#if 0# Copyright (C) 1994-1998, Massachusetts Institute of Technology.# Modifications Copyright (C) 1999-2005 Webb Research Corporation# Proprietary to Sea Grant AUV Laboratory. All rights reserved.# -- deleted a bunch of history -- 12-May-99 tc@DinkumSoftware.com# -- deleted a bunch of history -- 27-Apr-99 thru 17-jul-99# -- deleted a bunch of history -- 26-jul-99 thru 27-mar-00# -- deleted a bunch of history -- 05-Apr-00 thru 07-may-00# -- deleted a bunch of history -- 08-may-00 thru 31-jul-00# -- deleted a bunch of history -- 01-Aug-00 thru 04-Oct-00# -- deleted a bunch of history -- 19-Oct-00 thru 29-Oct-01# -- deleted a bunch of history -- 09-Nov-01 thru 02-Jan-02# -- deleted a bunch of history -- 02-Jan-02 thru 29-jul-02# -- deleted a bunch of history -- 02-Aug-02 thru 20-Dec-02# -- deleted a bunch of history -- 18-jan-03 thru 21-Dec-03# -- deleted a bunch of history -- 31-jan-04 thru 08-Dec-04# 05-Jan-05 fnj@DinkumSoftware.com SN#3193 Changed reqd_spare_heap from 150000 to 75000.# We were getting heap aborts at start of# mission or during the mission.# 10-Jan-05 pfurey@DinkumSoftware.com SN#3194 Added c_oil_volume_time(sec),# c_oil_volume_recall(msec),# c_oil_volume_measuring_delay(sec),# c_oil_volume(cc),# m_oil_volume(cc),# dc_c_de_updown(enum),# f_oil_volume_safety_max(cc),# f_oil_volume_deadz_width(cc),# f_oil_volume_cal_m(cc/volt),# f_oil_volume_cal_b(cc),# f_oil_volume_db_frac_dz(nodim),# f_neutral_oil_volume(cc),# f_oil_pot_voltage_min(volts),# f_oil_pot_voltage_max(volts),# f_oil_volume_in_system(cc),# x_oil_volume_max(cc),# x_oil_volume_deadband(cc),# m_oil_pot_voltage(volts),# cc_de_eng_mode(enum),# cc_final_de_eng_mode(enum),# dc_c_oil_volume(cc),# c_de_updown(enum),# m_de_updown(enum),# c_de_pump(enum),# m_de_pump(enum),# m_secs_since_de_substate_change(secs),# c_alt_recall(msec),# c_att_recall(msec),# u_battery_recall(msec),# c_profile_recall(msec),# c_pressure_recall(msec),# c_leakdetect_recall(msec),# c_eng_pressure_recall(msec),# u_vacuum_recall(msec),# c_de_recall(msec),# m_de_recall(msec),# c_oil_volume_deadband(cc),# m_is_de_engine_moving(bool),# m_depth_rejected(bool),# Added new comments for c_air_pump.# Added oil_volume_sample_time(sec) argument# to abend behavior. Added nop_de_eng(bool)# to nop_cmds behavior.# 01-Feb-05 pfurey@DinkumSoftware.com SN#3195 Added u_depth_rate_filter_factor# 07-Feb-05 tc@DinkumSoftware.com SN#3196 Fixed typo in behavior sample# 18-Feb-05 tc@DinkumSoftware.com SN#3197 behavior surface, new b_arg: end_action:# 5-wait for ^C quit on timeout# 28-Feb-05 pfurey@DinkumSoftware.com SN#3198 Added c_viper_on(sec),# c_viper_turn_on_timeout(sec),# c_viper_collect_timeout(sec),# c_viper_reset_timeout(sec),# c_viper_start_sampling_timeout(sec),# c_viper_detection_done_timeout(sec),# c_viper_turn_off_timeout(sec),# c_viper_gain(nodim),# c_viper_max_sample_starts(nodim),# c_viper_max_errors(nodim),# sci_viper_power_on(bool),# sci_viper_error(nodim),# sci_viper_target(enum),# sci_viper_collect_time(sec),# sci_viper_is_installed(bool),# sci_viper_finished(bool), and# sci_viper_collecting(bool).# Added bviper behavior and args.# Support for start_when arg# BAW_WHEN_UTC_TIME.# Added comatose arg# start_sci_viper_collecting# 15-Mar-05 pfurey@DinkumSoftware.com SN#3199 Added c_whfctd_on(sec),# c_whfctd_num_fields_to_send(nodim),# sci_whfctd_is_installed(bool),# sci_whfctd_ref_hi(nodim),# sci_whfctd_ref_mid(nodim),# sci_whfctd_ref_lo(nodim),# sci_whfctd_raw_temp(nodim),# sci_whfctd_raw_con1(nodim),# sci_whfctd_raw_con2(nodim),# sci_whfctd_raw_pres(nodim), and# sci_whfctd_elap_time(nodim).# Added f_thermal_valve_rate(msec).# 19-Mar-05 tc@DinkumSoftware.com Merged 3 at sea changes into cvs: SN#3205# 07-Mar-05 tc@DinkumSoftware.com SN#3199 at sea on the CFAV quest..# behavior:bviper, new b_args:# min_sample_depth(m), max_sample_depth(m)# 08-Mar-05 tc@DinkumSoftware.com SN#3200 at sea on the CFAV quest.. new sensors:# m_at_risk_depth(m)# u_thermal_valve_time_in_down_pos(s)# 09-Mar-05 tc@DinkumSoftware.com SN#3201 at sea, change default for# behavior abend: b-arg: eng_pressure_mul# 0.90 to 1.10# 24-Mar-05 pfurey@DinkumSoftware.com SN#3202 Made c_whfctd_on a sample b_arg# 11-Apr-05 pfurey@DinkumSoftware.com SN#3203 Added x_argos_type(enum) and# f_argos_format(enum).# 13-Apr-05 fnj@DinkumSoftware.com Fixed spelling of buoyancy in comments.# Did not change SN.# 30-Mar-05 tc@DinkumSoftware.com SN#3220 thermal simulator# Changed computed simulated sensor names for consistency# sx_water_depth ==> xs_water_depth# 31-Mar-05 tc@DinkumSoftware.com SN#3222 s_vehicle_temp ==> sx_vehicle_temp# Added s_vehicle_temp_tc, xs_wax_temp# s_wax_freeze_temp# 08-Apr-05 tc@DinkumSoftware.com SN#3223 Added U_PRINT_ENGINE_STATUS# 09-Apr-05 tc@DinkumSoftware.com SN#3224 F_THERMAL_VALVE_RATE(msec) ==># F_THERMAL_VALVE_TIME_OVER_SLOT(msec)# 18-Apr-05 tc@DinkumSoftware.com SN#3225 massive sensor renaming# 18-Apr-05 tc@DinkumSoftware.com SN#3226 f_thremal_pres_full_scale ==> f_thermal_pres_full_scale(bar)# 18-Apr-05 tc@DinkumSoftware.com SN#3227 Missed 5 sensors in conversion# 19-Apr-05 tc@DinkumSoftware.com SN#3228 screwed up another one in conversion# f_thermal_acc_pres_full_min/max ==> f_thermal_acc_pres_min/max# 19-Apr-05 tc@DinkumSoftware.com SN#3240 massive merge of tc-development-11 to head# 23-Apr-05 tc@DinkumSoftware.com SN#3250 at sea on Walton-Smith# u_abort_c_battpos(in) -100. max aft,# rocket to surface, it will clip# u_pinger_max_depth(m) 1000# 23-Apr-05 tc@DinkumSoftware.com SN#3251 at sea on Walton-Smith# U_ABORT_MAX_BURN_TIME 3600 ==> 14400 (4hr)# 24-Apr-05 tc@DinkumSoftware.com SN#3252 at sea on Walton-Smith# added u_use_ctd_depth_for_flying# 11-May-05 tc@DinkumSoftware.com SN#3253 all sx_NNN ==> xs_NNN# I'll get it right one of these days# 12-May-05 pfurey@DinkumSoftware.com SN#3254 added X_ARE_RUNNING_ONETIME_SEQUENCE# and mission_ender behavior# 13-May-05 tc@DinkumSoftware.com SN#3255 added u_stale_gps_msg_period# Deleted a whole bunch of history (all of 2004)# 16-May-05 tc@DinkumSoftware.com SN#3256 Added x_pressure_manual_cal_now(bool)# note: some serial numbers duplicated in following list as code changes# were made on development branches. branches merged at SN#3270# 31-May-05 pfurey@DinkumSoftware.com SN#3257 Added u_ping_n_enabled# 02-Jun-05 pfurey@DinkumSoftware.com SN#3258 Added: sci_sam_c_mix(nodim),# sci_sam_vis(nodim),# sci_sam_filter_age(sec),# u_sam_exp1coeff(nodim),# u_sam_exp2coeff(nodim),# u_sam_eff_pathlength(nodim),# u_sam_a(nodim),# u_sam_transition_val(nodim),# and u_sam_offset(nodim).# Removed: sci_sam_c_eng_units(nodim),# sci_sam_c_eng_units_delay(sec),# u_sam_s_factor(nodim),# and u_sam_s_offset(nodim).