{"id":18718,"date":"2026-07-02T16:00:49","date_gmt":"2026-07-02T20:00:49","guid":{"rendered":"https:\/\/blogs.mathworks.com\/simulink\/?p=18718"},"modified":"2026-07-02T16:00:49","modified_gmt":"2026-07-02T20:00:49","slug":"my-scuba-diving-simulator","status":"publish","type":"post","link":"https:\/\/blogs.mathworks.com\/simulink\/2026\/07\/02\/my-scuba-diving-simulator\/","title":{"rendered":"My Scuba Diving Simulator"},"content":{"rendered":"<div class = rtcContent><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><a href = \"https:\/\/matlab.mathworks.com\/open\/github\/v1?repo=simulink\/blog&amp;project=2026_06_20_scuba\/ScubaSimulator.prj\"><img class = \"imageNode\" src = \"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_1-1.png\" width = \"136\" height = \"21\" alt = \"\" style = \"vertical-align: baseline; width: 136px; height: 21px;\"><\/img><\/a><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">I recently took a week of vacation to go scuba diving in the Caribbean. In the middle of a dive, at about 80 feet down, this idea came to my mind: <\/span><span class=\"_richTextNode\" style=' font-weight: bold;'>I need to make a scuba diving simulator!<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">I have thought about creating this simulation before, but I always ended up struggling with one thing or another. Typically, I would get stuck when trying to add the effect of depth on the diver's lungs and the <\/span><a href = \"https:\/\/en.wikipedia.org\/wiki\/Buoyancy_compensator_(diving)\"><span class=\"_richTextNode\">buoyancy control device (BCD)<\/span><\/a><span class=\"_richTextNode\">.<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">Today, with an AI agent and the <\/span><a href = \"https:\/\/www.mathworks.com\/products\/simulink-agentic-toolkit.html\"><span class=\"_richTextNode\">Simulink Agentic Toolkit<\/span><\/a><span class=\"_richTextNode\">, I thought it was time to give this another try.<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><img class = \"imageNode\" src = \"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_2-1.png\" width = \"338\" height = \"296\" alt = \"\" style = \"vertical-align: baseline; width: 338px; height: 296px;\"><\/img><\/div><h2  style = 'margin: 3px 10px 5px 4px; padding: 0px; line-height: 25px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 20px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">The Plan<\/span><\/h2><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">Everyone who has worked with AI agents will tell you: The planning part is very important!<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">I thought for some time about what I wanted this simulator to include and how I wanted it to be implemented. Once the picture was clear in my mind, I wrote my requirements:<\/span><\/div><ul  style = 'margin: 10px 0px 20px; padding-left: 0px; font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-size: 14px; '><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><span class=\"_richTextNode\">I want to simulate a typical hour-long scuba dive profile<\/span><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><span class=\"_richTextNode\">It should model air consumption during the dive<\/span><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><span class=\"_richTextNode\">It needs to model the diver's buoyancy throughout the dive<\/span><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><span class=\"_richTextNode\">The diver's buoyancy should be controlled by the diver's breathing and the buoyancy control device (BCD)<\/span><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><span class=\"_richTextNode\">The mechanical part of the simulation should use the <\/span><a href = \"https:\/\/www.mathworks.com\/help\/simscape\/lang\/position-based-mechanical-translational-domain.html\"><span class=\"_richTextNode\">Simscape 1D position-based translational domain<\/span><\/a><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><span class=\"_richTextNode\">The gas part should be implemented using a simple custom gas domain with constant temperature approximation<\/span><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><span class=\"_richTextNode\">The depth information computed in the mechanical domain will be passed to the custom gas components that need it through a translational mechanical connection port<\/span><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><span class=\"_richTextNode\">The depth control logic should be implemented in Simulink and Stateflow<\/span><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><span class=\"_richTextNode\">Three control signals should be sent to the plant model: BCD inflate valve, BCD release valve and diver breathing effort<\/span><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><span class=\"_richTextNode\">The plant model should include the following individual Simscape components: Gas tank, first-stage regulator, BCD with intake and release valves, second stage regulator with intake and release valves.