Mission command macros for autonomous underwater vehicle

The software system on the Ocean Explorer (OEX) at Florida Atlantic University provides a mission command language (MCL) for the user to program missions. Recently, MCL was augmented to permit the definition and use of high-level macros in mission plans. This paper describes the syntax of MCL macro definition and use, and the implementation of the macro mechanism. It also illustrates how mission command macros are used in programming practical AUV missions and in communicating with the OEX through its acoustic modem.