# 7-Jun-05 tc@DinkumSoftware.com Changes from jhillier@mote.org# Changed Motebb variables:# clock rolls backward# 26-May-05 tc@DinkumSoftware.com SN#3257 added sensor: s_corrupted_pressure_spike(bool)# 28-May-05 tc@DinkumSoftware.com SN#3258 changed units and meaning of u_pressure_autocal_performed# Switched xs_pressure_drift from bar to volts to# accurately simulate# 29-May-05 tc@DinkumSoftware.com SN#3259 Added s_ocean_pressure_min(volts)# 09-Jun-05 tc@DinkumSoftware.com SN#3260 u_depth_rate_filter_factor 3==>4# 10-Jun-05 tc@DinkumSoftware.com SN#3261 Added x_SURFACE_EST_xxx sensors (a bunch)# 10-Jun-05 tc@DinkumSoftware.com SN#3263 Added u_depth_rate_filter_sub_sur_dep(m)# changed meaning of M_DEPTH_REJECTED# Added X_MEASURED_DEPTH and M_CERTAINLY_AT_SURFACE# 11-Jun-05 tc@DinkumSoftware.com SN#3265 u_sci_cmd_max_ack_wait_time(s) 15 => 60# added m_device_drivers_called_abnormally# x_sent_data_files x_num_bang_cmds_done# 14-Jun-05 tc@DinkumSoftware.com SN#3267 added u_allowable_cycle_overrun(msec)# added behavior abend:# b_arg: max_allowable_busy_cpu_cycles(cycles)# 15-Jun-05 tc@DinkumSoftware.com SN#3270 merged tc-development-12, end of duplicate SN#s# 15-Jun-05 tc@DinkumSoftware.com SN#3271 u_allowable_cycle_overrun(msec) 750 ==> 1000# b_arg: max_allowable_busy_cpu_cycles(cycles) 5==>10# 17-Jun-05 pfurey@DinkumSoftware.com SN#3272 Added u_max_secs_in_de_substate# 01-Jul-05 tc@DinkumSoftware.com documentation change only: x_lmc_xy_source# 02-Aug-05 pfurey@DinkumSoftware.com SN#3273 Added surface behavior argument:# sensor_input_wait_time.# 04-Aug-05 pfurey@DinkumSoftware.com SN#3274 Changed the default value of# surface: b_arg report_all(bool)# from 1 (all sensors) to 0 (just gps).# 11-Aug-05 pfurey@DinkumSoftware.com SN#3275 Changed the default values of# dive_to b_arg:# stop_when_hover_for(sec) 30->180# stop_when_stalled_for(sec) 60->240# climb_to b_arg:# stop_when_stalled_for(sec) 60->240# yo b_arg:# c/d_stop_when_hover_for(sec) 30->180# c/d_stop_when_stalled_for(sec) 60->240# 17-Aug-05 pfurey@DinkumSoftware.com SN# 3276 Changed the default u_cycle_time# from 2 to 4 seconds.# 12-Sep-05 pfurey@DinkumSoftware.com SN# 3277 Added sensors for fl3slo and# bb3slo proglets.# 03-Oct-05 pfurey@DinkumSoftware.com SN# 3278 Added u_XXX_is_calibrated(bool)# sensors for the following# proglets: bb2c, bb2lss, bb3slo,# fl3slo, and sam.# 21-Oct-05 pfurey@DinkumSoftware.com SN# 3279 Added sensors for deep-electric# rework:# f_de_max_secs_for_updown_to_finish(secs),# x_de_target_oil_vol(cc),# f_de_target_oil_drift_m(cc/bar),# f_de_target_oil_drift_b(cc), and# u_thermal_valve_check_time(sec).# Renamed c_de_oil_vol_deadband(cc),# to c_neutral_oil_vol_deadband(cc).# Changed default values of# f_de_oil_vol_deadz_width(cc)# from 60.0 to 30.0 and# f_de_oil_vol_db_frac_dz(cc)# from 0.25 to 0.5.# 24-Oct-05 pfurey@DinkumSoftware.com SN# 3280 Changed sign of# f_de_target_oil_drift_m(cc/bar)# and f_de_target_oil_drift_b(cc).# 28-Oct-05 pfurey@DinkumSoftware.com SN# 3281 Added X_DE_OIL_FLUX(cc/sec)# 03-Nov-05 pfurey@DinkumSoftware.com SN# 3282 Changed default value of# X_DE_OIL_VOL_MAX from 240# to 270 cc. Added# s_de_oil_pot_volt_flux(volts/sec).# 16-Nov-05 pfurey@DinkumSoftware.com SN# 3283 Removed f_de_oil_vol_cal_m/b.# Changed default value of# c_de_oil_vol from 240 to 270.# Changed default value of# f_de_oil_vol_in_system(cc)# from 700 to 714. And made# f_de_oil_vol_pot_volatage_max/min# illegal values to force them# to be put in autoexec.mi# 16-Dec-05 pfurey@DinkumSoftware.com SN# 3284 Added sensors for bam proglet.## 7-Dec-05 tc@DinkumSoftware.com SN#3284 typo in comment:# M_SCIENCE_PRESENT_TIME ==> sci_m_present_time# cleaned up doc on M_SCIENCE_SENT_SOME_DATA# 20-Dec-05 pfurey@DinkumSoftware.com SN# 3285 Added c_bam_target_id(enum) and# removed sci_bam_error(nodim).# 05-Jan-06 pfurey@DinkumSoftware.com SN# 3286 Added calibration constants and# and engineering units to bbfl2s.# 10-Feb-06 pfurey@DinkumSoftware.com SN# 3287 Added sensors for radiometer# proglets ocr504R and ocr504I.# Reduced reqd_spare_heap(bytes)# from 75K to 65K.# 14-Feb-06 pfurey@DinkumSoftware.com SN# 3288 Updated some doco regarding# de_pump.c to reflect hardware# changes# 20-Feb-06 pfurey@DinkumSoftware.com SN# 3289 Changed the value of# f_de_oil_vol_in_system(cc) from# 714 to 650 in accordance with# hardware changes. Updated doco# for de_pump.# 13-Mar-06 pfurey@DinkumSoftware.com SN# 3290 Added doco for attitude_tcm3# 17-Mar-06 tc@DinkumSoftware.com SN# 3291 Added C_IRIDIUM_POWER_ON_DELAY(sec)# 05-Apr-06 fnj@DinkumSoftware.com SN# 3292 Changed reqd_spare_heap from 65000 to 45000.# 08-Apr-06 pfurey@DinkumSoftware.com SN# 3293 Added sensors for tcm3.c# 10-Apr-06 fnj@DinkumSoftware.com Doco change only - add comment to reqd_spare_heap# saying to track that number in lastgasp.mi.# 20-Apr-06 tc@DinkumSoftware.com SN# 3294 Added SCI_M_FREE_HEAP(bytes)# 24-Apr-06 pfurey@DinkumSoftware.com SN# 3295 Added sensors for badd proglet.# 25-Apr-06 fnj@DinkumSoftware.com SN# 3296 Fixed error proglet whfctd sensor c_whfctd# was uninitialized.# When you edit this file, increment MASTERDATA_SN by one.# This serial number is used to detect whether edit_struct.exe was run# before the software was compiled.#endif#define MASTERDATA_SN 3296#if 0# -----------------------------------------------------------------------# prefix meanings:# m_ measured# c_ commanded# u_ user defined before run time# f_ Set in factory, do not change unless you know what you are doing# x_ Do not ever set this. Typically computed at run-time.# s_ simulated state variables# -----------------------------------------------------------------------# Sensor values being passed to science over the clothesline have a# decimal precision limit of 6 places. As a workaround for sensor values# with very small values (<< 0, high decimal precision), say# u_bb2c_beta532_factor (0.000007494) we developed the following concepts:# "Mnodim" which signifies that the true value of the sensor has been# multiplied by 1.e6 and therefor must be divided by 1.e6 on the science side.# "Tnodim" which signifies that the true value of the sensor has been# multiplied by 1.e13 and therefor must be divided by 1.e13 on the science side.# -----------------------------------------------------------------------# Some general glider specific characteristicssensor: f_max_working_depth(m) 30.0 # How deep glider can work # NOTE: set this to 194m if you want a regular # electric glider to bottom out at 200msensor: f_nominal_dive_rate(m/s) 0.19 # clips 0-1sensor: f_nominal_pitch(rad) 0.4363 # 25 degs, clips 0-90 degs# SENSORS# --- Configuration, Read Only at reset timesensor: f_enable_picozoom(bool) 1.0 # 0=> never enable picozomm # 1=> enable it if M_FREE_HEAP is > F_AUTO_PICOZOOM_HEAP_REQD # 2=> always enabled Picozoomsensor: f_auto_picozoom_heap_reqd(bytes) 100000 # heap required to autoenable picozoom# --- Set at init timesensor: x_hardware_ver(nodim) -3.0 # hardware rev # 128 RevE # -2 initial value, i.e. before set # -1 error reading jumpers # 0 early board without jumpers --or-- # Board has jumpers, none set# --- Set/used in gliderdossensor: x_software_ver(nodim) 0.0 # current software versionsensor: x_in_gliderdos(bool) 0.0 # true->in glider as opposed to a missionsensor: x_are_in_lab(bool) 0.0 # true->started with -lab command line switchsensor: x_are_running_onetime_sequence(bool) 0.0 # true -> onetime.seq activesensor: u_max_time_in_gliderdos(sec) 600.0 # in, run "sequence" after this much time # in gliderdos without receiving a keystroke # disabled in -lab mode # disabled if <= 0 # these are usedsensor: u_max_sequence_repetitions(nodim) 100 # in, upper limit on # repetitions allowed # in a sequence specifier listed in a # sequence command (e.g., sequence foo.mi(100)sensor: u_max_total_sequenced_missions(nodim) 100 # in, upper limit on total missions sequencedsensor: u_max_allowed_lastgasp_aborts(nodim) 1 # in, how many lastgasp.mi aborts to allow # before returning to GliderDossensor: u_sequence_max_time_in_gliderdos(s) 900 # in, how long to stay in Gliderdos after # a lastgasp.mi abortsensor: u_stale_gps_msg_time(s) 600sensor: u_stale_gps_msg_period(s) 300 # in, In gliderdos msg delivered every u_stale_gps_msg_period # seconds if its been u_stale_gps_msg_time since # the last gps fix. # -1 (on either sensor) disables (no msg every delivered) # intended to alert shore side control to do a # "callback" when operating over iridium. # the msg: "NOTE:GPS fix is getting stale: X secs old"# --- Set in outer control loop,# main_per.csensor: u_cycle_time(sec) 4.0 # in, num of secs/cyclesensor: u_max_sensor_logs_per_cycle(nodim) 4 # in, max high density sensor records # per dbd/sbd logging cycle, valid # range is 2 - 15sensor: m_present_time(sec) 0 # out, secs since 1970 @ start of cyclesensor: m_present_secs_into_mission(sec) 0 # out, secs since mission startedsensor: m_cycle_number(nodim) 0 # out, cycles since mission startedsensor: x_cycle_overrun_in_ms(msec) 0 # out, set every cycle # the number of milliseconds that the # cycle actually was compared to # U_CYCLE_TIMEsensor: u_allowable_cycle_overrun(msec) 1000 # how large x_cycle_overrun_in_ms can # before saying are_device_drivers_called_normally() # For reasons that aren't clear to me, we are overrunning # every cycle by 250ms.. someone should figure out why # 14-Jun-05 tc@DinkumSoftware.com # These measure time in ms of various statessensor: x_lc_time(msec) 0 # layered controlsensor: x_dc_time(msec) 0 # dynamic controlsensor: x_ds_time(msec) 0 # device schedulersensor: x_sp_time(msec) 0 # sensor processingsensor: x_log_time(msec) 0 # log_data()sensor: x_dead_time(msec) 0 # idle at end of loop# --- layered_control.csensor: x_mission_num(nodim) 0 # out, YYDDxx the current or last mission number # Old style, before switch to DBD scheme # Kept for argossensor: x_mission_status(enum) -3 # out, current (or last) mission statussensor: x_old_mission_status_1(enum) -3 # out, old, status from prior missionssensor: x_old_mission_status_2(enum) -3 # out, older, status from prior missionssensor: x_old_mission_status_3(enum) -3 # out, oldest, status from prior missions # New DBD style mission numberingsensor: x_dbd_mission_number(nodim) 0.0 # out, mmmm of mmmmssss.dbdsensor: x_dbd_segment_number(nodim) 0.0 # ssss of mmmmssss.dbd # All these sensors "reflect" the values in struct command # See commands.h definition of XXX_mode_t for "mode" values # The cc_XXX variables are updated many times during a cycle # during the behavior resolution process in layered_control # The cc_final_XXX variables are updated once per cycle after # all the behaviors are resolved.sensor: cc_heading_mode(enum) -1 # out, cmd->heading_modesensor: cc_heading_value(X) 0 # argument for heading_modesensor: cc_pitch_mode(enum) -1 # out, cmd->pitch_modesensor: cc_pitch_value(X) 0 # argument for pitch_modesensor: cc_bpump_mode(enum) -1 # out, cmd->bump_modesensor: cc_bpump_value(X) 0 # argument for bpump_modesensor: cc_de_eng_mode(enum) -1 # out, cmd->de_eng_modesensor: cc_threng_mode(enum) -1 # out, cmd->threng_modesensor: cc_inflection_mode(enum) -1 # out, cmd->inflection_modesensor: cc_depth_state_mode(enum) -1 # out, cmd->depth_state_modesensor: cc_mission_status_mode(enum) -3 # out, cmd->mission_status_modesensor: cc_is_comatose(bool) 0 # out, cmd->is_comatosesensor: cc_final_heading_mode(enum) -1 # out, cmd->heading_modesensor: cc_final_heading_value(X) 0 # argument for heading_modesensor: cc_final_pitch_mode(enum) -1 # out, cmd->pitch_modesensor: cc_final_pitch_value(X) 0 # argument for pitch_modesensor: cc_final_bpump_mode(enum) -1 # out, cmd->bump_modesensor: cc_final_bpump_value(X) 0 # argument for bpump_modesensor: cc_final_de_eng_mode(enum) -1 # out, cmd->de_eng_modesensor: cc_final_threng_mode(enum) -1 # out, cmd->threng_modesensor: cc_final_inflection_mode(enum) -1 # out, cmd->inflection_modesensor: cc_final_depth_state_mode(enum) -1 # out, cmd->depth_state_modesensor: cc_final_mission_status_mode(enum) -3 # out, cmd->mission_status_modesensor: cc_final_is_comatose(bool) 0 # out, cmd->is_comatose# behavior specific # behavior specific, have not sorted it all outsensor: c_depth(m) -1 # ascend.c, descend.c, glider_yo.c layer_control.c # surfacesensor: u_max_num_files_to_xmit_at_once(nodim) 30 # in, max files batched in sending # files from glider to shoresensor: m_free_heap(bytes) -1 # out, the amount of free heap spacesensor: m_spare_heap(bytes) -1 # out, projected amt of heap if every # big consumer is activated.sensor: x_in_surface_dialog(nodim) 0 # out, non-zero means surface behavior # is in surface dialog and others # specifically behavior abend should # not try to read any chars. This is # a bitfield, with bit assigned to each # surface behavior by their behavior number # bit = 1 << (behavior_num-1)sensor: x_num_bang_cmds_done(nodim) 0 # incremented every time a !cmd execute in # a surface dialogue, see secs_after_bang_cmd()sensor: x_sent_data_files(nodim) 0 # set to the number of files sent via zmodem # set to 0 on failure. # see secs_after_data_transmission() # hydro_smpsensor: dhs_valid(bool) 0 #non-zero means remaining sensors are validsensor: dhs_start_time(abstime) 0 #secs since 1970 GMTsensor: dhs_duration(s) 0sensor: dhs_gain(dB) 0sensor: dhs_channel(nodim) 0sensor: dhs_xmit_files(nodim) 0sensor: dhs_silence_lvl(nodim) 0sensor: dhs_sampling(bool) 0 # is set true when data collection in process # yosensor: c_yo_reread_mafile(bool) 0 # 1 -> reread mafile during a mission # goto_listsensor: c_goto_list_reread_mafile(bool) 0 # 1 -> reread mafile during a mission# --- dynamic control.c # For use in abort sequences, see doco/abort-sequences.txtsensor: u_abort_min_burn_time(sec) 600 # Never drop the weight before this timesensor: u_abort_max_burn_time(sec) 14400 # Always drop the weight after this timesensor: u_abort_c_battpos(in) -100. # C_BATTPOS to use during aborts # max aft, rocket to surface, it will clipsensor: u_abort_turn_time(sec) 300 # Max time it takes glider to "turn around vertically"sensor: x_inflecting(bool) 0 # out, true implies in an inflectionsensor: m_tot_num_inflections(nodim) 0 # out, running count of number of inflectionssensor: m_last_yo_time(sec) 0.0 # out, twice the time between last inflectionssensor: m_avg_yo_time(sec) 60.0 # out, twice the average time between inflections # exponential average of m_last_yo_timesensor: m_num_half_yos_in_segment(nodim) # out, number of dive/climbs since last surface # 0 on first dive after surfacing # incremented on each inflectionsensor: c_speed(m/s) -1 # out, horizontal speed, <0 means no speed specifiedsensor: dc_c_ballast_pumped(cc) 0 # out, what dynamic control wants ballast to be sensor: f_neutral_ballast(cc) 0 # in, amt of ballast for neutral (~0)sensor: c_pitch(rad) 0 # out, commanded pitch, <0 to divesensor: dc_c_battpos(in) 0 # out, what dynamic control wants fore/aft battery to besensor: dc_c_thermal_updown(enum) # out, what dynamic_control wants thermal engine to dosensor: dc_c_de_updown(enum) # out, what dynamic_control wants deep electric engine to dosensor: dc_c_oil_volume(cc) 0 # out, what dynamic control wants oil volume to be sensor: f_neutral_oil_volume(cc) 0 # in, amt of oil volume for neutral (~0) # also used in g_shell.c: GCmdBallast() # Generic location stuff, see coord_sys.h for descriptionsensor: x_lmc_utm_zone_digit(byte) 0 # The utm zone of lmc (0,0)sensor: x_lmc_utm_zone_char(byte) 0 # ditto, 0->A 1->B etcsensor: x_lmc_utm_vehicle_zone_digit(byte) 