping.
"""
YoYoMinAltitude = 3 meter
"""
Minimum altitude while performing the YoYo behavior (for
bottom-terminated YoYos).
"""
YoYoUpPitch = 20 degree
"""
Vehicle up pitch while performing the YoYo behavior.
"""
YoYoDownPitch = -20 degree
"""
Vehicle down pitch while performing the YoYo behavior.
"""
PeakShallowBnd = 2 meter
"""
Shallow depth bound for detecting peak on each descent or ascent
profile.
"""
PeakDeepBnd = 8 meter
"""
Deep depth bound for detecting peak on each descent or ascent profile.
"""
BeginThresholdChl = 1.0 microgram_per_liter
"""
If non-NaN, sets chlorophyll threshold for starting horizontal patch
detection
"""
BeginThresholdSalt = 33.0 psu
"""
If non-NaN, sets salinity threshold for starting horizontal patch
detection
"""
BeginThresholdOil = 0.1 kilogram_per_cubic_meter
"""
If non-NaN, sets threshold for starting horizontal patch detection
"""
WpBearing = 210 degree
"""
Bearing being followed in the current leg. Set this to initialize start
direction of patch mapping.
"""
OffPeakFraction = 10 percent
"""
When filtered horizontal value is this fraction of the peak, consider it
outside the patch.
"""
fractionOfThreshold = 10 percent
"""
On a non-continued flight, if the detected peak is lower than
BeginThreshold*fractionOfThreshold, the peak is disqualified, and the
vehicle continues on the current heading until a qualified peak is
found, or bouncing on a wall, or WpMaxDistance is reached.
"""
DetectionTimeout = 30 minute
"""
Look for signal for this long. If none found within this timeout, switch
to the next leg.
"""
TimeWindowPeakRpt = NaN minute
"""
If greater than zero, report a peak every such time window has elapsed.
If NaN or zero, this variable is ignored.
"""
LowPassWindowLen = 20 count
"""
Low-pass window length (based on depth sensor sampling interval 0.4
second) for low-pass filtering.
"""
MedianFilterLength = 5 count
"""
Median filter length (only for chlorophyll fluorescence which tends to
have spikes). The median-filtered signal enters the succeeding low-pass
filter. If set to 1, then no median filtering, i.e., the raw
fluorescence signal directly enters the low-pass filter.
"""
NumOfProfilesSlidingwindow = 50 count
"""
Length of horizontal sliding window. The highest per-yoyo peak (after
low-pass filtering by a filter of length FilterWidthHorizontal) is
picked out within this window.
"""
FilterWidthHorizontal = 4 count
"""
Width of boxcar filter used in horizontal patch detection
"""
MicromodemCommsInterval = 5 minute
TrackingUpdatePeriod = 2.5 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)
"""
DepChangeThreshAttitudeFlip = 0.5 meter
"""
Depth change threshold for determining vehicle attitude flip.
"""
WaterFrame = true
"""
Set WaterFrame true to drive towards waypoints in the water frame of
reference
"""
PatchMode = false
"""
If true, use center of "in peak" range as the turn-around point. If
false use maximum horizontal peak location as the turn-around point.
"""
TurnAngleBase = 120 degree
"""
Zigzag turn angle.
"""
Reverse = 180 degree
"""
Change in bearing which reverses vehicle direction
"""
TwoPi = 360 degree
"""
Applied to stop run-up of angles
"""
MassDefault = Control:VerticalControl.massDefault
"""
Static setting for mass during the mission. Defaults to massDefault
setting in the Config/Control.cfg file.
"""
BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
"""
Buoyancy bladder position while performing the YoYo behavior. Defaults
to buoyancyNeutral setting in the Config/Control.cfg file.
"""
}
# Internal variable settings
output {
PeakFoundNotContinuedFlightLowEnabled = true
"""
Initialized to True.
"""
PeakFoundNotContinuedFlightHighEnabled = true
"""
Initialized to True.
"""
PeakFoundContinuedFlightLowEnabled = true
"""
Initialized to True.
"""
PeakFoundContinuedFlightHighEnabled = true
"""
Initialized to True.
"""
LegNotContinuedFlightEnabled = true
"""
Initialized to True.
"""
LegContinuedFlightLowEnabled = true
"""
Initialized to True.
"""
LegContinuedFlightHighEnabled = true
"""
Initialized to True.
"""
PatchDetectOn = true
"""
Mission sets this to true when looking for the patch peak. Initialized
to True.
"""
ZigDone = false
"""
Mission sets this to true when the zig transect has been completed.
Initialized to False.
"""
LegContinuedFlight = false
"""
Initialized to False.
"""
MissionStartCommsCompleted = false
"""
Initialized to False.
"""
Turn = NaN degree
"""
Initialized to NaN.
"""
WpBearingAfterLastWallHit = NaN degree
"""
Initialized to NaN.
"""
WpTimeout = NaN second
"""
Initialized to NaN.
"""
SideLastHit = NaN count
PatchPeakChl = NaN microgram_per_liter
PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter
PatchPeakSalinity = NaN psu
PatchPeakSalinityPriorToContinuedFlight = NaN psu
PatchPeakOil = NaN kilogram_per_cubic_meter
PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter
PatchPeakDepth = NaN meter
PatchPeakLatitude = NaN degree
PatchPeakLongitude = NaN degree
PatchPeakDistance = 0 meter
StoppedForNaNPatchPeak = false
"""
Mission stopped because patch peak value is NaN. Initialized to False.
"""
StoppedPolygonNotDefined = false
"""
Mission stopped because the bounding polygon is not defined. Initialized
to False.