<\/span><\/li><\/ul><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">Based on those requirements, the Simulink Agentic Toolkit invoked multiple sub agents to fetch relevant information from many reliable sources. Here are some examples:<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><img class = \"imageNode\" src = \"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_3-1.png\" width = \"959\" height = \"187\" alt = \"\" style = \"vertical-align: baseline; width: 959px; height: 187px;\"><\/img><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><img class = \"imageNode\" src = \"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_4-1.png\" width = \"941\" height = \"147\" alt = \"\" style = \"vertical-align: baseline; width: 941px; height: 147px;\"><\/img><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">In the end, it created 4 plan files<\/span><\/div><ul  style = 'margin: 10px 0px 20px; padding-left: 0px; font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-size: 14px; '><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><a href = \"https:\/\/github.com\/simulink\/blog\/blob\/main\/scuba_simulator\/docs\/specs\/plant-models\/scuba-diver\/scuba-diver-system.md\"><span class=\"_richTextNode\">scuba-diver-system.md<\/span><\/a><span class=\"_richTextNode\" style=' font-weight: bold;'>:<\/span><span class=\"_richTextNode\"> A high-level description of the system, with executive summary, objectives, and success criteria.<\/span><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><a href = \"https:\/\/github.com\/simulink\/blog\/blob\/main\/scuba_simulator\/docs\/specs\/plant-models\/scuba-diver\/scuba-diver-architecture.md\"><span class=\"_richTextNode\">scuba-diver-architecture.md<\/span><\/a><span class=\"_richTextNode\" style=' font-weight: bold;'>:<\/span><span class=\"_richTextNode\"> We are going into more details, listing the individual components, their interface, and their equations.<\/span><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><a href = \"https:\/\/github.com\/simulink\/blog\/blob\/main\/scuba_simulator\/docs\/specs\/plant-models\/scuba-diver\/scuba-diver-implementation-plan.md\"><span class=\"_richTextNode\">scuba-diver-implementation-plan.md<\/span><\/a><span class=\"_richTextNode\" style=' font-weight: bold;'>:<\/span><span class=\"_richTextNode\"> This went into implementation of the full simulation, including controllers for dive profile scenarios, breathing waveform and BCD controller<\/span><\/li><li  style = 'margin-left: 56px; line-height: 21px; min-height: 0px; text-align: left; white-space: pre-wrap; '><a href = \"https:\/\/github.com\/simulink\/blog\/blob\/main\/scuba_simulator\/docs\/specs\/plant-models\/scuba-diver\/scuba-diver-test-plan.md\"><span class=\"_richTextNode\">scuba-diver-test-plan.md<\/span><\/a><span class=\"_richTextNode\" style=' font-weight: bold;'>:<\/span><span class=\"_richTextNode\"> How all this will be tested.<\/span><\/li><\/ul><h2  style = 'margin: 20px 10px 5px 4px; padding: 0px; line-height: 25px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 20px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">The Simscape Scuba Library<\/span><\/h2><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">The first implementation step I went through is the Simscape library development. The agent was pretty good at generating the components I wanted. Here is what the components look like in my library: <\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><img class = \"imageNode\" src = \"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_5-1.png\" width = \"680\" height = \"366\" alt = \"\" style = \"vertical-align: baseline; width: 680px; height: 366px;\"><\/img><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">The underwater gas domain definition code is:<\/span><\/div><div class = 'preformatted-matlab' style = 'margin: 10px 3px 10px 55px; padding: 10px 10px 10px 5px; '><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >domain <\/span><span style=\"color: rgb(167, 9, 245);\">underwaterGas<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span style=\"color: rgb(0, 128, 19);\">% Custom gas domain for scuba simulation.<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span style=\"color: rgb(0, 128, 19);\">% Across variable: pressure (Pa)<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span style=\"color: rgb(0, 128, 19);\">% Through variable: molar flow rate (mol\/s)<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;parameters<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;R_gas = {8.314, <\/span><span style=\"color: rgb(167, 9, 245);\">'J\/(mol*K)'<\/span><span >};  <\/span><span style=\"color: rgb(0, 128, 19);\">% Universal gas constant<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;T     = {293.15, <\/span><span style=\"color: rgb(167, 9, 245);\">'K'<\/span><span >};         <\/span><span style=\"color: rgb(0, 128, 19);\">% Gas temperature (isothermal)<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;<\/span><span style=\"color: rgb(14, 0, 255);\">end<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '>&nbsp;<\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;variables(Balancing = true)<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;n_dot = {0, <\/span><span style=\"color: rgb(167, 9, 245);\">'mol\/s'<\/span><span >};          <\/span><span style=\"color: rgb(0, 128, 19);\">% Molar flow rate (through)<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;<\/span><span style=\"color: rgb(14, 0, 255);\">end<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '>&nbsp;<\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;variables<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;p     = {101325, <\/span><span style=\"color: rgb(167, 9, 245);\">'Pa'<\/span><span >};        <\/span><span style=\"color: rgb(0, 128, 19);\">% Pressure (across)<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;<\/span><span style=\"color: rgb(14, 0, 255);\">end<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span style=\"color: rgb(14, 0, 255);\">end<\/span><\/span><\/div><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">For a component like the diver <\/span><a href = \"https:\/\/github.com\/simulink\/blog\/blob\/main\/scuba_simulator\/%2Bscuba\/%2Bgas\/%2Belements\/Lungs.ssc\"><span class=\"_richTextNode\">lungs<\/span><\/a><span class=\"_richTextNode\">, the ideal gas law is used to compute the lungs volume at the current depth, and the Archimedes principle to compute the buoyancy force: <\/span><\/div><div class = 'preformatted-matlab' style = 'margin: 10px 3px 10px 55px; padding: 10px 10px 10px 5px; '><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;intermediates<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;R_gas  = A.R_gas;<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;T      = A.T;<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;depth  = R.x;<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;P_amb  = P_atm + rho_water * R.gravity * depth;<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;F_buoy = rho_water * R.gravity * V_lungs;<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;<\/span><span style=\"color: rgb(14, 0, 255);\">end<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '>&nbsp;<\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;equations<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;V_lungs == V_lungs_in;<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;A.p == P_lung;<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;der(n_lungs) == n_dot;<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<\/span><span style=\"color: rgb(0, 128, 19);\">% Ideal gas law<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;P_lung * V_lungs == n_lungs * R_gas * T;<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;f == -F_buoy;<\/span><\/span><\/div><div  style = 'border-left: 0px none rgb(33, 33, 33); border-right: 0px none rgb(33, 33, 33); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px; line-height: 15.6px; min-height: 16px; white-space: pre; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 12px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;<\/span><span style=\"color: rgb(14, 0, 255);\">end<\/span><\/span><\/div><\/div><h3  style = 'margin: 15px 10px 5px 4px; padding: 0px; line-height: 20.4px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 17px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">Generating the Simscape library using an AI agent<\/span><\/h3><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">Here are a few items I had to iterate with the agent to get the way I wanted:<\/span><\/div><h4  style = 'margin: 10px 10px 5px 4px; padding: 0px; line-height: 18px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 15px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">Simscape language syntax<\/span><\/h4><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">As of today, the Simulink Agentic Toolkit does not include guidance for the Simscape language. Because of that, the agent initially ended up using old-style syntax like the setup function and let-in-end pattern that are either obsolete or will be soon. Once I realized that, I simply prompted the agent with the following and it succeeded in seconds:<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">\"<\/span><span class=\"_richTextNode\" style=' font-style: italic;'>Update all Let-in-end pattern in Simscape language with the more modern intermediate syntax. Search the MathWorks documentation for examples<\/span><span class=\"_richTextNode\">\"<\/span><\/div><h4  style = 'margin: 10px 10px 5px 4px; padding: 0px; line-height: 18px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 15px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">Block Icons<\/span><\/h4><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">By default, Simscape blocks have no icon. To make my new library of blocks look better, I asked the agent to generate images. The request was something like:<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">\"<\/span><span class=\"_richTextNode\" style=' font-style: italic;'>Generate SVG image files for all components in the scuba library. Images should be representative of the block functionality. Update the \"annotation\" section of the<\/span><span class=\"_richTextNode\"> <\/span><span class=\"_richTextNode\" style=' font-style: italic; font-family: monospace;'>.ssc<\/span><span class=\"_richTextNode\"> <\/span><span class=\"_richTextNode\" style=' font-style: italic;'>files to reference the icon image<\/span><span class=\"_richTextNode\">\"<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">For complex components like the lung, gas tank and BCD bladder, I went through a few iterations to refine the image.