0 # The utm zone of the vehiclesensor: x_lmc_utm_vehicle_zone_char(byte) 0 # ditto, 0->A 1->B etcsensor: x_utm_to_lmc_00(nodim) 0 # matrix such that: lmc = [] * utm + offsensor: x_utm_to_lmc_01(nodim) 0 # |x| |00 01| ( |e| |x0| )sensor: x_utm_to_lmc_10(nodim) 0 # | | = | | * ( | | + | | )sensor: x_utm_to_lmc_11(nodim) 0 # |y| |10 11| ( |n| |y0| )sensor: x_utm_to_lmc_x0(nodim) 0sensor: x_utm_to_lmc_y0(nodim) 0sensor: x_last_utm_easting_correction(m) 0 # needed for crossing lon UTM zonessensor: x_last_utm_northing_correction(m) 0 # needed for crossing equator #The first two are just used to produce a warning if we cross a UTM zone. #The second pair are to record current vehicle UTM zone #The next six convert (northing,easting) -> (x,y). #All of these are computed when the origin in LMC is established. #And the last two are used to correct for lon UTM zone and equator crossings. # Generic heading related stuffsensor: c_heading(rad) 0 # out, commanded headingsensor: c_roll(rad) 0 # out, commanded rollsensor: dc_c_battroll(rad) 0 # out, what dynamic control wants roll battery to besensor: f_battroll_offset(rad) 0.0 # in, added to c_roll to handle off center batteriessensor: m_hdg_error(rad) 0 # out, m_heading - c_headingsensor: m_hdg_ierror(rad-sec) 0 # out, integrated m_hdg_error # Waypoint controlsensor: u_use_current_correction(nodim) 1 # 0 calculate, but do not use m_water_vx/y # 1 use m_water_vx/y to navigate AND aimsensor: c_wpt_x_lmc(m) 0 # in, command waypoint in lmc unitssensor: c_wpt_y_lmc(m) 0 #sensor: x_hit_a_waypoint(bool) 0 # set by behavior when reach a waypointsensor: x_last_wpt_x_lmc(m) 0 # set by behavior when reach a waypointsensor: x_last_wpt_y_lmc(m) 0 # Heading autopilot variables # Mostly parameteric inputs to control autopilot # The X_ guys are working variables # See doco/how-it-works/heading_autopilot.txt # servo on Heading by adjusting fin # controls/knobs: the user might change these # read glider/doco/how-it-works/heading_autopilot.txtsensor: u_hd_fin_ap_gain(1/rad) 1.00 # The "gain" of controller: 57 deg proportional band # 1/57 degsensor: u_hd_fin_ap_igain(1/rad-sec) 0.03 # percent C_FIN = (-U_HD_FIN_AP_GAIN * M_HDG_ERROR) + # (-U_HD_FIN_AP_IGAIN * M_HDG_IERROR)sensor: u_hd_fin_ap_run_time(secs) -1 # How often to "run" the loop # <= 0, every cycle # > 0, this many seconds # What to do around inflectionssensor: u_hd_fin_ap_inflection_holdoff(sec) -1.0 # in, controls steering around inflections # -1 always steer/integrate_errors during inflection # >=0 don't steer/integrate errors: # during inflection --AND-- # for this many secs after START of inflection # How long to not integrate after big course changessensor: u_hd_fin_ap_hardover_holdoff(sec) 120.0 # in, how long to keep zeroing the integrated # error after fin is "hard over". # <= 0 causes no holdoff time, i.e. starts integrating # immediately after fin is NOT hardover. # various clipping limitssensor: u_hd_fin_ap_limit_gain_x_error(rad) 1000.0 # Limits the gain*error term, (flattens gain curve) # Set it large to disable it.sensor: u_hd_fin_ap_limit_absolute(rad) 1000 # limits final C_FIN value to beween +/- this value. # Set it large to disable it. # Note: this is also limited to the # fin safety limit X_FIN_MAX.sensor: u_hd_fin_abort_after_y_misses(nodim) 5.0 # in, how many missed attitude measurements # before we aborting the mission # <= 0 never abort # 1 abort on first miss # >= 2 abort when miss this many times in a row # state: user shouldn't change, they are outputs onlysensor: x_hd_fin_ap_ran(bool) -10 # Updated on a cycle where heading autopilot executed # -1 First time initialization # 0 ; called, but chose not to command motor # 1 ; did not run cause no fresh input # 2 ; "ran", controlled motorsensor: x_hd_fin_ap_is_hardover(bool) 0 # true implies fin is "hardover" # servo on Heading by adjusting battery roll # Note: These all are parallels of X_hd_fin_XXX. # See those variables for a description. # The Version 1 of battery steering wasn't tested # on a battery steered glider when implemented. These # settings probably have to be changed.sensor: u_hd_broll_ap_gain(1/rad) 1.00sensor: u_hd_broll_ap_igain(1/rad-sec) 0.03sensor: u_hd_broll_ap_run_time(secs) -1.0sensor: u_hd_broll_ap_inflection_holdoff(sec) -1.0sensor: u_hd_broll_ap_hardover_holdoff(sec) 400.0sensor: u_hd_broll_ap_limit_gain_x_error(rad) 1000sensor: u_hd_broll_ap_limit_absolute(rad) 1000sensor: u_hd_broll_abort_after_y_misses(nodim) 3.0sensor: x_hd_broll_ap_ran(bool) -10sensor: x_hd_broll_ap_is_hardover(bool) 0# Pitch autopilot variables# specify the curve relating vehicle pitch to battery postion# pitch(rad) = F_PITCH_BATTPOS_CAL_M(rad/in) * battpos(in) + F_PITCH_BATTPOS_CAL_B(in)# note: signs on pitch/battpos are documented under C_PITCH and C_BATTPOS# values for amy from lake senecasensor: f_pitch_battpos_cal_m(rad/in) -1.2565 # inputsensor: f_pitch_battpos_cal_b(in) 0.055 # input # Mostly parameteric inputs to control servor # The X_ guys are working variables # Cloned from heading_autopilot, See doco/heading_autopilot.txtsensor: u_max_pitch_ap_period(sec) 60 # 16 AutoPilot "runs" at least this oftensensor: u_min_pitch_ap_period(sec) 2 # AutoPilot "runs" no more than this oftensensor: x_pitch_ap_period(sec) 0 # Actual computed time until next running of autopilotsensor: x_pitch_ap_ran(bool) 0 # Updated on a cycle where pitch autopilot executedsensor: u_pitch_ap_gain(1/rad) -2.86 # 1/ 20deg # The "gain" of controller: # percent delta C_BATTPOS = -U_PITCH_AP_GAIN * M_PITCH_ERRORsensor: u_pitch_ap_deadband(rad) 0.0524 # 3 deg # The deadband + or - from C_PITCH, # We do not make corrections if # abs(M_PITCH_ERROR) < U_PITCH_AP_DEADBANDsensor: u_pitch_max_delta_battpos(in) 0.020 # 40% of deadband # in, max delta battpos to apply # a really big number sets no limit and is safe # somebody else clips later onsensor: u_pitch_correction_time_mult(nodim) 0.50 # What fraction assumed correction time we wait before # running again.sensor: u_pitch_deadband_time_mult(nodim) 2.0 # How much we increase the time til next attempt if # we are in the dead band.sensor: m_pitch_error(rad) 0 # out, difference between m_pitch - c_pitch# --- sensor_processing.csensor: x_sensor_processing_ran(bool) 0 # out, updated on every cycle # Used to compute integration timessensor: m_tot_horz_dist(km) 0.0 # out, How far we have moved underwatersensor: x_current_target_altitude(m) -1.0 # default is none, height above # bottom glider is currently # diving/climbing tosensor: u_print_engine_status(sec) -1.0 # controls printing of thermal/deep electric status # <0 do not print >0 print status that often# compute_depth_stuff()sensor: m_depth_rate(m/s) 0 # out, rate of change of depth, >0 is downsensor: u_reqd_depth_at_surface(m) 1 # in, depths less than this considered "at surface"sensor: u_hovering_frac_nom_dive_rate(nodim) 0.25 # in, fraction of f_nominal_dive_rate # used as threshold for hovering # clips to 0-1sensor: m_depth_state(enum) 0 # based on m_depth_rate and u_surface_depth # matches CC_DEPTH_STATE_MODE (enum depth_state_mode_t)# compute_surface_estimate()# These run 0 to 1 and are estimates we are at the surfacesensor: m_surface_est_cmd(nodim) 0 # commanded to surfacesensor: m_surface_est_ctd(nodim) 0 # ctd pressure => depthsensor: m_surface_est_gps(nodim) 0 # gps talking to satellitesensor: m_surface_est_fw(nodim) 0 # freewave has carriersensor: m_surface_est_irid(nodim) 0 # iridium has carriersensor: u_surface_est_time_constant(secs) 30 # m_surface_est_XXX expontially decayed # by this when corresponding condition is falsesensor: m_surface_est_total(nodim) 0 # sum of above m_surface_est_XXX ....sensor: u_surface_est_threshold(nodim) 1.5 # and are compared to this # in order to set...sensor: m_appear_to_be_at_surface(bool) 0 # The final resultsensor: m_certainly_at_surface(bool) 0 # true if got a gps fix, or freewave/iridium carrier # on this cycle.