root/lbmissions/trunk/ramses/lb1015r4.mi

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

Initial import.

Line 
1 # LB1015R4.mi
2 #
3 #       RAMSES
4 #
5 #  Retrieves waypoints from mafiles/goto_l10.ma (which is GCCS generated)
6 #  Retrieves envelope  from mafiles/yo15.ma (3m below surface to 5m 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 (Triplet)
11 #
12 #  Surfaces:
13 #     mission done (finished all the waypoints)
14 #     bad altimeter hit (yo finishes)
15 #     If requested by science
16 #     Every 240 minutes
17 #
18 # 24-May-05 hfargher@DinkumSoftware.com Initial (based on gylov001.mi)
19 # 30-Sep-08 hfargher@webbresearch.com Add max_wpt_distance to abend behavior
20 # 11-Nov-11 catherine.edwards@skio.usg.edu Customize for GCCS
21 # 18-Jan-12 cbc@unc.edu Add sampling behavior
22 #
23
24 sensor: u_use_current_correction(nodim) 0   #  0 calculate, but do not use m_water_vx/y
25                                             #  1 use m_water_vx/y to navigate AND aim
26
27 sensor: c_science_send_all(bool) 0  # T->send all sci_ vars from science but still log them on science.
28                                     # F->just send standard subset but still log them all on science.
29
30 sensor: c_science_all_on_enabled(bool)   0  # in, non-zero enables c_science_all_on     
31                                             # disable this sensor to allow for individually
32                                             # sampled science sensors ie sample11.ma and greater
33
34 behavior: abend
35     b_arg: overdepth_sample_time(s)       10.0 # how often to check
36
37                                                # MS_ABORT_OVERTIME
38     b_arg: overtime(s)                    -1.0 # < 0 disables
39
40                                                 # MS_ABORT_WPT_TOOFAR
41     b_arg: max_wpt_distance(m)            10000 # Maximum allowable distance to a waypoint
42                                        
43
44     b_arg: samedepth_for_sample_time(s)   30.0 # how often to check
45
46 # Come up if haven't had comms for a while, 20 minutes
47 #behavior: surface
48 #    b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
49 #    b_arg: start_when(enum) 12     # BAW_NOCOMM_SECS 12, when have not had comms for WHEN_SECS secs
50 #    b_arg: when_secs(sec)   120    # 20 min, How long between surfacing, only if start_when==6,9, or 12
51 #    b_arg: end_action(enum) 1      # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
52 #    b_arg: keystroke_wait_time(sec) 300   # how long to wait for control-C
53
54
55
56     # Come up when mission done
57     # This is determined by no one steering in x-y plane (no waypoints)
58 behavior: surface
59     b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
60     b_arg: start_when(enum)   3   # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle
61                                   # 6-when_secs, 7-when_wpt_dist
62     b_arg: end_action(enum)  0     # 0-quit, 1 wait for ^C quit/resume, 2 resume
63     b_arg: gps_wait_time(s) 300    # how long to wait for gps
64     b_arg: keystroke_wait_time(s) 180   # how long to wait for control-C
65
66
67     # Come up briefly if "yo" finishes
68     # This happens if a bad altimeter hit causes a dive and climb to
69     # complete in same cycle.  We surface and hopefully yo restarts
70 behavior: surface
71     b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
72     b_arg: start_when(enum)   2   # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle
73                                   # 6-when_secs, 7-when_wpt_dist
74     b_arg: end_action(enum)   1     # 0-quit, 1 wait for ^C quit/resume, 2 resume
75     b_arg: gps_wait_time(s) 300    # how long to wait for gps
76     b_arg: keystroke_wait_time(s) 15   # how long to wait for control-C
77
78
79
80     # Come up every way point
81 #behavior: surface
82 #    b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
83 #    b_arg: start_when(enum)    8   # 0-immediately, 1-stack idle 2-depth idle 6-when_secs
84                                   # 7-when_wpt_dist 8-when hit waypoint 9-every when_secs
85 #    b_arg: when_wpt_dist(m)  10   # how close to waypoint before surface,
86
87 #    b_arg: end_action(enum)   1     # 0-quit, 1 wait for ^C quit/resume, 2 resume
88 #    # b_arg: report_all(bool)   0     # T->report all sensors once, F->just gps
89 #    b_arg: gps_wait_time(s) 300    # how long to wait for gps
90 #    b_arg: keystroke_wait_time(s) 300   # how long to wait for control-C
91
92
93     # Come up when requested by science
94 behavior: surface
95     b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
96     b_arg: start_when(enum)     11 # BAW_SCI_SURFACE
97     b_arg: end_action(enum)   1     # 0-quit, 1 wait for ^C quit/resume, 2 resume
98     b_arg: report_all(bool)   0     # T->report all sensors once, F->just gps
99     b_arg: gps_wait_time(s) 300    # how long to wait for gps
100     b_arg: keystroke_wait_time(s) 300   # how long to wait for control-C
101
102
103     # Come up every 240 minutes
104 behavior: surface
105     b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma
106     b_arg: start_when(enum)    9   # 0-immediately, 1-stack idle 2-depth idle 6-when_secs
107                                   # 7-when_wpt_dist 8-when hit waypoint 9-every when_secs
108     b_arg: when_secs(s)   14400   # How long between surfacing, only if start_when==6 or 9
109
110     b_arg: end_action(enum)   1     # 0-quit, 1 wait for ^C quit/resume, 2 resume
111     b_arg: report_all(bool)   1     # T->report all sensors once, F->just gps
112     b_arg: gps_wait_time(s) 300    # how long to wait for gps
113     b_arg: keystroke_wait_time(s) 300   # how long to wait for control-C
114
115
116
117 behavior: goto_list
118     b_arg: args_from_file(enum) 10   # read from mafiles/goto_l10.ma
119     b_arg: start_when(enum)      0   # 0-immediately, 1-stack idle 2-heading idle
120
121
122 behavior: yo
123     b_arg: args_from_file(enum) 15   # read from mafiles/yo15.ma
124     b_arg: start_when(enum) 2        #  0-immediately, 1-stack idle 2-depth idle
125     b_arg: end_action(enum) 2        # 0-quit, 2 resume
126
127
128 # Sample CTD
129 behavior: sample
130 b_arg: args_from_file(enum)            10  # >= 0 enables reading from mafiles/sample10.ma
131
132 # Sample Optode
133 behavior: sample
134 b_arg: args_from_file(enum)            20  # >= 0 enables reading from mafiles/sample20.ma
135
136 # Sample Wetlabs Triplet
137 behavior: sample
138 b_arg: args_from_file(enum)            30  # >= 0 enables reading from mafiles/sample30.ma
139
140 behavior: prepare_to_dive
141     b_arg: start_when(enum) 0     # 0-immediately, 1-stack idle 2-depth idle
142     b_arg: wait_time(s)   720     # 12 minutes, how long to wait for gps
143
144
145 behavior: sensors_in       # Turn most input sensors off
Note: See TracBrowser for help on using the browser.