"""
StoppedForBeingOutsideOfPolygon = false
"""
Mission stopped because the vehicle is outside of the polygon.
Initialized to False.
"""
ElapsedSinceStart = 0 hour
"""
The mission sets this variable to reset the timer.
"""
ElapsedSinceLastTurn = 0 hour
"""
The mission sets this variable to reset the timer.
"""
ElapsedSinceEndOfTransit = 0 hour
"""
The mission sets this variable to reset the timer.
"""
}
# The timeout
timeout duration=MissionTimeout
# And now the mission
# Uncomment to speed up simulation
# <Guidance:SetSpeed>
# <Parallel/>
# <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>800</Value></Setting>
# </Guidance:SetSpeed>
behavior Guidance:AltitudeEnvelope {
run in parallel
set Guidance:AltitudeEnvelope.minAltitude = MinAltitude
}
behavior Guidance:DepthEnvelope {
run in parallel
set Guidance:DepthEnvelope.maxDepth = MaxDepth
}
# GPS Update. Don't go too long w/o a GPS fix.
insert Insert/NeedComms.xml id="NeedComms"
behavior Guidance:OffshoreEnvelope {
run in parallel
set Guidance:OffshoreEnvelope.minOffshore = MinOffshore
}
behavior Guidance:WaterDepthEnvelope {
run in parallel
set Guidance:WaterDepthEnvelope.minWaterDepth = MinWaterDepth
}
behavior Guidance:Pitch {
run in parallel
set Guidance:Pitch.massPosition = MassDefault
}
behavior Guidance:Buoyancy {
run in parallel
set Guidance:Buoyancy.position = BuoyancyNeutral
}
insert Insert/MicromodemComms.xml id="MicromodemComms" {
redefineArg CommsInterval = MicromodemCommsInterval
}
# If we're executing here or below, lets' get science data!
insert Insert/Science.xml {
redefineArg PeakDetectChlActive = PeakDetectChl
redefineArg PeakDetectSalinityActive = PeakDetectSalinity
redefineArg PeakDetectOilActive = PeakDetectOil
redefineArg DetectTrough = DetectTheTrough
redefineArg TimeWindowPeakReport = TimeWindowPeakRpt
redefineArg LowPassWindowLength = LowPassWindowLen
redefineArg MedianFilterLen = MedianFilterLength
redefineArg PeakShallowBound = PeakShallowBnd
redefineArg PeakDeepBound = PeakDeepBnd
redefineArg DepChangeThreshForAttitudeFlip = DepChangeThreshAttitudeFlip
}
behavior Guidance:SetSpeed {
run in parallel
set Guidance:SetSpeed.speed = Speed
}
aggregate SyslogWpMaxDistanceReached {
run when ( called )
break if ( LegContinuedFlight or not ( LegNotContinuedFlightEnabled ) )
aggregate SyslogWpMaxDistanceReachedChl {
break if ( not ( PeakDetectChl and PatchPeakChl >= 0.0 microgram_per_liter ) )
syslog important "Maximum leg distance reached. Turn onto a new heading. The patch peak is " + PatchPeakChl~microgram_per_liter + "at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter
sendData service=express (
PatchPeakChl,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogWpMaxDistanceReachedSalt {
break if ( not ( PeakDetectSalinity and PatchPeakSalinity >= 0.0 psu ) )
syslog important "Maximum leg distance reached. Turn onto a new heading. The patch peak is " + PatchPeakSalinity~psu + " at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter
sendData service=express (
PatchPeakSalinity,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogWpMaxDistanceReachedOil {
break if ( not ( PeakDetectOil and PatchPeakOil >= 0.0 kilogram_per_cubic_meter ) )
syslog important "Maximum leg distance reached. Turn onto a new heading. The patch peak is " + PatchPeakOil~kilogram_per_cubic_meter + " at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + "."
sendData service=express (
PatchPeakOil,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
}
aggregate SyslogContinuedFlightCompletedPatchValueLow {
run when ( called )
aggregate SyslogContinuedFlightCompletedPatchValueLowChl {
break if ( not ( PeakDetectChl and PatchPeakChl >= 0.0 microgram_per_liter ) )
syslog important "Continued flight completed. The patch peak " + PatchPeakChl~microgram_per_liter + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than (" + PatchPeakChlPriorToContinuedFlight~microgram_per_liter + " * " + OffPeakFraction~percent + "). Turn onto a new heading."
sendData service=express (
PatchPeakChl,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogContinuedFlightCompletedPatchValueLowSalt {
break if ( not ( PeakDetectSalinity and PatchPeakSalinity >= 0.0 psu ) )
syslog important "Continued flight completed. The patch peak " + PatchPeakSalinity~psu + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than (" + PatchPeakSalinityPriorToContinuedFlight~psu + " * " + OffPeakFraction~percent + "). Turn onto a new heading."
sendData service=express (
PatchPeakSalinity,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogContinuedFlightCompletedPatchValueLowOil {
break if ( not ( PeakDetectOil and PatchPeakOil >= 0.0 kilogram_per_cubic_meter ) )
syslog important "Continued flight completed. The patch peak " + PatchPeakOil~kilogram_per_cubic_meter + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than (" + PatchPeakOilPriorToContinuedFlight~kilogram_per_cubic_meter + " * " + OffPeakFraction~percent + "). Turn onto a new heading."
sendData service=express (
PatchPeakOil,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
}
aggregate SyslogContinuedFlightCompletedPatchValueHigh {
run when ( called )
aggregate SyslogContinuedFlightCompletedPatchValueHighChl {
break if ( not ( PeakDetectChl and PatchPeakChl >= 0.0 microgram_per_liter ) )
syslog important "Continued flight completed. The patch peak " + PatchPeakChl~microgram_per_liter + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than (" + PatchPeakChlPriorToContinuedFlight~microgram_per_liter + " * " + OffPeakFraction~percent + "). Maintain heading."
