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# LB1055P2.mi |
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# |
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# PELAGIA |
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# Retrieves waypoints from mafiles/goto_l10.ma (which is GCCS generated) |
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# Retrieves envelope from mafiles/yo55.ma (5m below surface to 5m above bottom) |
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# Retrieves climb to surface controls from mafiles/surfac10.ma |
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# Retrieves sampling behavior from mafiles/sample10.ma (CTD) |
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# mafiles/sample20.ma (Optode) |
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# mafiles/sample30.ma (Scatterometer) |
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# mafiles/sample40.ma (BBAM) |
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# Surfaces: |
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# mission done (finished all the waypoints) |
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# bad altimeter hit (yo finishes) |
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# If requested by science |
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# Every 120 minutes |
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# 24-May-05 hfargher@DinkumSoftware.com Initial (based on gylov001.mi) |
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# 30-Sep-08 hfargher@webbresearch.com Add max_wpt_distance to abend behavior |
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# 11-Nov-11 catherine.edwards@skio.usg.edu Customize for GCCS |
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# 18-Jan-12 cbc@unc.edu Add sampling behavior |
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# |
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sensor: u_use_current_correction(nodim) 0 # 0 calculate, but do not use m_water_vx/y |
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# 1 use m_water_vx/y to navigate AND aim |
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sensor: c_science_send_all(bool) 0 # T->send all sci_ vars from science but still log them on science. |
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# F->just send standard subset but still log them all on science. |
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sensor: c_science_all_on_enabled(bool) 0 # in, non-zero enables c_science_all_on |
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# disable this sensor to allow for individually |
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# sampled science sensors ie sample11.ma and greater |
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behavior: abend |
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b_arg: overdepth_sample_time(s) 10.0 # how often to check |
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# MS_ABORT_OVERTIME |
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b_arg: overtime(s) -1.0 # < 0 disables |
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# MS_ABORT_WPT_TOOFAR |
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b_arg: max_wpt_distance(m) 10000 # Maximum allowable distance to a waypoint |
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b_arg: samedepth_for_sample_time(s) 30.0 # how often to check |
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# Come up if haven't had comms for a while, 20 minutes |
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#behavior: surface |
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# b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma |
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# b_arg: start_when(enum) 12 # BAW_NOCOMM_SECS 12, when have not had comms for WHEN_SECS secs |
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# b_arg: when_secs(sec) 120 # 20 min, How long between surfacing, only if start_when==6,9, or 12 |
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# b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist" |
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# b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C |
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# Come up when mission done |
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# This is determined by no one steering in x-y plane (no waypoints) |
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behavior: surface |
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b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma |
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b_arg: start_when(enum) 3 # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle |
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# 6-when_secs, 7-when_wpt_dist |
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b_arg: end_action(enum) 0 # 0-quit, 1 wait for ^C quit/resume, 2 resume |
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b_arg: gps_wait_time(s) 300 # how long to wait for gps |
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b_arg: keystroke_wait_time(s) 180 # how long to wait for control-C |
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# Come up briefly if "yo" finishes |
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# This happens if a bad altimeter hit causes a dive and climb to |
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# complete in same cycle. We surface and hopefully yo restarts |
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behavior: surface |
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b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma |
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b_arg: start_when(enum) 2 # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle |
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# 6-when_secs, 7-when_wpt_dist |
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b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume |
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b_arg: gps_wait_time(s) 300 # how long to wait for gps |
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b_arg: keystroke_wait_time(s) 15 # how long to wait for control-C |
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# Come up every way point |
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#behavior: surface |
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# b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma |
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# b_arg: start_when(enum) 8 # 0-immediately, 1-stack idle 2-depth idle 6-when_secs |
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# 7-when_wpt_dist 8-when hit waypoint 9-every when_secs |
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# b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, |
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# b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume |
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# # b_arg: report_all(bool) 0 # T->report all sensors once, F->just gps |
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# b_arg: gps_wait_time(s) 300 # how long to wait for gps |
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# b_arg: keystroke_wait_time(s) 300 # how long to wait for control-C |
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# Come up when requested by science |
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behavior: surface |
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b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma |
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b_arg: start_when(enum) 11 # BAW_SCI_SURFACE |
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b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume |
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b_arg: report_all(bool) 0 # T->report all sensors once, F->just gps |
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b_arg: gps_wait_time(s) 300 # how long to wait for gps |
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b_arg: keystroke_wait_time(s) 300 # how long to wait for control-C |
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# Come up every 120 minutes |
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behavior: surface |
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b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma |
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b_arg: start_when(enum) 9 # 0-immediately, 1-stack idle 2-depth idle 6-when_secs |
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# 7-when_wpt_dist 8-when hit waypoint 9-every when_secs |
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b_arg: when_secs(s) 7200 # How long between surfacing, only if start_when==6 or 9 |
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b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume |
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b_arg: report_all(bool) 1 # T->report all sensors once, F->just gps |
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b_arg: gps_wait_time(s) 300 # how long to wait for gps |
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b_arg: keystroke_wait_time(s) 300 # how long to wait for control-C |
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behavior: goto_list |
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b_arg: args_from_file(enum) 10 # read from mafiles/goto_l10.ma |
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b_arg: start_when(enum) 0 # 0-immediately, 1-stack idle 2-heading idle |
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behavior: yo |
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b_arg: args_from_file(enum) 55 # read from mafiles/yo55.ma |
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b_arg: start_when(enum) 2 # 0-immediately, 1-stack idle 2-depth idle |
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b_arg: end_action(enum) 2 # 0-quit, 2 resume |
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# Sample CTD |
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behavior: sample |
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b_arg: args_from_file(enum) 10 # >= 0 enables reading from mafiles/sample10.ma |
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# Sample Optode |
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behavior: sample |
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b_arg: args_from_file(enum) 20 # >= 0 enables reading from mafiles/sample20.ma |
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# Sample Wetlabs custom 3-param fluorescence/scattering meter |
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behavior: sample |
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b_arg: args_from_file(enum) 30 # >= 0 enables reading from mafiles/sample30.ma |
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# Sample Wetlabs BBAM beam attenuation meter simulator |
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behavior: sample |
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b_arg: args_from_file(enum) 40 # >= 0 enables reading from mafiles/sample40.ma |
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behavior: prepare_to_dive |
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b_arg: start_when(enum) 0 # 0-immediately, 1-stack idle 2-depth idle |
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b_arg: wait_time(s) 720 # 12 minutes, how long to wait for gps |
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behavior: sensors_in # Turn most input sensors off |
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