# compute_altitude_stuff()sensor: u_alt_reduced_usage_mode(bool) 1 # in, default is on, 0 -> off # reduced usage mode turns on # altimeter only when necessarysensor: x_alt_time(sec) 0 # out, calculated c_alt_time value # <0 altimeter off, =0 as fast as possible, # >0 that many seconds between measurementssensor: m_altitude(m) 0 # out, height above the bottomsensor: m_altimeter_status(enum) 0 # out, 0 is good reading # non-zero means rejected # see sensor_processing.h for codessensor: u_min_altimeter(m) 2.0 # in, altimeter reading must be between these(inclusive)sensor: u_max_altimeter(m) 30.0sensor: m_aground_water_depth(m) -1 # out, set by behavior dive_to when it crashes # into bottomsensor: m_water_depth(m) -1.0 # out, m_depth + m_altitude. # -1 ==> unknownsensor: u_max_water_depth_lifetime(yos) 3.0 # in, how long we can use m_depth in absence # of measured datasensor: u_max_bottom_slope(m/m) 3.0 # in, max slope of bottom. <0 disables all filters # max change in altitude/horizontal movementsensor: u_min_water_depth(m) 0 # in, altimeter reading + M_DEPTH must be between thesesensor: u_max_water_depth(m) 2000 # inclusive# compute_alt_measure_delay()sensor: u_alt_measure_secs_prior_inflection(sec) 15.0 # seconds prior to # inflection to start # measuring continuously # min legal value is 15.0 secssensor: u_alt_measure_fraction(nodim) 0.5 # must be > 0 and < 1, fraction # of time till inflection to measure # altitude, used in reduced-usage mode# compute_heading_rate()sensor: m_hdg_rate(rad/sec) 0 # rate of change of heading# compute_vehicle_velocity()sensor: m_speed(m/s) 0 # out, vehicle horizontal speed THRU WATERsensor: m_is_speed_estimated(bool) 0 # out, Tells if m_speed is computed from # M_DEPTH_RATE,M_PITCH -or- # estimated from M_MISSION_AVG_SPEED_DIVING/CLIMBING when # M_PITCH is too smallsensor: m_avg_speed(m/s) 0 # out, avg vehicle horizontal speed THRU WATER # used only computing C_HEADING to way pointsensor: u_avg_speed_alpha(nodim) 0.001 # in, time constant for exponential averaging of # m_speed ==> m_avg_speed # 1==> no averaging, i.e. m_avg_speed = m_speed # smaller numbers (>0) ==> longer time constantsensor: m_mission_avg_speed_diving(m/s) 0 # out, running average of computed m_speedsensor: m_mission_avg_speed_climbing(m/s) 0 # since start of mission. Used to estimate # M_SPEED when M_PITCH is too small (< 11 deg)sensor: u_coast_time(s) 7.5 # in, how long it takes the gliders # horizontal speed to go to 0 due to drag # Used when estimating M_SPEED by linearly # reducing M_MISSION_AVG_SPEED_* to 0 over # this time # <0 ==> disables the damping # Note: see sensor_processing.c:damp_horz_speed() # for justification of this timesensor: m_vx_lmc(m/s) 0 # out, vehicle horizontal velocity OVER GROUNDsensor: m_vy_lmc(m/s) 0# compute_water_velocity() See doco/water-velocity-caclulation.txtsensor: m_water_vx(m/s) 0 # in/out How fast the water is going. LMC coord. sys.sensor: m_water_vy(m/s) 0 # used as input here (if u_use_current_correction is true)sensor: m_initial_water_vx(m/s) 0 # out, initial computation of m_water_vx/ysensor: m_initial_water_vy(m/s) 0 #sensor: m_final_water_vx(m/s) 0 # out, initial computation of m_water_vx/ysensor: m_final_water_vy(m/s) 0 #sensor: m_water_delta_vx(m/s) 0 # out, change in water_vx/vy this segmentsensor: m_water_delta_vy(m/s) 0 # # both computed in compute_water_velocity() when get gps fix.sensor: x_prior_seg_water_vx(m/s) 0 # in/out water speed used for navigation on prior segmentsensor: x_prior_seg_water_vy(m/s) 0sensor: u_max_water_speed(m/s) 2.8 # in, 5 knots # magnitude of (m_water_vx,m_water_vy) clipped to this # These are part of the state machine used in computing water velocity # See doco/water-velocity-calculation.txt for writeupsensor: x_dr_state(enum) 0.0 # out, mission_start=0, underwater=1,awaiting_fix=2, # awaiting_postfix=3, awaiting_dive=4sensor: m_dr_time(sec) -1.0 # out, how long underwater, subject to currentssensor: m_dr_surf_x_lmc(m) 0 # Dead Reckoned location when surfacesensor: m_dr_surf_y_lmc(m) 0sensor: m_dr_fix_time(sec) -1.0 # out, surface drift time til first gps fixsensor: m_gps_fix_x_lmc(m) 0 # location of first gps fixsensor: m_gps_fix_y_lmc(m) 0sensor: m_dr_x_ini_err(m) 0 # out, m_gps_fix_x/y_lmc - m_dr_surf_x/y_lmcsensor: m_dr_y_ini_err(m) 0sensor: m_dr_postfix_time(sec) -1.0 # out, surface drift time til later gps fix that is # used to correct for surface drift during # m_dr_fix_timesensor: m_gps_postfix_x_lmc(m) 0sensor: m_gps_postfix_y_lmc(m) 0 # Location used to measure surface driftsensor: m_dr_x_postfix_drift(m) 0 # out, m_gps_postfix_x/y_lmc - x_gps_fix_x/y_lmcsensor: m_dr_y_postfix_drift(m) 0sensor: m_dr_x_ta_postfix_drift(m) 0 # out, m_dr_x/y_postfix_drift * time adjusted valuesensor: m_dr_y_ta_postfix_drift(m) 0sensor: m_dr_x_actual_err(m) 0 # out, m_dr_x/y_ini_err - timeadj(m_dr_x/y_postfix_drift)sensor: m_dr_y_actual_err(m) 0# compute_lmc_position()sensor: m_x_lmc(m) 0 # vehicle position in Local Mission Coordinatessensor: m_y_lmc(m) 0 # (0,0) at mission start Y axis is magnetic northsensor: x_lmc_xy_source(enum) 0 # out, how m_x/y_lmc was computed this cycle # >= 0 means an (x,y) was computed # 3 gps (surface) # 2 dead reckon(uw) # 1 dr estimated speed (uw) # 0 inited to (0,0) first cycle of mission # -1 not computed cause at surface and no gps fix this cycle # -2 not computed cause no DR data (cycle overrun?) # -10 indicates software error, you should never see this# compute_waypoint_metrics()sensor: m_dist_to_wpt(m) # out, How far to (c_wpt_x_lmc,c_wpt_y_lmc)sensor: m_vmg_to_wpt(m/s) # out, Velocity Made good to (c_wpt_x_lmc,c_wpt_y_lmc)# translate_to_latlon()sensor: m_lat(lat) 69696969 # vehicle position in latitudesensor: m_lon(lon) 69696969 # vehicle position in longitudesensor: c_wpt_lat(lat) 0 # current waypoint in latitudesensor: c_wpt_lon(lon) 0 # current waypoint in longitudesensor: x_last_wpt_lat(lat) # last achieved waypointsensor: x_last_wpt_lon(lon)# compute_comms_stuffsensor: u_stable_comms_reqd_secs(sec) 60.0 # in, continous seconds of carrier detect # required to have stable commssensor: m_stable_comms(bool) 0.0 # out, true-> comms are stable, i.e. we have # had m_console_cd for reqd number of secs # in a rowsensor: u_zmodem_verbosity(nodim) 29.0 # in, controls output to config\zmodem.log # the higher the number, the more output # see zmdebug.h for a description# --- device driver levelsensor: m_device_drivers_called_abnormally(nodim) 0 # non-zero means time base is suspect because # glider busy, after data transmission, etc # It is results of: # devsched.c:device_drivers_called_normally() # It is a bit-field, there is a bit set for # each of the possible reasons. See top of # devsched.c for definitions (#define DDCA_xxx)sensor: m_device_oddity(nodim) -1.0 # These set to the device number of offending devicesensor: m_device_warning(nodim) -1.0 # whenever it generates error/warning/odditysensor: m_device_error(nodim) -1.0sensor: f_max_time_per_device_ctrl(msec) 500 # In, default max allowable time for # a device driver to run. oddities # generated if this time execeededsensor: f_noise_floor(volts) 0.050 # Electrical noise in system # Used to compute how often motor # velocities are computed and checkedsensor: f_crush_depth(m) 225.0 # When the glider gets crushedsensor: f_time_to_burn_wire(sec) 20.0 # How long it takes burn wire to drop weightsensor: m_at_risk_depth(m) 221.0 # When have to start burning the wire to drop the # in order to drop the weight before f_crush_depth # when diving at f_nominal_dive_rate # default= 225m - 20s * 0.19 m/s =# common to all motorssensor: u_comatose_enabled(bool) 0.0 # in, true->enables comatose modesensor: u_comatose_deadband_mult(nodim) 10.0 # in, how much to increase motor deadbands # when in comatose modesensor: u_motor_fs_travel_mult(nodim) 2.0 # in, used to compute worst case motor travel time # = U_MOTOR_FS_TRAVEL_MULT * # 2 * F_<motor>_SAFETY_MAX / F_<motor>NOMINAL_VELsensor: f_motor_analyze_deadband(nodim) 1800.0 # enables computation and printing of # all motor positioning stats, i.e. diffence # between C_xxx(commanded) and M_xxx(measured) # <= 0 no action, zero stats # > 0 accumulate stats (min, mean, max, standev) # every F_MOTOR_ANALYZE_DEADBAND calls... # print and zero stats# ballast/buoyancy pump: motor.c motor_drivers.sensor: c_ballast_pumped(cc) 0 #in >0 pumps ballast overboard, goes upsensor: m_ballast_pumped(cc) #out,sensor: f_ballast_pumped_stall_retry(sec) 10.0 # in, how long to wait for retry if # pump jams, not moving fast enufsensor: x_ballast_pumped_max(cc) 226 # out, Maximum OPERATIONAL limitsensor: x_ballast_pumped_deadband(cc) 0.0 # out, how close is good enuf # = f_ballast_pumped_deadz_width * f_ballast_pumped_db_frac_dzsensor: m_is_ballast_pump_moving(bool) 0 # out, t-> motor is movingsensor: m_ballast_pumped_vel(cc/sec) 0 # out, measured motor speedsensor: m_ballast_pumped_energy(joules) 0 #out, How much energy to pump water on last command # = pressure * volume when extendingsensor: m_tot_ballast_pumped_energy(kjoules) 0 #out, totalized m_ballast_pumped_energysensor: u_ballast_pumped_microposition(bool) 0 # T==> microposition the motorsensor: u_ballast_pumped_micropos_rt(msec) 250 # "run time" >0 max allowable microposition timesensor: u_ballast_pumped_micropos_wp(nodim) 0.01 #"when pulse" 0-1 when start pulsing the motor # 0 immediately, 0.5 when half way there, 1 neversensor: u_ballast_pumped_micropos_dc(nodim) 10 # "duty cycle" 1-N once pulsing, # pulse motor 1 cycle out of this many # max = safety_max - deadzone sensor: f_ballast_pumped_safety_max(cc) 268.0 # in, damage to glider sensor: f_ballast_pumped_deadz_width(cc) 42.0 # in, sets x_ limit sensor: f_ballast_pumped_db_frac_dz(nodim) 1.0 # deadband as fraction of dead zone sensor: f_ballast_pumped_nominal_vel(cc/sec) 132.0 # in, nominal speed sensor: f_ballast_pumped_reqd_vel_frac(nodim) 0.25 # in, fraction of nominal # required before saying not # moving fast enuf # Specs linear relationship between sensor units (cc) and the # voltage we actually read out of the AD for position # pumped(cc) = pumped_cal_m(cc/Volt) * volts + pumped_cal_b(cc) sensor: f_ballast_pumped_cal_m(cc/Volt) 366.93 # in, slope sensor: f_ballast_pumped_cal_b(cc) -412.19 # in, y-intercept# Battery (fore/aft) position: motor.c motor_drivers.sensor: c_battpos(in) 0 # in, >0 vehicle dives (nose down) # the battery is moved forwardsensor: m_battpos(in) # outsensor: x_battpos_max(in) # out, Maximum OPERATIONAL limitsensor: x_battpos_deadband(in) 0.0 # out, how close is good enuf # = f_battpos_deadzone_width * f_battpos_db_frac_dzsensor: m_is_battpos_moving(bool) 0 # out, t-> motor is movingsensor: m_battpos_vel(in/sec) 0 # out, measured motor velocitysensor: u_battpos_microposition(bool) 1 # T==> microposition the motorsensor: u_battpos_micropos_rt(msec) 1000 # "run time" >0 max allowable microposition timesensor: u_battpos_micropos_wp(nodim) 0.01 #"when pulse" 0-1 when start pulsing the motor # 0 immediately, 0.5 when half way there, 1 neversensor: u_battpos_micropos_dc(nodim) 10 # "duty cycle" 1-N once pulsing, # pulse motor 1 cycle out of this many # max = safety_max - deadzone # x_battpos_max = f_safety_max_battpos - f_deadzone_width_battpos sensor: f_battpos_safety_max(inches) 0.45 # in, damage to glider sensor: f_battpos_deadzone_width(inches) 0.068 # Sets x_ limit sensor: f_battpos_db_frac_dz(nodim) 1.0 # deadband as fraction of dead zone sensor: f_battpos_nominal_vel(inches/sec) 0.16 # nominal speed sensor: f_battpos_reqd_vel_frac(nodim) 0.25 # in, fraction of nominal # required before saying not # moving fast enuf # Specs linear relationship between sensor units (inches) and the # voltage we actually read out of the AD for position # battpos(inches) = _cal_m(inches/Volt) * volts + _cal_b(inches) sensor: f_battpos_cal_m(inches/Volt) 0.571 # slope sensor: f_battpos_cal_b(inches) -0.506 # y-intercept# battery roll, motor.c motor_drivers.# battrollsensor: c_battroll(rad) 0 # in, >0 puts stbd wing down # the battery is rotated ClockWise (CW) # when looking fwdsensor: m_battroll(rad) # outsensor: x_battroll_max(rad) # out, Maximum OPERATIONAL limitsensor: x_battroll_deadband(rad) 0.0 # out, how close is good enuf # = f_battroll_deadzone_width * f_battroll_db_frac_dzsensor: m_is_battroll_moving(bool) 0 # out, t-> motor is movingsensor: m_battroll_vel(rad/sec) 0 # out, measured motor velocitysensor: u_battroll_microposition(bool) 0 # T==> microposition the motorsensor: u_battroll_micropos_rt(msec) 250 # "run time" >0 max allowable microposition timesensor: u_battroll_micropos_wp(nodim) 0.01 #"when pulse" 0-1 when start pulsing the motor # 0 immediately, 0.5 when half way there, 1 neversensor: u_battroll_micropos_dc(nodim) 10 # "duty cycle" 1-N once pulsing, # pulse motor 1 cycle out of this many # max = safety_max - deadzone sensor: f_battroll_safety_max(rad) 0.52 # in, damage to glider sensor: f_battroll_deadzone_width(rad) 0.088 # in, Sets x_ limit sensor: f_battroll_db_frac_dz(nodim) 1.0 # deadband as fraction of dead zone sensor: f_battroll_nominal_vel(rad/sec) 0.09 # in, nominal speed sensor: f_battroll_reqd_vel_frac(nodim)0.25 # in, fraction of nominal # required before saying not # moving fast enuf # Specs linear relationship between sensor units (rads) and the # voltage we actually read out of the AD for position # battroll(rad) = _cal_m(rad/Volt) * volts + battroll_cal_b(rad) sensor: f_battroll_cal_m(rad/Volt) 0.950 # slope sensor: f_battroll_cal_b(rad) -1.22 # y-intercept# fin, motor.c motor_driverssensor: f_fin_offset(rad) 0.0 # in, added to c_fin to trim (after autopilot)sensor: c_fin(rad) 0 # in, >0 vehicle turns rightsensor: m_fin(rad) # outsensor: x_fin_max(rad) # out, Maximum OPERATIONAL limitsensor: x_fin_deadband(rad) 0.0 # out, how close is good enuf # = f_fin_deadzone_width * f_fin_db_frac_dzsensor: m_is_fin_moving(bool) 0 # out, t-> motor is movingsensor: m_fin_vel(rad/sec) 0 # out, measured motor velocitysensor: u_fin_microposition(bool) 1 # T==> microposition the motorsensor: u_fin_micropos_rt(msec) 750 # "run time" >0 max allowable microposition timesensor: u_fin_micropos_wp(nodim) 0.01 #"when pulse" 0-1 when start pulsing the motor # 0 immediately, 0.5 when half way there, 