sendData service=express (
PatchPeakChl,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogContinuedFlightCompletedPatchValueHighSalt {
break if ( not ( PeakDetectSalinity and PatchPeakSalinity >= 0.0 psu ) )
syslog important "Continued flight completed. The patch peak " + PatchPeakSalinity~psu + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than (" + PatchPeakSalinityPriorToContinuedFlight~psu + " * " + OffPeakFraction~percent + "). Maintain heading."
sendData service=express (
PatchPeakSalinity,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogContinuedFlightCompletedPatchValueHighOil {
break if ( not ( PeakDetectOil and PatchPeakOil >= 0.0 kilogram_per_cubic_meter ) )
syslog important "Continued flight completed. The patch peak " + PatchPeakOil~kilogram_per_cubic_meter + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than (" + PatchPeakOilPriorToContinuedFlight~kilogram_per_cubic_meter + " * " + OffPeakFraction~percent + "). Maintain heading."
sendData service=express (
PatchPeakOil,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
}
aggregate SyslogPeakFoundContinuedFlightPatchValueLow {
run when ( called )
aggregate SyslogPeakFoundContinuedFlightPatchValueLowChl {
break if ( not ( PeakDetectChl and PatchPeakChl >= 0.0 microgram_per_liter ) )
syslog important "The patch peak is found before the continued flight is completed. The patch peak " + PatchPeakChl~microgram_per_liter + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than (" + PatchPeakChlPriorToContinuedFlight~microgram_per_liter + " * " + OffPeakFraction~percent + "). Turn onto a new heading."
sendData service=express (
PatchPeakChl,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogPeakFoundContinuedFlightPatchValueLowSalinity {
break if ( not ( PeakDetectSalinity and PatchPeakSalinity >= 0.0 psu ) )
syslog important "The patch peak is found before the continued flight is completed. The patch peak " + PatchPeakSalinity~psu + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than (" + PatchPeakSalinityPriorToContinuedFlight~psu + " * " + OffPeakFraction~percent + "). Turn onto a new heading."
sendData service=express (
PatchPeakSalinity,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogPeakFoundContinuedFlightPatchValueLowOil {
break if ( not ( PeakDetectOil and PatchPeakOil >= 0.0 kilogram_per_cubic_meter ) )
syslog important "The patch peak is found before the continued flight is completed. The patch peak " + PatchPeakOil~kilogram_per_cubic_meter + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than (" + PatchPeakOilPriorToContinuedFlight~kilogram_per_cubic_meter + " * " + OffPeakFraction~percent + "). Turn onto a new heading."
sendData service=express (
PatchPeakOil,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
}
aggregate SyslogPeakFoundContinuedFlightPatchValueHigh {
run when ( called )
aggregate SyslogPeakFoundContinuedFlightPatchValueHighChl {
break if ( not ( PeakDetectChl and PatchPeakChl >= 0.0 microgram_per_liter ) )
syslog important "The patch peak is found before the continued flight is completed. The patch peak " + PatchPeakChl~microgram_per_liter + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than (" + PatchPeakChlPriorToContinuedFlight~microgram_per_liter + " * " + OffPeakFraction~percent + "). Maintain heading."
sendData service=express (
PatchPeakChl,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogPeakFoundContinuedFlightPatchValueHighSalinity {
break if ( not ( PeakDetectSalinity and PatchPeakSalinity >= 0.0 psu ) )
syslog important "The patch peak is found before the continued flight is completed. The patch peak " + PatchPeakSalinity~psu + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than (" + PatchPeakSalinityPriorToContinuedFlight~psu + " * " + OffPeakFraction~percent + "). Maintain heading."
sendData service=express (
PatchPeakSalinity,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogPeakFoundContinuedFlightPatchValueHighOil {
break if ( not ( PeakDetectOil and PatchPeakOil >= 0.0 kilogram_per_cubic_meter ) )
syslog important "The patch peak is found before the continued flight is completed. The patch peak " + PatchPeakOil~kilogram_per_cubic_meter + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than (" + PatchPeakOilPriorToContinuedFlight~kilogram_per_cubic_meter + " * " + OffPeakFraction~percent + "). Maintain heading."
sendData service=express (
PatchPeakOil,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
}
aggregate SyslogPeakFoundNotContinuedFlightLow {
run when ( called )
aggregate SyslogPeakFoundNotContinuedFlightLowChl {
break if ( not ( PeakDetectChl and PatchPeakChl >= 0.0 microgram_per_liter ) )
syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak " + PatchPeakChl~microgram_per_liter + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than " + BeginThresholdChl~microgram_per_liter + ". Turn onto a new heading."
sendData service=express (
PatchPeakChl,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogPeakFoundNotContinuedFlightLowSalinity {
break if ( not ( PeakDetectSalinity and PatchPeakSalinity >= 0.0 psu ) )
syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak " + PatchPeakSalinity~psu + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than " + BeginThresholdSalt~psu + ". Turn onto a new heading."
sendData service=express (
PatchPeakSalinity,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogPeakFoundNotContinuedFlightLowOil {
break if ( not ( PeakDetectOil and PatchPeakOil >= 0.0 kilogram_per_cubic_meter ) )
syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak " + PatchPeakOil~kilogram_per_cubic_meter + " (at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than " + BeginThresholdOil~kilogram_per_cubic_meter + ". Turn onto a new heading."
