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The diving procedures are determined by the drifters logic and the divers logic needs to process the given instructions to control the diving process. A Diving procedure contains a set of three different water depths (up to a maximum of 10meters) which should be reached within a time frame of 2 minutes. Each target depths should be hold for 10 seconds with an accuracy of +/-0.1m. The diver should keep its horizontal position at the moment of the start diving signal. Due to currents in the water, the divers downwards path might be disturbed in horizontal directions.
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