<\/span><\/div><h4  style = 'margin: 10px 10px 5px 4px; padding: 0px; line-height: 18px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 15px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">Lung model<\/span><\/h4><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">In my initial request, I specified that the lung input should be the \"diver breathing effort\". Testing showed that I was wrong with that. <\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">While inspecting the test results, I realized that when going deeper, the diver was not consuming more air as expected. Instead, the lungs were getting smaller! After a bit of research, I realized that the lung input should be volume. The agent was able to fix that easily.<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">At the end of the day, I did not write a single line of Simscape code myself and got the fully functional Simscape components I needed.<\/span><\/div><h2  style = 'margin: 20px 10px 5px 4px; padding: 0px; line-height: 25px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 20px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">Assembling the Scuba Diver<\/span><\/h2><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">Next step: Assemble the plant model. Unfortunately, I have to admit that the current layout algorithm in the Simulink Agentic Toolkit struggles with Simscape and physical connections. I asked the agent to give it a first shot. It added all the blocks with the correct parameterization, and I manually moved the blocks and lines around until I got a layout I was happy with.<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">I grouped the components in two subsystems: mechanical and gas.<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">The mechanical part is mostly the diver body and weights.<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><img class = \"imageNode\" src = \"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_6-1.png\" width = \"519\" height = \"327\" alt = \"\" style = \"vertical-align: baseline; width: 519px; height: 327px;\"><\/img><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">For the gas network, I used the Simscape <\/span><a href = \"https:\/\/www.mathworks.com\/help\/simscape\/ref\/connectionlabel.html\"><span class=\"_richTextNode\">Connection Label<\/span><\/a><span class=\"_richTextNode\"> block to share the depth information with all components.<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><img class = \"imageNode\" src = \"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_7-1.png\" width = \"991\" height = \"607\" alt = \"\" style = \"vertical-align: baseline; width: 991px; height: 607px;\"><\/img><\/div><h2  style = 'margin: 20px 10px 5px 4px; padding: 0px; line-height: 25px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 20px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">Testing<\/span><\/h2><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">Once I had my diver assembled, I put together tests for a few simple maneuvers.<\/span><\/div><h3  style = 'margin: 3px 10px 5px 4px; padding: 0px; line-height: 20.4px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 17px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">Simple Ascent-Descent<\/span><\/h3><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">As a first test, I put together this model.<\/span><\/div><div style=\"background-color: #F5F5F5; margin: 10px 0 10px 0;\"><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 1px solid rgb(217, 217, 217); border-bottom: 0px none rgb(33, 33, 33); border-radius: 4px 4px 0px 0px; padding: 6px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >mdl = <\/span><span style=\"color: rgb(167, 9, 245);\">'descent_test'<\/span><span >;<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 1px solid rgb(217, 217, 217); border-radius: 0px 0px 4px 4px; padding: 0px 45px 4px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >open_system(mdl)<\/span><\/span><\/div><\/div><\/div><div  style = 'margin: 10px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><img class = \"imageNode\" src = \"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_8-1.png\" width = \"987\" height = \"303\" alt = \"\" style = \"vertical-align: baseline; width: 987px; height: 303px;\"><\/img><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">At the beginning of the simulation, the BCD is empty and the diver descends. When reaching 15 meters, the BCD is inflated for some amount of time. We can see that a small fraction of a second makes the difference between sinking to the bottom and ascending back up.