sendData service=express (
PatchPeakOil,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
}
aggregate SyslogPeakFoundNotContinuedFlightHigh {
run when ( called )
aggregate SyslogPeakFoundNotContinuedFlightHighChl {
break if ( not ( PeakDetectChl and PatchPeakChl >= 0.0 microgram_per_liter ) )
syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak is " + PatchPeakChl~microgram_per_liter + " at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ". Will continue flight for " + TimePastOffPeakThreshold~minute + "."
sendData service=express (
PatchPeakChl,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogPeakFoundNotContinuedFlightHighSalinity {
break if ( not ( PeakDetectSalinity and PatchPeakSalinity >= 0.0 psu ) )
syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak is " + PatchPeakSalinity~psu + " at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ". Will continue flight for " + TimePastOffPeakThreshold~minute + "."
sendData service=express (
PatchPeakSalinity,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
aggregate SyslogPeakFoundNotContinuedFlightHighOil {
break if ( not ( PeakDetectOil and PatchPeakOil >= 0.0 kilogram_per_cubic_meter ) )
syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak is " + PatchPeakOil~kilogram_per_cubic_meter + " at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ". Will continue flight for " + TimePastOffPeakThreshold~minute + "."
sendData service=express (
PatchPeakOil,
PatchPeakDepth,
PatchPeakLatitude,
PatchPeakLongitude
)
}
}
aggregate SyslogHittingWall {
run when ( called )
aggregate SyslogHittingWallChl {
break if ( not ( PeakDetectChl and PatchPeakChl >= 0.0 microgram_per_liter ) )
syslog important "Latitude = " + Universal:latitude~degree + ", longitude = " + Universal:longitude~degree + ". Shortest distance " + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides~meter + " to side " + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance~count + ": less than MinDistFromPolygonSides " + MinDistFromPolygonSides~meter + " and vehicle is inside polygon, or larger than MinDistFromPolygonSides " + MinDistFromPolygonSides~meter + " but vehicle outside of polygon on a fresh GPS fix. The patch peak is " + PatchPeakChl~microgram_per_liter + "at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + "."
}
aggregate SyslogHittingWallSalinity {
break if ( not ( PeakDetectSalinity and PatchPeakSalinity >= 0.0 psu ) )
syslog important "Latitude = " + Universal:latitude~degree + ", longitude = " + Universal:longitude~degree + ". Shortest distance " + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides~meter + " to side " + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance~count + ": less than MinDistFromPolygonSides " + MinDistFromPolygonSides~meter + " and vehicle is inside polygon, or larger than MinDistFromPolygonSides " + MinDistFromPolygonSides~meter + " but vehicle outside of polygon on a fresh GPS fix. The patch peak is " + PatchPeakSalinity~psu + "at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + "."
}
aggregate SyslogHittingWallOil {
break if ( not ( PeakDetectOil and PatchPeakOil >= 0.0 kilogram_per_cubic_meter ) )
syslog important "Latitude = " + Universal:latitude~degree + ", longitude = " + Universal:longitude~degree + ". Shortest distance " + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides~meter + " to side " + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance~count + ": less than MinDistFromPolygonSides " + MinDistFromPolygonSides~meter + " and vehicle is inside polygon, or larger than MinDistFromPolygonSides " + MinDistFromPolygonSides~meter + " but vehicle outside of polygon on a fresh GPS fix. The patch peak is " + PatchPeakOil~kilogram_per_cubic_meter + "at " + PatchPeakLatitude~degree + "," + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + "."
}
}
aggregate Wait {
run when ( called )
syslog important "Continue flight for " + TimePastOffPeakThreshold~minute + " before the next leg."
behavior Guidance:Wait {
run in sequence
set Guidance:Wait.duration = TimePastOffPeakThreshold
}
}
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 Guidance:Execute.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 Estimation:TrackAcousticContact.contactLabelSetting = TransponderCode
set Estimation:TrackAcousticContact.numberOfSamplesSetting = NumberOfPings
set Estimation:TrackAcousticContact.updatePeriodSetting = TrackingUpdatePeriod
}
# Time to leave the dock!
behavior Dock:Undock {
run in sequence
}
}
aggregate MissionStartComms {
run in sequence
run when ( CommsAtMissionStart and not ( MissionStartCommsCompleted ) )
call id="MissionStartComms" refId="NeedComms"
assign in sequence MissionStartCommsCompleted = true
}
aggregate MissionStartSettings {
assign in sequence ElapsedSinceStart = 0 hour
assign in sequence ElapsedSinceLastTurn = 0 hour
assign in sequence Turn = TurnAngleBase
assign in sequence WpTimeout = WpTimeoutBase
}
aggregate TransitToPatchMappingStartLocation {
run in sequence
break if ( isNaN ( LatPatchMappingStart ) or isNaN ( LonPatchMappingStart ) )
assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransit
behavior Guidance:DepthEnvelope {
run in parallel
set Guidance:DepthEnvelope.minDepth = TransitYoYoMinDepth
set Guidance:DepthEnvelope.maxDepth = TransitYoYoMaxDepth
}
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
}
behavior Guidance:YoYo {
run in parallel
set Guidance:YoYo.downPitch = YoYoDownPitch
set Guidance:YoYo.upPitch = YoYoUpPitch
}
behavior Guidance:Waypoint {
run in sequence
set Guidance:Waypoint.latitude = LatPatchMappingStart
set Guidance:Waypoint.longitude = LonPatchMappingStart
}
assign in sequence NeedComms:DiveInterval = NeedCommsTimePatchMapping
assign in sequence ElapsedSinceEndOfTransit = 0 hour
}
aggregate PolygonNotDefined {
run in sequence
run when ( not ( Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup ) )
break if ( StoppedPolygonNotDefined )
syslog important "Bounding polygon is not defined. Stopping mission."
