root/lbmissions/trunk/pelagia/lb1010p4.mi

Revision 17 (checked in by cbc, 12 years ago)

Initial import.

Line 
1 # LB1010P4.mi
2 #
3 #       PELAGIA
4 #
5 #  Retrieves waypoints from mafiles/goto_l10.ma (which is GCCS generated)
6 #  Retrieves envelope  from mafiles/yo10.ma (3m below surface to 3m above bottom)
7 #  Retrieves climb to surface controls from mafiles/surfac10.ma
8 #  Retrieves sampling behavior from mafiles/sample10.ma (CTD)
9 #                                   mafiles/sample20.ma (Optode)
10 #                                   mafiles/sample30.ma (Scatterometer)
11 #                                   mafiles/sample40.ma (BBAM)
12 #
13 #  Surfaces:
14 #     mission done (finished all the waypoints)
15 #     bad altimeter hit (yo finishes)
16 #     If requested by science
17 #     Every 240 minutes
18 #
19 # 24-May-05 hfargher@DinkumSoftware.com Initial (based on gylov001.mi)
20 # 30-Sep-08 hfargher@webbresearch.com Add max_wpt_distance to abend behavior
21 # 11-Nov-11 catherine.edwards@skio.usg.edu Customize for GCCS
22 # 18-Jan-12 cbc@unc.edu Add sampling behavior
23 #
24
25 sensor: u_use_current_correction(nodim) 0   #  0 calculate, but do not use m_water_vx/y
26                                             #  1 use m_water_vx/y to navigate AND aim
27
28 sensor: c_science_send_all(bool) 0  # T->send all sci_ vars from science but still log them on science.
29                                     # F->just send standard subset but still log them all on science.
30
31 sensor: c_science_all_on_enabled(bool)   0  # in, non-zero enables c_science_all_on     
32                                             # disable this sensor to allow for individually
33                                             # sampled science sensors ie sample11.ma and greater
34
35 behavior: abend
36     b_arg: overdepth_sample_time(s)       10.0 # how often to check
37
38                                                # MS_ABORT_OVERTIME
39     b_arg: overtime(s)                    -1.0 # < 0 disables
40
41                                                 # MS_ABORT_WPT_TOOFAR
42     b_arg: max_wpt_distance(m)            10000 # Maximum allowable distance to a waypoint
43                                        
44
45     b_arg: samedepth_for_sample_time(s)   30.0 # how often to check
46
47 # Come up if haven't had comms for a while, 20 minutes
48 #behavior: surface
49 #    b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
50 #    b_arg: start_when(enum) 12     # BAW_NOCOMM_SECS 12, when have not had comms for WHEN_SECS secs
51 #    b_arg: when_secs(sec)   120    # 20 min, How long between surfacing, only if start_when==6,9, or 12
52 #    b_arg: end_action(enum) 1      # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
53 #    b_arg: keystroke_wait_time(sec) 300   # how long to wait for control-C
54
55
56
57     # Come up when mission done
58     # This is determined by no one steering in x-y plane (no waypoints)
59 behavior: surface
60     b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
61     b_arg: start_when(enum)   3   # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle
62                                   # 6-when_secs, 7-when_wpt_dist
63     b_arg: end_action(enum)  0     # 0-quit, 1 wait for ^C quit/resume, 2 resume
64     b_arg: gps_wait_time(s) 300    # how long to wait for gps
65     b_arg: keystroke_wait_time(s) 180   # how long to wait for control-C
66
67
68     # Come up briefly if "yo" finishes
69     # This happens if a bad altimeter hit causes a dive and climb to
70     # complete in same cycle.  We surface and hopefully yo restarts
71 behavior: surface
72     b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
73     b_arg: start_when(enum)   2   # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle
74                                   # 6-when_secs, 7-when_wpt_dist
75     b_arg: end_action(enum)   1     # 0-quit, 1 wait for ^C quit/resume, 2 resume
76     b_arg: gps_wait_time(s) 300    # how long to wait for gps
77     b_arg: keystroke_wait_time(s) 15   # how long to wait for control-C
78
79
80
81     # Come up every way point
82 #behavior: surface
83 #    b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
84 #    b_arg: start_when(enum)    8   # 0-immediately, 1-stack idle 2-depth idle 6-when_secs
85                                   # 7-when_wpt_dist 8-when hit waypoint 9-every when_secs
86 #    b_arg: when_wpt_dist(m)  10   # how close to waypoint before surface,
87
88 #    b_arg: end_action(enum)   1     # 0-quit, 1 wait for ^C quit/resume, 2 resume
89 #    # b_arg: report_all(bool)   0     # T->report all sensors once, F->just gps
90 #    b_arg: gps_wait_time(s) 300    # how long to wait for gps
91 #    b_arg: keystroke_wait_time(s) 300   # how long to wait for control-C
92
93
94     # Come up when requested by science
95 behavior: surface
96     b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
97     b_arg: start_when(enum)     11 # BAW_SCI_SURFACE
98     b_arg: end_action(enum)   1     # 0-quit, 1 wait for ^C quit/resume, 2 resume
99     b_arg: report_all(bool)   0     # T->report all sensors once, F->just gps
100     b_arg: gps_wait_time(s) 300    # how long to wait for gps
101     b_arg: keystroke_wait_time(s) 300   # how long to wait for control-C
102
103
104     # Come up every 240 minutes
105 behavior: surface
106     b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
107     b_arg: start_when(enum)    9   # 0-immediately, 1-stack idle 2-depth idle 6-when_secs
108                                   # 7-when_wpt_dist 8-when hit waypoint 9-every when_secs
109     b_arg: when_secs(s)   14400   # How long between surfacing, only if start_when==6 or 9
110
111     b_arg: end_action(enum)   1     # 0-quit, 1 wait for ^C quit/resume, 2 resume
112     b_arg: report_all(bool)   1     # T->report all sensors once, F->just gps
113     b_arg: gps_wait_time(s) 300    # how long to wait for gps
114     b_arg: keystroke_wait_time(s) 300   # how long to wait for control-C
115
116
117
118 behavior: goto_list
119     b_arg: args_from_file(enum) 10   # read from mafiles/goto_l10.ma
120     b_arg: start_when(enum)      0   # 0-immediately, 1-stack idle 2-heading idle
121
122
123 behavior: yo
124     b_arg: args_from_file(enum) 10   # read from mafiles/yo10.ma
125     b_arg: start_when(enum) 2        #  0-immediately, 1-stack idle 2-depth idle
126     b_arg: end_action(enum) 2        # 0-quit, 2 resume
127
128
129 # Sample CTD
130 behavior: sample
131 b_arg: args_from_file(enum)            10  # >= 0 enables reading from mafiles/sample10.ma
132
133 # Sample Optode
134 behavior: sample
135 b_arg: args_from_file(enum)            20  # >= 0 enables reading from mafiles/sample20.ma
136
137 # Sample Wetlabs custom 3-param fluorescence/scattering meter
138 behavior: sample
139 b_arg: args_from_file(enum)            30  # >= 0 enables reading from mafiles/sample30.ma
140
141 # Sample Wetlabs BBAM beam attenuation meter simulator
142 behavior: sample
143 b_arg: args_from_file(enum)            40  # >= 0 enables reading from mafiles/sample40.ma
144
145 behavior: prepare_to_dive
146     b_arg: start_when(enum) 0     # 0-immediately, 1-stack idle 2-depth idle
147     b_arg: wait_time(s)   720     # 12 minutes, how long to wait for gps
148
149
150 behavior: sensors_in       # Turn most input sensors off
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