<\/span><\/div><div style=\"background-color: #F5F5F5; margin: 10px 0 10px 0;\"><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 1px solid rgb(217, 217, 217); border-bottom: 0px none rgb(33, 33, 33); border-radius: 4px 4px 0px 0px; padding: 6px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >mdl = <\/span><span style=\"color: rgb(167, 9, 245);\">'descent_test'<\/span><span >;<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >inflateVector = 0.75:0.01:0.8;<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >N = length(inflateVector);<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >in = repmat(Simulink.SimulationInput(mdl),N,1);<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >in = arrayfun(@(i) in(i).setVariable(<\/span><span style=\"color: rgb(167, 9, 245);\">'InflateDT'<\/span><span >,inflateVector(i)),1:N);<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >out = sim(in,<\/span><span style=\"color: rgb(167, 9, 245);\">'ShowProgress'<\/span><span >,<\/span><span style=\"color: rgb(167, 9, 245);\">'off'<\/span><span >,<\/span><span style=\"color: rgb(167, 9, 245);\">'UseFastRestart'<\/span><span >,<\/span><span style=\"color: rgb(167, 9, 245);\">'on'<\/span><span >);<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >figure<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >plot(out(1).logsout.get(<\/span><span style=\"color: rgb(167, 9, 245);\">'Desired Depth'<\/span><span >).Values)<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >hold <\/span><span style=\"color: rgb(167, 9, 245);\">on<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span style=\"color: rgb(14, 0, 255);\">for <\/span><span >i = 1:N<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >plot(out(i).logsout.get(<\/span><span style=\"color: rgb(167, 9, 245);\">'Depth'<\/span><span >).Values);<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span style=\"color: rgb(14, 0, 255);\">end<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >hold <\/span><span style=\"color: rgb(167, 9, 245);\">off<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >labels = compose(<\/span><span style=\"color: rgb(167, 9, 245);\">\"Inflate duration = %.2f sec\"<\/span><span >, inflateVector);  <\/span><span style=\"color: rgb(0, 128, 19);\">% string array<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >legend(labels,<\/span><span style=\"color: rgb(167, 9, 245);\">'Location'<\/span><span >,<\/span><span style=\"color: rgb(167, 9, 245);\">'northwest'<\/span><span >);<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >xlabel(<\/span><span style=\"color: rgb(167, 9, 245);\">'Time (sec)'<\/span><span >)<\/span><\/span><\/div><\/div><div class=\"inlineWrapper outputs\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 1px solid rgb(217, 217, 217); border-radius: 0px; padding: 0px 45px 4px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >ylabel(<\/span><span style=\"color: rgb(167, 9, 245);\">'Depth (m)'<\/span><span >)<\/span><\/span><\/div><div  style = 'color: rgb(33, 33, 33); padding: 10px 0px 6px 17px; background: rgb(230, 230, 230) none repeat scroll 0% 0% \/ auto padding-box border-box; font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; overflow-x: hidden; line-height: 17.234px; '><div class=\"inlineElement eoOutputWrapper disableDefaultGestureHandling embeddedOutputsFigure\" uid=\"89C62EB2\" prevent-scroll=\"true\" data-testid=\"output_0\" tabindex=\"-1\" ><div class=\"outputLayer selectedOutputDecorationLayer doNotExport\" aria-hidden=\"true\"><\/div><div class=\"outputLayer scrollableOutputDecorationLayer doNotExport\" aria-hidden=\"true\"><\/div><div class=\"outputLayer navigationFocusLayer doNotExport\" aria-hidden=\"false\" role=\"application\" tabindex=\"-1\"><\/div><div class=\"outputLayer activeOutputDecorationLayer doNotExport\" aria-hidden=\"false\" role=\"application\"><\/div><div class=\"figureElement eoOutputContent\" role=\"article\" aria-roledescription=\"Use Browse Mode to explore \" aria-description=\"figure output \"><img decoding=\"async\" class=\"figureImage figureContainingNode\" src=\"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_9-1.png\" style=\"width: 560px;\"><\/div><\/div><\/div><\/div><\/div><h3  style = 'margin: 3px 10px 5px 4px; padding: 0px; line-height: 20.4px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 17px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">Air Consumption<\/span><\/h3><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">When diving, the deeper you go, the more air you use. To validate that this is modeled properly, I used this simple harness where I \"pinned\" the diver at certain depths and let it breathe normally for an hour.