behavior Guidance:Execute {
run in sequence
set Guidance:Execute.command = "stop"
}
assign in sequence StoppedPolygonNotDefined = true
}
aggregate PatchPeakIsNaN {
run in sequence
run when ( ((elapsed ( ElapsedSinceStart ) > CheckNaNTimeout) and isNaN ( LatPatchMappingStart ) or isNaN ( LonPatchMappingStart )) or (elapsed ( ElapsedSinceEndOfTransit ) > CheckNaNTimeout) and not ( isNaN ( LatPatchMappingStart ) or isNaN ( LonPatchMappingStart ) ) )
break if ( (((PeakDetectChl and PatchPeakChl >= 0.0 microgram_per_liter) or PeakDetectSalinity and PatchPeakSalinity >= 0.0 psu) or PeakDetectOil and PatchPeakOil >= 0.0 kilogram_per_cubic_meter) or StoppedForNaNPatchPeak )
syslog important "Patch peak value is NaN. Stopping mission."
behavior Guidance:Execute {
run in sequence
set Guidance:Execute.command = "stop"
}
assign in sequence StoppedForNaNPatchPeak = true
}
aggregate PatchMapping {
run in sequence repeat=Repeat
assign in sequence PeakFoundNotContinuedFlightLowEnabled = true
assign in sequence PeakFoundNotContinuedFlightHighEnabled = true
assign in sequence PeakFoundContinuedFlightLowEnabled = true
assign in sequence PeakFoundContinuedFlightHighEnabled = true
assign in sequence LegNotContinuedFlightEnabled = true
assign in sequence LegContinuedFlightLowEnabled = true
assign in sequence LegContinuedFlightHighEnabled = true
assign in sequence ZigDone = false
assign in sequence PatchDetectOn = true
behavior Guidance:DepthEnvelope {
run in parallel
set Guidance:DepthEnvelope.minDepth = PatchMappingYoYoMinDepth
set Guidance:DepthEnvelope.maxDepth = PatchMappingYoYoMaxDepth
}
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
}
behavior Guidance:YoYo {
run in parallel
set Guidance:YoYo.downPitch = YoYoDownPitch
set Guidance:YoYo.upPitch = YoYoUpPitch
}
aggregate OutsideOfPolygon {
run in parallel
break if ( (Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon or elapsed ( Universal:time_fix ) <= ElapsedTimeSinceLastGPSForCheckingOutsidePolygon) or StoppedForBeingOutsideOfPolygon )
syslog important "Latitude = " + Universal:latitude~degree + ", longitude = " + Universal:longitude~degree + ". The vehicle is outside of the polygon. Stopping mission."
behavior Guidance:Execute {
run in sequence
set Guidance:Execute.command = "stop"
}
assign in sequence StoppedForBeingOutsideOfPolygon = true
}
aggregate HitWallTerminateZigSide0Side2 {
run in sequence
run when ( (((elapsed ( ElapsedSinceLastTurn ) > WaitAfterHittingWall) and (Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides) or not ( Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon )) and (Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 0 count) or Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 2 count) and not ( (Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == SideLastHit) and WpBearing == WpBearingAfterLastWallHit ) )
break if ( ZigDone )
assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance
call id="SyslogHittingWallZigSide0Side2" refId="SyslogHittingWall"
assign in sequence WpBearing = (WpBearing + Turn) % TwoPi
assign in sequence ElapsedSinceLastTurn = 0 hour
assign in sequence WpBearingAfterLastWallHit = WpBearing
assign in sequence Turn = (Turn - Turn) - Turn
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter
assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN psu
assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
aggregate HitWallTerminateZigSide1Side3 {
run in sequence
run when ( (((elapsed ( ElapsedSinceLastTurn ) > WaitAfterHittingWall) and (Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides) or not ( Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon )) and (Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 1 count) or Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 3 count) and not ( (Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == SideLastHit) and WpBearing == WpBearingAfterLastWallHit ) )
break if ( ZigDone )
assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance
call id="SyslogHittingWallZigSide1Side3" refId="SyslogHittingWall"
assign in sequence WpBearing = (WpBearing + Reverse) % TwoPi
assign in sequence ElapsedSinceLastTurn = 0 hour
assign in sequence WpBearingAfterLastWallHit = WpBearing
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter
assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN psu
assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
aggregate ChlPatchDetectionZig {
run in sequence
run when ( PeakDetectChl )
break if ( ZigDone )
behavior Trigger:PeakDetectHorizontal id="PatchTrackTrigger" {
run in sequence
break if ( ZigDone )
set Trigger:PeakDetectHorizontal.patchTracking = true
set Trigger:PeakDetectHorizontal.detectFrom = Science:PeakChl
set Trigger:PeakDetectHorizontal.detectTrough = Science:DetectTrough
set Trigger:PeakDetectHorizontal.depthFrom = Science:PeakChlDepth
