Depth Behavior
Moving correctness tests for BHV_PeriodicSurface. These cases verify periodic surfacing, status variables, wait windows, timeout reset behavior, mark-variable resets, acomms extension, ascent profiles, current-speed mode, malformed status/ascent parameters, and missing inputs/domain.
Stem Mission
The shared depth stem mission runs one simulated UUV and one shoreside evaluation community. The vehicle uses pHelmIvP, pMarinePIDV22, and uSimMarineV22; the horizontal waypoint keeps the vehicle underway while BHV_PeriodicSurface owns the surfacing-cycle verdict.
Examples
These depth GIFs are generated from real run alogs, not raw pMarineViewer screen captures, because the top-down track alone does not show surfacing cycles and wait windows clearly. The visuals call out the evidence that makes each case pass.
Case Matrix
periodic_surface_pass
Configures an eight-second wait, a two-meter zero-speed depth, a three-second surface dwell, and full-speed ascent to test one complete periodic-surface cycle; passes as soon as an ascent and its PSF_AT_SURFACE_TIMEOUT have both occurred with no behavior error.
periodic_surface_status_vars_pass
Binds the short parameter names to SURFACE_WAIT and SURFACE_DWELL to test their waiting-phase values; passes when the pending countdown reaches three through five seconds while the surface-dwell counter remains zero, with no behavior error.
periodic_surface_status_variable_alias_pass
Binds the long parameter aliases to SURFACE_WAIT_LONG and SURFACE_DWELL_LONG to test their at-surface values; passes during the first surface dwell when the dwell counter is one through three, the pending counter is nonpositive, an ascent has occurred, and no behavior error is observed.
periodic_surface_wait_window_pass
Sets period=30 and evaluates at 12 seconds to test the pre-ascent wait window. Passes when neither PERIODIC_ASCEND nor PSF_AT_SURFACE_TIMEOUT has appeared and no behavior error is observed.
periodic_surface_acomms_extend_pass
Configures acomms_mark_variable=ACOMMS_UPDATE,5,10 and posts ACOMMS_UPDATE=ping at eight seconds, just before the ten-second period expires. Passes at 15 seconds when neither ascent nor surface-timeout evidence has appeared and no behavior error is observed.
periodic_surface_mark_variable_reset_pass
Configures period=20, binds mark_variable=SURFACE_RESET_MARK, and posts marks at zero and eight seconds. Passes at 24 seconds when no ascent or surface timeout has occurred, PENDING_SURFACE>=1, and no behavior error is observed.
periodic_surface_quadratic_ascent_pass
Starts at 12 meters and configures ascent_grade=quadratic, ascent_speed=1, and zero_speed_depth=2 to test the squared speed ramp; passes while ascending through six to eight meters when ABE_DESIRED_SPEED is 0.1–0.5 m/s and no behavior error is observed.
periodic_surface_fullspeed_ascent_pass
Starts at 12 meters and configures ascent_grade=fullspeed with ascent_speed=1 to test that the requested speed is held throughout ascent; passes while ascending through six to eight meters when ABE_DESIRED_SPEED is 0.9–1.1 m/s and no behavior error is observed.
periodic_surface_timeout_reset_pass
Uses a four-second period, two-second maximum surface dwell, and two-meter-per-second full-speed ascent. After PSF_AT_SURFACE_TIMEOUT appears, the harness passes when TIME_AT_SURFACE<=1 before the 45-second deadline and no behavior error is observed.
periodic_surface_current_speed_pass
Starts at 12 meters with the vehicle moving near 2 m/s and configures ascent_speed=current with a quasi ramp to test capture of the live speed at ascent start; passes while ascending through 10–11.5 meters when ABE_DESIRED_SPEED is 1.5–2.1 m/s and no behavior error is observed.
periodic_surface_speed_alias_pass
Starts at 12 meters and configures the legacy speed_to_surface=1.2 alias with a linear ramp to test that the alias supplies the ramp's starting speed; passes while ascending through six to eight meters when ABE_DESIRED_SPEED is 0.4–0.8 m/s and no behavior error is observed.
periodic_surface_bad_period_fail
Sets period=0 to test rejection of a nonpositive surfacing period; passes only when IVPHELM_STATE=MALCONFIG.
periodic_surface_bad_ascent_grade_fail
Sets ascent_grade=rocket to test rejection of an unknown ascent profile; passes only when IVPHELM_STATE=MALCONFIG.
periodic_surface_bad_ascent_speed_fail
Sets ascent_speed=-1 to test rejection of a negative ascent speed; passes only when IVPHELM_STATE=MALCONFIG.
periodic_surface_bad_zero_speed_depth_fail
Sets zero_speed_depth=-2 to test rejection of a negative transition depth; passes only when IVPHELM_STATE=MALCONFIG.
periodic_surface_bad_max_time_fail
Sets max_time_at_surface=-1 to test rejection of a negative surface dwell limit; passes only when IVPHELM_STATE=MALCONFIG.
periodic_surface_bad_acomms_mark_fail
Configures acomms_mark_variable=BAD MARK,5,10 to test rejection of whitespace in the acoustic mark variable name; passes only when IVPHELM_STATE=MALCONFIG.
periodic_surface_bad_acomms_interval_fail
Configures acomms_mark_variable=ACOMMS_MARK,0,10 to test rejection of a zero extension interval; passes only when IVPHELM_STATE=MALCONFIG.
periodic_surface_bad_acomms_max_fail
Configures acomms_mark_variable=ACOMMS_MARK,20,10 to test rejection when one extension interval exceeds the maximum accumulated extension; passes only when IVPHELM_STATE=MALCONFIG.
periodic_surface_bad_mark_variable_fail
Supplies an empty mark_variable value to test rejection of a missing reset source; passes only when IVPHELM_STATE=MALCONFIG.
periodic_surface_bad_pending_status_var_fail
Supplies an empty pending_status_var value to test rejection of a missing pending-status output name; passes only when IVPHELM_STATE=MALCONFIG.
periodic_surface_bad_atsurface_status_var_fail
Supplies an empty atsurface_status_var value to test rejection of a missing surface-dwell output name; passes only when IVPHELM_STATE=MALCONFIG.
periodic_surface_missing_nav_fail
Changes the simulator output prefix to SIM, leaving the helm without NAV_X or NAV_DEPTH. The harness passes at 45 seconds when both navigation variables remain absent, DESIRED_ELEVATOR=0, and no behavior error is observed.
periodic_surface_domain_missing_fail
Removes depth from the IvP helm domain while retaining the periodic-surface behavior. The harness passes when ABE_BHV_ERROR is observed.