<\/span><\/div><div style=\"background-color: #F5F5F5; margin: 10px 0 10px 0;\"><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 1px solid rgb(217, 217, 217); border-bottom: 0px none rgb(33, 33, 33); border-radius: 4px 4px 0px 0px; padding: 6px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >mdl = <\/span><span style=\"color: rgb(167, 9, 245);\">'breath_test'<\/span><span >;<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 1px solid rgb(217, 217, 217); border-radius: 0px 0px 4px 4px; padding: 0px 45px 4px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >open_system(mdl);<\/span><\/span><\/div><\/div><\/div><div  style = 'margin: 10px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><img class = \"imageNode\" src = \"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_10-1.png\" width = \"466\" height = \"260\" alt = \"\" style = \"vertical-align: baseline; width: 466px; height: 260px;\"><\/img><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">I can run the simulation for various depths.<\/span><\/div><div style=\"background-color: #F5F5F5; margin: 10px 0 10px 0;\"><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 1px solid rgb(217, 217, 217); border-bottom: 0px none rgb(33, 33, 33); border-radius: 4px 4px 0px 0px; padding: 6px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >breathTestDepthV = 5:5:30;<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >N = length(breathTestDepthV);<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >in = repmat(Simulink.SimulationInput(mdl),N,1);<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >in = arrayfun(@(i) in(i).setVariable(<\/span><span style=\"color: rgb(167, 9, 245);\">'breathTestDepth'<\/span><span >,breathTestDepthV(i)),1:N);<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 1px solid rgb(217, 217, 217); border-radius: 0px 0px 4px 4px; padding: 0px 45px 4px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >out = sim(in,<\/span><span style=\"color: rgb(167, 9, 245);\">'ShowProgress'<\/span><span >,<\/span><span style=\"color: rgb(167, 9, 245);\">'off'<\/span><span >,<\/span><span style=\"color: rgb(167, 9, 245);\">'UseFastRestart'<\/span><span >,<\/span><span style=\"color: rgb(167, 9, 245);\">'on'<\/span><span >);<\/span><\/span><\/div><\/div><\/div><div  style = 'margin: 10px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">The results match quite well what I experience myself while diving.<\/span><\/div><div style=\"background-color: #F5F5F5; margin: 10px 0 10px 0;\"><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 1px solid rgb(217, 217, 217); border-bottom: 0px none rgb(33, 33, 33); border-radius: 4px 4px 0px 0px; padding: 6px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >figure<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >hold <\/span><span style=\"color: rgb(167, 9, 245);\">on<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span style=\"color: rgb(14, 0, 255);\">for <\/span><span >i = 1:N<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;ts = out(i).logsout.get(<\/span><span style=\"color: rgb(167, 9, 245);\">'Tank Pressure'<\/span><span >).Values;   <\/span><span style=\"color: rgb(0, 128, 19);\">% timeseries<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >&nbsp;&nbsp;&nbsp;&nbsp;plot(ts.Time\/60, ts.Data)                          <\/span><span style=\"color: rgb(0, 128, 19);\">% plot minutes vs data<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span style=\"color: rgb(14, 0, 255);\">end<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >hold <\/span><span style=\"color: rgb(167, 9, 245);\">off<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >labels = compose(<\/span><span style=\"color: rgb(167, 9, 245);\">\"Depth = %dm\"<\/span><span >, breathTestDepthV);  <\/span><span style=\"color: rgb(0, 128, 19);\">% string array<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >legend(labels)<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >xlabel(<\/span><span style=\"color: rgb(167, 9, 245);\">'Time (min)'<\/span><span >)<\/span><\/span><\/div><\/div><div class=\"inlineWrapper\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 0px none rgb(33, 33, 33); border-radius: 0px; padding: 0px 45px 0px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >ylabel(<\/span><span style=\"color: rgb(167, 9, 245);\">'Tank Pressure (PSI)'<\/span><span >)<\/span><\/span><\/div><\/div><div class=\"inlineWrapper outputs\"><div  style = 'border-left: 1px solid rgb(217, 217, 217); border-right: 1px solid rgb(217, 217, 217); border-top: 0px none rgb(33, 33, 33); border-bottom: 1px solid rgb(217, 217, 217); border-radius: 0px; padding: 0px 45px 4px 13px; line-height: 18.004px; min-height: 0px; white-space: nowrap; color: rgb(33, 33, 33); font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace, Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; '><span style=\"white-space: pre\"><span >title(<\/span><span style=\"color: rgb(167, 9, 245);\">'Air consumption at different depths'<\/span><span >);<\/span><\/span><\/div><div  style = 'color: rgb(33, 33, 33); padding: 10px 0px 6px 17px; background: rgb(230, 230, 230) none repeat scroll 0% 0% \/ auto padding-box border-box; font-family: Menlo, Monaco, Consolas, \"Courier New\", monospace; font-size: 14px; overflow-x: hidden; line-height: 17.234px; '><div class=\"inlineElement eoOutputWrapper disableDefaultGestureHandling