set Trigger:PeakDetectHorizontal.latitudeFrom = Science:PeakChlLatitude
set Trigger:PeakDetectHorizontal.longitudeFrom = Science:PeakChlLongitude
set Trigger:PeakDetectHorizontal.beginThreshold = BeginThresholdChl
set Trigger:PeakDetectHorizontal.offPeakFraction = OffPeakFraction
set Trigger:PeakDetectHorizontal.filterWidth = FilterWidthHorizontal
set Trigger:PeakDetectHorizontal.numProfilesSlidingwindow = NumOfProfilesSlidingwindow
set Trigger:PeakDetectHorizontal.detectTimeout = DetectionTimeout
set Trigger:PeakDetectHorizontal.centerPeak = PatchMode
outputArg PatchPeakChl = Trigger:PeakDetectHorizontal.peakDetect
outputArg PatchPeakDepth = Trigger:PeakDetectHorizontal.peakDepth
outputArg PatchPeakLatitude = Trigger:PeakDetectHorizontal.peakLatitude
outputArg PatchPeakLongitude = Trigger:PeakDetectHorizontal.peakLongitude
outputArg PatchPeakDistance = Trigger:PeakDetectHorizontal.peakDistance
}
aggregate PeakFoundTerminateZig {
run in sequence
break if ( ZigDone )
aggregate NotInContinuedFlight {
run in sequence
break if ( LegContinuedFlight )
aggregate PeakFoundNotContinuedFlightLow {
break if ( ((PatchPeakChl > BeginThresholdChl) or (PatchPeakChl < BeginThresholdChl * fractionOfThreshold) and not ( PatchPeakChlPriorToContinuedFlight >= BeginThresholdChl )) or not ( PeakFoundNotContinuedFlightLowEnabled ) )
assign in sequence PeakFoundNotContinuedFlightHighEnabled = false
call id="PeakFoundNotContinuedFlightLow" refId="SyslogPeakFoundNotContinuedFlightLow"
assign in sequence PatchDetectOn = false
assign in sequence WpBearing = (WpBearing + Turn) % TwoPi
assign in sequence ElapsedSinceLastTurn = 0 hour
assign in sequence Turn = (Turn - Turn) - Turn
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
aggregate PeakFoundNotContinuedFlightHigh {
break if ( (PatchPeakChl <= BeginThresholdChl) or not ( PeakFoundNotContinuedFlightHighEnabled ) )
assign in sequence PeakFoundNotContinuedFlightLowEnabled = false
call id="PeakFoundNotContinuedFlightHigh" refId="SyslogPeakFoundNotContinuedFlightHigh"
assign in sequence PatchDetectOn = false
assign in sequence PatchPeakChlPriorToContinuedFlight = PatchPeakChl
assign in sequence WpTimeout = TimePastOffPeakThreshold
assign in sequence LegContinuedFlight = true
assign in sequence ZigDone = true
}
}
aggregate InContinuedFlight {
run in sequence
break if ( not ( LegContinuedFlight ) )
aggregate PeakFoundContinuedFlightPatchValueLow {
break if ( (PatchPeakChl > PatchPeakChlPriorToContinuedFlight * OffPeakFraction) or not ( PeakFoundContinuedFlightLowEnabled ) )
assign in sequence PeakFoundContinuedFlightHighEnabled = false
call id="PeakFoundContinuedFlightLow" refId="SyslogPeakFoundContinuedFlightPatchValueLow"
assign in sequence PatchDetectOn = false
assign in sequence WpBearing = (WpBearing + Turn) % TwoPi
assign in sequence ElapsedSinceLastTurn = 0 hour
assign in sequence Turn = (Turn - Turn) - Turn
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
aggregate PeakFoundContinuedFlightPatchValueHigh {
break if ( (PatchPeakChl <= PatchPeakChlPriorToContinuedFlight * OffPeakFraction) or not ( PeakFoundContinuedFlightHighEnabled ) )
assign in sequence PeakFoundContinuedFlightLowEnabled = false
call id="PeakFoundContinuedFlightHigh" refId="SyslogPeakFoundContinuedFlightPatchValueHigh"
assign in sequence PatchDetectOn = false
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
}
}
}
aggregate SalinityPatchDetectionZig {
run in sequence
run when ( PeakDetectSalinity )
break if ( ZigDone )
behavior Trigger:PeakDetectHorizontal id="PatchTrackTrigger" {
run in sequence
break if ( ZigDone )
set Trigger:PeakDetectHorizontal.patchTracking = true
set Trigger:PeakDetectHorizontal.detectFrom = Science:PeakSalt
set Trigger:PeakDetectHorizontal.detectTrough = Science:DetectTrough
set Trigger:PeakDetectHorizontal.depthFrom = Science:PeakSaltDepth
set Trigger:PeakDetectHorizontal.latitudeFrom = Science:PeakSaltLatitude
set Trigger:PeakDetectHorizontal.longitudeFrom = Science:PeakSaltLongitude
set Trigger:PeakDetectHorizontal.beginThreshold = BeginThresholdSalt
set Trigger:PeakDetectHorizontal.offPeakFraction = OffPeakFraction
set Trigger:PeakDetectHorizontal.filterWidth = FilterWidthHorizontal
set Trigger:PeakDetectHorizontal.numProfilesSlidingwindow = NumOfProfilesSlidingwindow
set Trigger:PeakDetectHorizontal.detectTimeout = DetectionTimeout
set Trigger:PeakDetectHorizontal.centerPeak = PatchMode
outputArg PatchPeakSalinity = Trigger:PeakDetectHorizontal.peakDetect
outputArg PatchPeakDepth = Trigger:PeakDetectHorizontal.peakDepth
outputArg PatchPeakLatitude = Trigger:PeakDetectHorizontal.peakLatitude
outputArg PatchPeakLongitude = Trigger:PeakDetectHorizontal.peakLongitude
outputArg PatchPeakDistance = Trigger:PeakDetectHorizontal.peakDistance
}
aggregate PeakFoundTerminateZig {
run in sequence
