# GA047040.MI  <-- variety of mission master file GA.MI, which was cloned from NOBM69.MI
#
# NC -> GA mission S1201
#
# surfaces: 04 hrs
# uses:  goto_L70.ma
# uses:  yo40.ma (NO PITCH, battpos 0.0, dive to 45, c/d 6m/9m)
#
# turns off reduced usage mode to force altimeter to turn on at 6m depth
# will ping every 4 seconds instead of halving the distance to the goal
# Needed in shallow water to avoid hitting bottom due to false hits of double water depth.

sensor:  u_alt_reduced_usage_mode(bool)      0 # turns off reduced usage
sensor:  u_alt_min_depth(m)                6.0 # sets min allowable alt usage at 6m


behavior: abend
    b_arg: overdepth_sample_time(s)       10.0 # how often to check
                                               # MS_ABORT_OVERTIME
    b_arg: overtime(s)                    -1.0 # <0 disables

    b_arg: samedepth_for(s)              120.0 # <0 disables
    b_arg: samedepth_for_sample_time(s)   30.0 # how often to check
    b_arg: max_wpt_distance(m)           60000 # allows large range to each leg

# Come up if haven't had comms for 4 hours (14400 seconds)
behavior: surface
    b_arg: args_from_file(enum)         10 # read from mafiles/surfac10.ma
    b_arg: start_when(enum)             12 # 12=BAW_NOCOMM_SECS (no comms for WHEN_SECS secs)
    b_arg: when_secs(sec)            14400 # 4 hour, How long between surfacing, only if start_when==6,9, or 12
    b_arg: end_action(enum)              1 # 1 = wait for ^C quit/resume
    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)
# This condition should not occur with the waypoints set to loop
behavior: surface
    b_arg: args_from_file(enum)         10 # read from mafiles/surfac10.ma
    b_arg: start_when(enum)              3 # 3=BAW_HEADING_IDLE (heading idle, no waypoints)
						# 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)      300 # 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 # 2-pitch idle
    b_arg: end_action(enum)              2 # 0-quit, 1 wait for ^C quit/resume, 2 resume
    b_arg: gps_wait_time(s)             15 # 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 # 8=BAW_WHEN_HIT_WAYPOINT (at a waypoint)
    b_arg: when_wpt_dist(m)            100 # 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 # 11=BAW_SCI_SURFACE (SCI_WANTS_SURFACE is non-zero)
    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

behavior: goto_list
    b_arg: args_from_file(enum)         70 # read from mafiles/goto_l70.ma
    b_arg: start_when(enum)              0 # 0=BAW_IMMEDIATELY

behavior: yo
    b_arg: args_from_file(enum)         40 # read from mafiles/yo40.ma
    b_arg: start_when(enum)              2 # 2=BAW_PITCH_IDLE	#  0-immediately, 1-stack idle 2-depth idle
    b_arg: end_action(enum)              2 # 0-quit, 2 resume

# Sample all science sensors only on downcast
behavior: sample
    b_arg: intersample_time(s)           0 # if < 0 then off
                                           # if = 0 then as fast as possible
                                           # if > 0 then x seconds between measurement
behavior: prepare_to_dive
    b_arg: start_when(enum)              0 # 0=BAW_IMMEDIATELY	 # 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