...

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. 

Environment

You can use "environment.slx" file for making different connections between your model and environment. It has some input and output ports. As an example, a simple system connecting to the environment in the "sample.slx" file is shown.  Some items such as, the water flow velocity, density, and gravity are defined inside of the environment. You need to only put the inserting forces from drifter to the environment as input and connect the poles of battery to your model. As can be seen in "sample.slx" you can show the X, Y, Z place, current, and voltage by scope blocks.