break if ( ZigDone )
aggregate NotInContinuedFlight {
run in sequence
break if ( LegContinuedFlight )
aggregate PeakFoundNotContinuedFlightLow {
break if ( ((PatchPeakSalinity > BeginThresholdSalt) or (PatchPeakSalinity < BeginThresholdSalt * fractionOfThreshold) and not ( PatchPeakSalinityPriorToContinuedFlight >= BeginThresholdSalt )) or not ( PeakFoundNotContinuedFlightLowEnabled ) )
assign in sequence PeakFoundNotContinuedFlightHighEnabled = false
call id="PeakFoundNotContinuedFlightLow" refId="SyslogPeakFoundNotContinuedFlightLow"
assign in sequence PatchDetectOn = false
assign in sequence WpBearing = (WpBearing + Turn) % TwoPi
assign in sequence ElapsedSinceLastTurn = 0 hour
assign in sequence Turn = (Turn - Turn) - Turn
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
aggregate PeakFoundNotContinuedFlightHigh {
break if ( (PatchPeakSalinity <= BeginThresholdSalt) or not ( PeakFoundNotContinuedFlightHighEnabled ) )
assign in sequence PeakFoundNotContinuedFlightLowEnabled = false
call id="PeakFoundNotContinuedFlightHigh" refId="SyslogPeakFoundNotContinuedFlightHigh"
assign in sequence PatchDetectOn = false
assign in sequence PatchPeakSalinityPriorToContinuedFlight = PatchPeakSalinity
assign in sequence WpTimeout = TimePastOffPeakThreshold
assign in sequence LegContinuedFlight = true
assign in sequence ZigDone = true
}
}
aggregate InContinuedFlight {
run in sequence
break if ( not ( LegContinuedFlight ) )
aggregate PeakFoundContinuedFlightPatchValueLow {
break if ( (PatchPeakSalinity > PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction) or not ( PeakFoundContinuedFlightLowEnabled ) )
assign in sequence PeakFoundContinuedFlightHighEnabled = false
call id="PeakFoundContinuedFlightLow" refId="SyslogPeakFoundContinuedFlightPatchValueLow"
assign in sequence PatchDetectOn = false
assign in sequence WpBearing = (WpBearing + Turn) % TwoPi
assign in sequence ElapsedSinceLastTurn = 0 hour
assign in sequence Turn = (Turn - Turn) - Turn
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
aggregate PeakFoundContinuedFlightPatchValueHigh {
break if ( (PatchPeakSalinity <= PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction) or not ( PeakFoundContinuedFlightHighEnabled ) )
assign in sequence PeakFoundContinuedFlightLowEnabled = false
call id="PeakFoundContinuedFlightHigh" refId="SyslogPeakFoundContinuedFlightPatchValueHigh"
assign in sequence PatchDetectOn = false
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
}
}
}
aggregate OilPatchDetectionZig {
run in sequence
run when ( PeakDetectOil )
break if ( ZigDone )
behavior Trigger:PeakDetectHorizontal id="PatchTrackTrigger" {
run in sequence
break if ( ZigDone )
set Trigger:PeakDetectHorizontal.patchTracking = true
set Trigger:PeakDetectHorizontal.detectFrom = Science:PeakOil
set Trigger:PeakDetectHorizontal.detectTrough = Science:DetectTrough
set Trigger:PeakDetectHorizontal.depthFrom = Science:PeakOilDepth
set Trigger:PeakDetectHorizontal.latitudeFrom = Science:PeakOilLatitude
set Trigger:PeakDetectHorizontal.longitudeFrom = Science:PeakOilLongitude
set Trigger:PeakDetectHorizontal.beginThreshold = BeginThresholdOil
set Trigger:PeakDetectHorizontal.offPeakFraction = OffPeakFraction
set Trigger:PeakDetectHorizontal.filterWidth = FilterWidthHorizontal
set Trigger:PeakDetectHorizontal.numProfilesSlidingwindow = NumOfProfilesSlidingwindow
set Trigger:PeakDetectHorizontal.detectTimeout = DetectionTimeout
set Trigger:PeakDetectHorizontal.centerPeak = PatchMode
outputArg PatchPeakOil = Trigger:PeakDetectHorizontal.peakDetect
outputArg PatchPeakDepth = Trigger:PeakDetectHorizontal.peakDepth
outputArg PatchPeakLatitude = Trigger:PeakDetectHorizontal.peakLatitude
outputArg PatchPeakLongitude = Trigger:PeakDetectHorizontal.peakLongitude
outputArg PatchPeakDistance = Trigger:PeakDetectHorizontal.peakDistance
}
aggregate PeakFoundTerminateZig {
run in sequence
break if ( ZigDone )
aggregate NotInContinuedFlight {
run in sequence
break if ( LegContinuedFlight )
aggregate PeakFoundNotContinuedFlightLow {
break if ( ((PatchPeakOil > BeginThresholdOil) or (PatchPeakOil < BeginThresholdOil * fractionOfThreshold) and not ( PatchPeakOilPriorToContinuedFlight >= BeginThresholdOil )) or not ( PeakFoundNotContinuedFlightLowEnabled ) )
assign in sequence PeakFoundNotContinuedFlightHighEnabled = false
call id="PeakFoundNotContinuedFlightLow" refId="SyslogPeakFoundNotContinuedFlightLow"
assign in sequence PatchDetectOn = false
assign in sequence WpBearing = (WpBearing + Turn) % TwoPi
assign in sequence ElapsedSinceLastTurn = 0 hour
assign in sequence Turn = (Turn - Turn) - Turn
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
aggregate PeakFoundNotContinuedFlightHigh {
break if ( (PatchPeakOil <= BeginThresholdOil) or not ( PeakFoundNotContinuedFlightHighEnabled ) )