embeddedOutputsFigure\" uid=\"5C0FD9F4\" prevent-scroll=\"true\" data-testid=\"output_1\" tabindex=\"-1\" ><div class=\"outputLayer selectedOutputDecorationLayer doNotExport\" aria-hidden=\"true\"><\/div><div class=\"outputLayer scrollableOutputDecorationLayer doNotExport\" aria-hidden=\"true\"><\/div><div class=\"outputLayer navigationFocusLayer doNotExport\" aria-hidden=\"false\" role=\"application\" tabindex=\"-1\"><\/div><div class=\"outputLayer activeOutputDecorationLayer doNotExport\" aria-hidden=\"false\" role=\"application\"><\/div><div class=\"figureElement eoOutputContent\" role=\"article\" aria-roledescription=\"Use Browse Mode to explore \" aria-description=\"figure output \"><img decoding=\"async\" class=\"figureImage figureContainingNode\" src=\"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_11-1.png\" style=\"width: 560px;\"><\/div><\/div><\/div><\/div><\/div><h2  style = 'margin: 3px 10px 5px 4px; padding: 0px; line-height: 25px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 20px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">Full Control<\/span><\/h2><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">I am still working on controlling the diver's depth for a full dive profile. It turns out that combining the BCD and breathing to control depth is more complicated than it looks like. Now that <\/span><a href = \"https:\/\/www.anthropic.com\/claude\/fable\"><span class=\"_richTextNode\">Claude Fable<\/span><\/a><span class=\"_richTextNode\"> is available, maybe I'll give it a try and see if it can figure it out.<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">If anyone is interested, grab my <\/span><a href = \"https:\/\/github.com\/guirlo\/scuba-simulator\"><span class=\"_richTextNode\">scuba-simulator project on GitHub<\/span><\/a><span class=\"_richTextNode\"> and send me a pull request if you can come up with a good control logic. <\/span><\/div><h2  style = 'margin: 3px 10px 5px 4px; padding: 0px; line-height: 25px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 20px; font-weight: 700; text-align: left; '><span class=\"_richTextNode\">Now it's your turn<\/span><\/h2><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><span class=\"_richTextNode\">What new modeling capabilities have AI agents and the Simulink Agentic Toolkit enabled for you? Let us know in the comments below.<\/span><\/div><div  style = 'margin: 2px 10px 9px 4px; padding: 0px; line-height: 21px; min-height: 0px; white-space: pre; color: rgb(33, 33, 33); font-family: Helvetica, Arial, sans-serif, Helvetica, Arial, sans-serif; font-style: normal; font-size: 14px; font-weight: 400; text-align: left; '><\/div>\r\n<br>\r\n<\/div><script type=\"text\/javascript\">\r\n{ let css = '._richTextNode {white-space: break-spaces;}';\r\nlet head = document.head || document.getElementsByTagName('head')[0];\r\nlet style = document.createElement('style');\r\nhead.appendChild(style);\r\nstyle.type = 'text\/css';\r\nif (style.styleSheet) {\r\n    style.styleSheet.cssText = css;\r\n} else {\r\n    style.appendChild(document.createTextNode(css));\r\n}\r\n\r\n\r\n}<\/script>","protected":false},"excerpt":{"rendered":"<div class=\"overview-image\"><img src=\"https:\/\/blogs.mathworks.com\/simulink\/files\/ScubaSimulator.m-07-02-26_5-1.png\" class=\"img-responsive attachment-post-thumbnail size-post-thumbnail wp-post-image\" alt=\"\" decoding=\"async\" loading=\"lazy\" \/><\/div><p>I recently took a week of vacation to go scuba diving in the Caribbean. In the middle of a dive, at about 80 feet down, this idea came to my mind: I need to make a scuba diving simulator!I have... <a class=\"read-more\" href=\"https:\/\/blogs.mathworks.com\/simulink\/2026\/07\/02\/my-scuba-diving-simulator\/\">read more >><\/a><\/p>","protected":false},"author":41,"featured_media":18712,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[700,71,30],"tags":[703,712,105],"_links":{"self":[{"href":"https:\/\/blogs.mathworks.com\/simulink\/wp-json\/wp\/v2\/posts\/18718"}],"collection":[{"href":"https:\/\/blogs.mathworks.com\/simulink\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blogs.mathworks.com\/simulink\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/simulink\/wp-json\/wp\/v2\/users\/41"}],"replies":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/simulink\/wp-json\/wp\/v2\/comments?post=18718"}],"version-history":[{"count":1,"href":"https:\/\/blogs.mathworks.com\/simulink\/wp-json\/wp\/v2\/posts\/18718\/revisions"}],"predecessor-version":[{"id":18719,"href":"https:\/\/blogs.mathworks.com\/simulink\/wp-json\/wp\/v2\/posts\/18718\/revisions\/18719"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/blogs.mathworks.com\/simulink\/wp-json\/wp\/v2\/media\/18712"}],"wp:attachment":[{"href":"https:\/\/blogs.mathworks.com\/simulink\/wp-json\/wp\/v2\/media?parent=18718"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blogs.mathworks.com\/simulink\/wp-json\/wp\/v2\/categories?post=18718"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blogs.mathworks.com\/simulink\/wp-json\/wp\/v2\/tags?post=18718"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}