# LB2020P5.MI # # PELAGIA # # Retrieves waypoints from mafiles/goto_l20.ma (which is GCCS generated) # Retrieves envelope from mafiles/yo20.ma (3m below surface to 3m above bottom) # Retrieves climb to surface controls from mafiles/surfac10.ma # Retrieves sampling behavior from mafiles/sample10.ma (CTD) # mafiles/sample20.ma (Optode) # mafiles/sample30.ma (Scatterometer) # mafiles/sample40.ma (BBAM) # # Surfaces: # mission done (finished all the waypoints) # bad altimeter hit (yo finishes) # If requested by science # Every 300 minutes # # 24-May-05 hfargher@DinkumSoftware.com Initial (based on gylov001.mi) # 30-Sep-08 hfargher@webbresearch.com Add max_wpt_distance to abend behavior # 11-Nov-11 catherine.edwards@skio.usg.edu Customize for GCCS # 18-Jan-12 cbc@unc.edu Add sampling behavior # 30-Jan-12 cbc@unc.edu Change overdepth_sample_time from 10.0 to 20.0 per Ben Allsup # sensor: u_use_current_correction(nodim) 0 # 0 calculate, but do not use m_water_vx/y # 1 use m_water_vx/y to navigate AND aim sensor: c_science_send_all(bool) 0 # T->send all sci_ vars from science but still log them on science. # F->just send standard subset but still log them all on science. sensor: c_science_all_on_enabled(bool) 0 # in, non-zero enables c_science_all_on # disable this sensor to allow for individually # sampled science sensors ie sample11.ma and greater behavior: abend b_arg: overdepth_sample_time(s) 20.0 # how often to check # MS_ABORT_OVERTIME b_arg: overtime(s) -1.0 # < 0 disables # MS_ABORT_WPT_TOOFAR b_arg: max_wpt_distance(m) 10000 # Maximum allowable distance to a waypoint b_arg: samedepth_for_sample_time(s) 30.0 # how often to check # Come up if haven't had comms for a while, 20 minutes #behavior: surface # b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma # b_arg: start_when(enum) 12 # BAW_NOCOMM_SECS 12, when have not had comms for WHEN_SECS secs # b_arg: when_secs(sec) 120 # 20 min, How long between surfacing, only if start_when==6,9, or 12 # b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist" # b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C # Come up when mission done # This is determined by no one steering in x-y plane (no waypoints) behavior: surface b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma b_arg: start_when(enum) 3 # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle # 6-when_secs, 7-when_wpt_dist b_arg: end_action(enum) 0 # 0-quit, 1 wait for ^C quit/resume, 2 resume b_arg: gps_wait_time(s) 300 # how long to wait for gps b_arg: keystroke_wait_time(s) 180 # how long to wait for control-C # Come up briefly if "yo" finishes # This happens if a bad altimeter hit causes a dive and climb to # complete in same cycle. We surface and hopefully yo restarts behavior: surface b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma b_arg: start_when(enum) 2 # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle # 6-when_secs, 7-when_wpt_dist b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume b_arg: gps_wait_time(s) 300 # how long to wait for gps b_arg: keystroke_wait_time(s) 15 # how long to wait for control-C # Come up every way point #behavior: surface # b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma # b_arg: start_when(enum) 8 # 0-immediately, 1-stack idle 2-depth idle 6-when_secs # 7-when_wpt_dist 8-when hit waypoint 9-every when_secs # b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, # b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume # # b_arg: report_all(bool) 0 # T->report all sensors once, F->just gps # b_arg: gps_wait_time(s) 300 # how long to wait for gps # b_arg: keystroke_wait_time(s) 300 # how long to wait for control-C # Come up when requested by science behavior: surface b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma b_arg: start_when(enum) 11 # BAW_SCI_SURFACE b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume b_arg: report_all(bool) 0 # T->report all sensors once, F->just gps b_arg: gps_wait_time(s) 300 # how long to wait for gps b_arg: keystroke_wait_time(s) 300 # how long to wait for control-C # Come up every 300 minutes behavior: surface b_arg: args_from_file(enum) 10 # read from mafiles/surfac10.ma b_arg: start_when(enum) 9 # 0-immediately, 1-stack idle 2-depth idle 6-when_secs # 7-when_wpt_dist 8-when hit waypoint 9-every when_secs b_arg: when_secs(s) 18000 # How long between surfacing, only if start_when==6 or 9 b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume b_arg: report_all(bool) 1 # T->report all sensors once, F->just gps b_arg: gps_wait_time(s) 300 # how long to wait for gps b_arg: keystroke_wait_time(s) 300 # how long to wait for control-C behavior: goto_list b_arg: args_from_file(enum) 20 # read from mafiles/goto_l20.ma b_arg: start_when(enum) 0 # 0-immediately, 1-stack idle 2-heading idle behavior: yo b_arg: args_from_file(enum) 20 # read from mafiles/yo20.ma b_arg: start_when(enum) 2 # 0-immediately, 1-stack idle 2-depth idle b_arg: end_action(enum) 2 # 0-quit, 2 resume # Sample CTD behavior: sample b_arg: args_from_file(enum) 10 # >= 0 enables reading from mafiles/sample10.ma # Sample Optode behavior: sample b_arg: args_from_file(enum) 20 # >= 0 enables reading from mafiles/sample20.ma # Sample Wetlabs custom 3-param fluorescence/scattering meter behavior: sample b_arg: args_from_file(enum) 30 # >= 0 enables reading from mafiles/sample30.ma # Sample Wetlabs BBAM beam attenuation meter simulator behavior: sample b_arg: args_from_file(enum) 40 # >= 0 enables reading from mafiles/sample40.ma behavior: prepare_to_dive b_arg: start_when(enum) 0 # 0-immediately, 1-stack idle 2-depth idle b_arg: wait_time(s) 720 # 12 minutes, how long to wait for gps behavior: sensors_in # Turn most input sensors off