assign in sequence PeakFoundNotContinuedFlightLowEnabled = false
call id="PeakFoundNotContinuedFlightHigh" refId="SyslogPeakFoundNotContinuedFlightHigh"
assign in sequence PatchDetectOn = false
assign in sequence PatchPeakOilPriorToContinuedFlight = PatchPeakOil
assign in sequence WpTimeout = TimePastOffPeakThreshold
assign in sequence LegContinuedFlight = true
assign in sequence ZigDone = true
}
}
aggregate InContinuedFlight {
run in sequence
break if ( not ( LegContinuedFlight ) )
aggregate PeakFoundContinuedFlightPatchValueLow {
break if ( (PatchPeakOil > PatchPeakOilPriorToContinuedFlight * OffPeakFraction) or not ( PeakFoundContinuedFlightLowEnabled ) )
assign in sequence PeakFoundContinuedFlightHighEnabled = false
call id="PeakFoundContinuedFlightLow" refId="SyslogPeakFoundContinuedFlightPatchValueLow"
assign in sequence PatchDetectOn = false
assign in sequence WpBearing = (WpBearing + Turn) % TwoPi
assign in sequence ElapsedSinceLastTurn = 0 hour
assign in sequence Turn = (Turn - Turn) - Turn
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
aggregate PeakFoundContinuedFlightPatchValueHigh {
break if ( (PatchPeakOil <= PatchPeakOilPriorToContinuedFlight * OffPeakFraction) or not ( PeakFoundContinuedFlightHighEnabled ) )
assign in sequence PeakFoundContinuedFlightLowEnabled = false
call id="PeakFoundContinuedFlightHigh" refId="SyslogPeakFoundContinuedFlightPatchValueHigh"
assign in sequence PatchDetectOn = false
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
}
}
}
aggregate Zig {
"""
Completes transect's maximum distance.
"""
run in sequence
break if ( ZigDone )
aggregate LegContinuedFlight {
break if ( not ( LegContinuedFlight ) or not ( LegContinuedFlightLowEnabled or LegContinuedFlightHighEnabled ) )
assign in sequence PatchDetectOn = true
syslog important "Bearing = " + WpBearing~degree
aggregate ZigCompleteMaxDist {
behavior Guidance:Waypoint id="ZigMaxDist" {
run in sequence
break if ( ZigDone )
timeout duration=WpTimeout
set Guidance:Waypoint.distanceDelta = WpMaxDistance
set Guidance:Waypoint.distanceDeltaBearing = WpBearing
set Guidance:Waypoint.waterFrame = WaterFrame
}
}
aggregate LegContinuedFlightPatchValueLow {
break if ( (not ( LegContinuedFlight ) or LegContinuedFlight and ((PeakDetectChl and PatchPeakChl > PatchPeakChlPriorToContinuedFlight * OffPeakFraction) or PeakDetectSalinity and PatchPeakSalinity > PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction) or PeakDetectOil and PatchPeakOil > PatchPeakOilPriorToContinuedFlight * OffPeakFraction) or not ( LegContinuedFlightLowEnabled ) )
assign in sequence LegNotContinuedFlightEnabled = false
assign in sequence LegContinuedFlightHighEnabled = false
call id="ContinuedFlightCompletedPatchValueLow" refId="SyslogContinuedFlightCompletedPatchValueLow"
assign in sequence PatchDetectOn = false
assign in sequence WpBearing = (WpBearing + Turn) % TwoPi
assign in sequence ElapsedSinceLastTurn = 0 hour
assign in sequence Turn = (Turn - Turn) - Turn
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
aggregate LegContinuedFlightPatchValueHigh {
break if ( (not ( LegContinuedFlight ) or LegContinuedFlight and ((PeakDetectChl and PatchPeakChl <= PatchPeakChlPriorToContinuedFlight * OffPeakFraction) or PeakDetectSalinity and PatchPeakSalinity <= PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction) or PeakDetectOil and PatchPeakOil <= PatchPeakOilPriorToContinuedFlight * OffPeakFraction) or not ( LegContinuedFlightHighEnabled ) )
assign in sequence LegNotContinuedFlightEnabled = false
assign in sequence LegContinuedFlightLowEnabled = false
call id="ContinuedFlightCompletedPatchValueHigh" refId="SyslogContinuedFlightCompletedPatchValueHigh"
assign in sequence PatchDetectOn = false
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence LegContinuedFlight = false
assign in sequence ZigDone = true
}
}
aggregate LegNotContinuedFlight {
break if ( LegContinuedFlight or not ( LegNotContinuedFlightEnabled ) )
assign in sequence LegContinuedFlightLowEnabled = false
assign in sequence LegContinuedFlightHighEnabled = false
assign in sequence PatchDetectOn = true
syslog important "Bearing = " + WpBearing~degree
aggregate ZigCompleteMaxDist {
behavior Guidance:Waypoint id="ZigMaxDist" {
run in sequence
break if ( ZigDone )
timeout duration=WpTimeout
set Guidance:Waypoint.distanceDelta = WpMaxDistance
set Guidance:Waypoint.distanceDeltaBearing = WpBearing
set Guidance:Waypoint.waterFrame = WaterFrame
}
}
call id="MaxLegDistReached" refId="SyslogWpMaxDistanceReached"
assign in sequence PatchDetectOn = false
assign in sequence WpBearing = (WpBearing + Turn) % TwoPi
assign in sequence ElapsedSinceLastTurn = 0 hour
assign in sequence Turn = (Turn - Turn) - Turn
assign in sequence WpTimeout = WpTimeoutBase
assign in sequence ZigDone = true
}
}
}
}
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