1 neversensor: u_fin_micropos_dc(nodim) 5 # "duty cycle" 1-N once pulsing, # pulse motor 1 cycle out of this many # max = safety_max - deadzone sensor: f_fin_safety_max(rad) 0.47 # in, damage to glider sensor: f_fin_deadzone_width(rad) 0.020 # in, Sets x_ limit sensor: f_fin_db_frac_dz(nodim) 1.0 # deadband as fraction of dead zone sensor: f_fin_nominal_vel(rad/sec) 0.0981 # in, nominal speed sensor: f_fin_reqd_vel_frac(nodim) 0.25 # in, fraction of nominal # required before saying not # moving fast enuf # Specs linear relationship between sensor units (rads) and the # voltage we actually read out of the AD for position # fin(rad) = _cal_m(rad/Volt) * volts + fin_cal_b(rad) sensor: f_fin_cal_m(rad/Volt) 0.6461 # slope sensor: f_fin_cal_b(rad) -.7904 # y-intercept# de_eng.csensor: c_de_recall(msec) 1000.0 # in, <= 0 next_cycle # > millisecs between state machine callssensor: m_de_recall(msec) 0.0 # out, = 0 next_cycle # > millisecs between state machine callssensor: c_de_updown(enum) 0.0 # in# C_DE_ENG_DONT_USE(-1) Disable this driver (thrvalve still active)# C_DE_ENG_UP(0) UP# C_DE_ENG_DOWN(1) DOWNsensor: m_de_updown(enum) 3.0 # out# M_DE_ENG_UP(0) In the ascending state# M_DE_ENG_DOWN(1) In the descending state# M_DE_ENG_STABLE(2) In the stable state# M_DE_ENG_NOT_IN_USE(3) Higher level driver disabled# M_DE_ENG_ERROR(-1) Something bad happened, someone should abortsensor: m_is_de_engine_moving(bool) 0 # out, t-> engine is movingsensor: m_secs_since_de_substate_change(secs) 0 # timer for state machinesensor: u_max_secs_in_de_substate(secs) 50 # max time in a deep electric substatesensor: f_de_max_secs_for_updown_to_finish(secs) 540 # 9 minutes (~1.5 x time # to retract full oil # volume at surface)# de_pump.csensor: c_de_pump(enum) 0.0 # in# C_DE_PUMP_OFF(0)# C_DE_PUMP_UP(1)# C_DE_PUMP_UP_IN_LAB(3) lab_mode (-lab) only, ignoresensor: m_de_pump(enum) 0.0 # out# M_DE_PUMP_OFF(0)# M_DE_PUMP_UP(1)# M_DE_AWAITING_VALVE(-1) M_THERMAL_VALVE != THRVALVE_UP...THRVALVE_DOWN# threng.csensor: c_thermal_updown(enum) 0.0 # in# CTHRENG_DONT_USE(-1) Disable this driver (thrvalve still active)# CTHRENG_UP_CHARGE(0) Go thru an UP, CHARGE cycle# CTHRENG_DOWN(1) DOWNsensor: m_thermal_updown(enum) 3.0 # out# MTHRENG_CHARGE(0) Stable in the charge position# MTHRENG_DOWN(1) Stable In the down position# MTHRENG_MOVING(2) Moving between states# MTHRENG_NOT_IN_USE(3) Higher level driver disabled# MTHRENG_ERROR(-1) Something bad happened, someone should abortsensor: u_thermal_valve_time_in_up_pos(s) 60.0 # in, how long thermal valve says in up position # before being automatically moved to chargesensor: u_thermal_valve_time_in_down_pos(s) 300 # in, 5 minutes in seconds # how long the valve must be in the down # position before allowed to go to up position # Used to prevent "double charges". Ignored # for safety sake if glider is deeper than the # minimum of f_max_working_depth or f_at_risk_depth# thrvalve.csensor: f_thermal_valve_time_over_slot(msec) 550 # millisecs the thermal valve hole is over the sensorsensor: c_thermal_valve(enum) # in, THRVALVE_UP(1),THRVALVE_CHARGE(2), THRVALVE_DOWN(3)sensor: m_thermal_valve(enum) # out, THRVALVE_UNKNOWN(0), THRVALVE_UP(1), THRVALVE_MOVING_TO_UP(-1) # THRVALVE_CHARGE(2), THRVALVE_MOVING_TO_CHARGE(-2), # THRVALVE_DOWN(3), THRVALVE_MOVING_TO_DOWN(-3)sensor: m_is_thermal_valve_moving(bool) # out, true if valve is movingsensor: x_thermal_valve_move_backwards(bool) 0 # In, non-zero means move valve backwards # DO NOT MANUALLY set this, it is maintained # by gliderdos TVALVE command. Only used in -lab.sensor: u_thermal_valve_check_time(sec) 180 # how often check valve position # <= 0 to disable# ballast.csensor: c_neutral_oil_vol_deadband(cc) 5.0 # in, user commanded limit on how close # is close enough for setting the # neutral buoyancy volume# tcm3.csensor: f_tcm3_cal_points(nodim) 50 # Default number of sample points in calibrationsensor: m_tcm3_stddeverr(uT) -1 # The compass samples magnetic field # standard deviation error.sensor: m_tcm3_xcoverage(%) -1 # Percentage of how much of the X magnetometer # axis was covered by the sampling.sensor: m_tcm3_ycoverage(%) -1 # Percentage of how much of the Y magnetometer # axis was covered by the sampling.sensor: m_tcm3_zcoverage(%) -1 # Percentage of how much of the Z magnetometer # axis was covered by the sampling.sensor: m_tcm3_magbearth(uT) -1 # The calculated Earth's magnetic field # magnitude from the calibration samples.sensor: m_tcm3_is_calibrated(bool) 0 # The compass calibration status flag.# attitude.c/attitude_tcm3.csensor: c_att_time(sec) 0 # in, time spacing for attitude checks # <0 is off, =0 as fast as possible # otherwise secs between measurementssensor: c_att_recall(msec) -1.0 # in, <=0 no subcycle measurements # >0 millisecs between subcycle measurements # (c_att_time must be 0 to enable)sensor: m_roll(rad) 0 # out, >0 is port wing upsensor: m_pitch(rad) 0 # out, >0 is nose upsensor: m_heading(rad) 0 # outsensor: m_vehicle_temp(degC) 0 # out# oceanpres.csensor: c_pressure_time(sec) 1 # in, <0 is off, =0 as fast as possible # >0 num seconds betweens measurementssensor: c_pressure_recall(msec) -1 # in, <=0 no subcycle measurements # >0 millisecs between subcycle measurements # c_pressure_time must be 0 to enablesensor: m_pressure_voltage(volts) # out, measured, raw reading from ADsensor: m_pressure(bar) # out, measured NOT clipped: # <0 not good, glider above the surface, # 0 surface # >0 glider below surface in watersensor: m_depth(m) 0 # out, calculated clips at 0 # 0 surface # >0 glider below surface in watersensor: u_use_ctd_depth_for_flying(bool) 0 # true=> use ctd measurement for m_depth # implemented as emergency workaround for # broken ocean pressuresensor: m_depth_rejected(bool) 0 # out, true if depth measurement is filtered # 1 ==> thinks glider at surface # U_DEPTH_RATE_FILTER_SUB_SUR_DEP ==> M_DEPTH # 2 ==> thinks glider is NOT surface # no M_DEPTH is outputsensor: u_depth_rate_filter_sub_sur_dep(m) 0.05 # used for M_DEPTH when m_pressure rejected at # the surfacesensor: u_depth_rate_filter_factor(nodim) 4.0 # <=0 disables bad depth filter, # otherwise multiplies # f_nominal_dive_rate by this # value to create the cutoff value # for an acceptable depth # rate of changesensor: x_measured_depth(m) 0.0 # The last published M_DEPTH where M_DEPTH_REJECTED is 0 # i.e. actually came from pressure sensor in lieu of a # made up value at the surface. Depth rate filter compares # current "depth" being evaluated against thissensor: u_pressure_autocal_min_time_between(secs) 180 # minimum interval time # between auto calibrationssensor: u_pressure_autocal_enabled(bool) 1 # 0=turned off, 1=turned onsensor: u_pressure_autocal_deadband(bar) 0.025 # re-calibrate when drift is # beyond + or - thissensor: u_pressure_autocal_max_allowed(bar) 0.2 # print oddity when drift is # beyond + or - this, don't # re-calibratesensor: u_pressure_autocal_performed(bool) 0 # becomes 1 when auto re-calibration is done # becomes 2 when manual re-calibration is done # becomes -1 when excessive pressure drift is detect: # (no calibration is done!)sensor: x_pressure_manual_cal_now(bool) 0 # non-zero causes manual (non-auto) re-calibration # set to 1 by GliderDos>zero_pressure_sensor # set to 0 by ocean_pressure device driver when # manual re-calibration is done # inputs, config stuff FS-->full scale sensor: u_bar_per_meter(bar/m) 0.1 # Converts m_pressure to m_depth sensor: f_ocean_pressure_full_scale(bar) 13.8 # pressure @ FS volts sensor: f_ocean_pressure_min(volts) 0.20 # voltage for 0 pressure sensor: f_ocean_pressure_max(volts) 2.40 # voltage for FS pressure# oilvol.csensor: c_de_oil_vol_time(sec) 0 # in, <0 is off, =0 as fast as possible # >0 num seconds between measurementssensor: c_de_oil_vol_recall(msec) 1000.0 # in, <=0 no subcycle sampling # >0 millisecs between subcycle # measurements, c_de_oil_vol_time must # be 0 to enablesensor: c_de_oil_vol_measuring_delay(sec) 180 # stable state periodic monitoring ratesensor: c_de_oil_vol(cc) 270.0 # in >0, goes upsensor: m_de_oil_vol(cc) 0 # out, calibrated from m_de_oil_vol_pot_voltagesensor: m_de_oil_vol_pot_voltage(volts) 0 # out, raw voltage from AD# set these to illegal values to insure them getting set in autoexec.misensor: f_de_oil_vol_pot_voltage_min(volts) -20 # raw AD voltage of fully retracted potsensor: f_de_oil_vol_pot_voltage_max(volts) -20 # raw AD voltage of fully extended potsensor: f_de_oil_vol_in_system(cc) 650 # volume of internal oil reservoirsensor: x_de_oil_vol_deadband(cc) 0.0 # out, how close is good enuf # = f_de_oil_vol_deadz_width * # f_de_oil_vol_db_frac_dzsensor: x_de_oil_vol_max(cc) 0.0 # out, Maximum OPERATIONAL limit# max = safety_max - deadz_widthsensor: f_de_oil_vol_safety_max(cc) 300.0 # in, damage to glidersensor: f_de_oil_vol_deadz_width(cc) 30.0 # in, sets x_ limitsensor: f_de_oil_vol_db_frac_dz(nodim) 0.5 # deadband as fraction of dead zone# Needed to reduce over-retractions on descents# on ascents:# x_de_target_oil_vol(cc) = c_de_oil_vol(cc)# on descents:# x_de_target_oil_vol(cc) = c_de_oil_vol(cc) -# (m_pressure(bar) * f_de_target_oil_drift_m(cc/bar) + f_de_target_oil_drift_b(cc))sensor: x_de_target_oil_vol(cc) 0.0sensor: f_de_target_oil_drift_m(cc/bar) -7.22sensor: f_de_target_oil_drift_b(cc) -4.23# Keeps tract of the oil flux in the deep electricsensor: x_de_oil_flux(cc/sec) # positive = pumping, negative = retracting# engpres.c (driver name: thermal_acc_pres)sensor: c_thermal_acc_pres_time(sec) 1 # in, <0 is off, =0 as fast as possible # >0 num seconds between measurementssensor: c_thermal_acc_pres_recall(msec) -1.0 # in, <=0 no subcycle measurements # >0 millisecs between subcycle measurements # c_thermal_acc_pres_time must be 0 to enablesensor: m_thermal_acc_pres_voltage(volts) 0 # out, raw voltage from ADsensor: m_thermal_acc_pres(bar) 0 # out, calibrated from m_thermal_acc_pres_voltage # inputs, volts/pressure config stuff FS-->full scale sensor: f_thermal_acc_pres_full_scale(bar) 248.222 # pressure @ FS volts sensor: f_thermal_acc_pres_min(volts) 0.143 # voltage for 0 pressure sensor: f_thermal_acc_pres_max(volts) 2.400 # voltage for FS pressuresensor: m_thermal_acc_vol(cc) # out, computed oil volume from m_thermal_acc_pres # inputs, volume/pressure config stuff # specs PV=k relationship between pressure and volume # m_thermal_acc_vol(cc) = f_thermal_acc_vol_cal_v0(cc) * # (1 - f_thermal_acc_vol_cal_p0(bar)/m_thermal_acc_pres(bar)) sensor: f_thermal_acc_vol_cal_v0(cc) 2263.3036 # in, invariant volume with piston full out sensor: f_thermal_acc_vol_cal_p0(bar) 31.0114 # in, initial pressure with piston full outsensor: m_thermal_enuf_acc_vol(bool) 0 # out, reflects state of switch that measure # adequate thermal displacement. # 0==> not enuf !=0 ==> enufsensor: x_thermal_reqd_acc_vol(cc) 300 # out, the volume of oil in accumulator when # switch says we have enuf # thrpump.csensor: c_thermal_pump(enum) 0 # in, commanded state of thermal pump: # CTHRPUMP_OFF 0.0 # CTHRPUMP_ON_WITH_CHECKS 1.0 # CTHRPUMP_ON_REGARDLESS 2.0 note: only in -labsensor: m_thermal_pump(enum) 0 # out, actual state of thermal pump: # MTHR_PUMP_OFF 0.0 # MTHR_PUMP_ON 1.0 # MTHR_AWAITING_NOT_ENUF_VOLUME -1.0 # MTHR_AWAITING_REQD_PITCH -2.0 # MTHR_AWAITING_VALVE -3.0 # MTHR_AWAITING_AIR -4.0sensor: u_thermal_pump_reqd_pitch(rad) -0.1745 # in, how far down glider must be pointing in # to use the pump (-0.1745rad => -10deg)sensor: x_thermal_pump_start_in(sec) -1.0 # in/out, advisory time until thermal pump is engaged# altimeter.csensor: c_alt_time(sec) 0 # in, time spacing for altimeter pings # <0 is off, =0 as fast as possible # >0 that many seconds betweens measurementssensor: c_alt_recall(msecs) -1.0 # in, <=0 no subcycle sampling # >0 millisecs between subcycle measurements # c_alt_time must be 0 to enablesensor: f_altimeter_model(enum) 0 # in, which altimeter is installed: # 0 Benthos, sample 400ms after power on # 1 AirMar(mod1), sample 1.1 to 5 sec after power on # -1 experimental, sample u_exp_alt_pwr_stb_time secs # after power onsensor: u_exp_alt_pwr_stb_time(s) 0 # in, only looked at if f_altimeter_model == -1 # control when to sample experimental altimeter # >0 the seconds to wait before reading altimeter # 0 Never power off the altimeter, i.e. leave # it powered on all the time.sensor: u_exp_alt_correction(m) 0 # in, only looked at if f_altimeter_model == -1 (experimental) # used to compensate for fixed offsets in altimeters # M_RAW_ALTITUDE(m) = M_RAW_ALTITUDE(m) + U_EXP_ALT_CORRECTION(m)sensor: u_alt_min_post_inflection_time(sec) 10.0 # num secs after inflection before we take datasensor: u_alt_min_depth(m) 2.0 # how deep vehicle must be to use altitudesensor: u_alt_reqd_good_in_a_row(nodim) 3 # how many in a row we require before accepting readingsensor: m_raw_altitude(m) # out, height above bottom, unfilteredsensor: m_raw_altitude_rejected(bool) # out, true if altimeter did not supply readingsensor: m_altimeter_voltage(volts) # out, voltage read from the A/D# watchdog.csensor: c_weight_drop(bool) 0 # in, non-zero->drop the weightsensor: u_tickle_on_gps(bool) 1 # in, non-zero reset watchdog on every gps fixsensor: u_tickle_on_console_cd(bool) 1 # in, non-zero reset watchdog if have freewavesensor: x_hardware_cop_timeout(hours) -1 # out, reflects state of jumper # -1 can't tell, >=RevE will be 2 or 16sensor: m_cop_tickle(bool) 1 # out, set to 1 whenever COP is tickledsensor: m_tot_on_time(days) 0 # out, How long we have been powered on# airpump.csensor: c_air_pump(enum) 0 # in, <0 turns it off regardless # 0 turns it off unless thermal or deep electric engine needs it # >0 turns it onsensor: u_thermal_min_time_in_esc_pos(s) 1800.0 # in, for thermal only # the number of seconds the air pump solenoid must # stay in escape position before it is automatically # returned to fill position. Note: The glider must also # NOT be at the surface for the valve to be automatically # moved to fill position for thermal or electric.sensor: m_air_pump(bool) 0 # out, whether it is on or notsensor: m_air_fill(bool) 0 # out, T->air pump solenoid in fill position # F->air pump solenoid in escape position# battery.csensor: u_battery_time(sec) 0 # in, Time between battery measurements # <0 is off, =0 as fast as possible # >0 num seconds betweens measurementssensor: u_battery_recall(msecs) -1.0 # <=0 no subcycle measurements # >0 millisecs between subcycle measurements # u_battery_time must be 0 to enablesensor: m_battery_inst(volts) 12 # out, Instantaneous battery voltagesensor: m_battery(volts) 12 # out, Average Battery voltagesensor: u_battery_alpha(nodim) 0.1 # in, The weighting factor to produce the average. # Should be between 0 and 1. # 1 ==> no averaging at all # smaller numbers mean more averaging #M_BATTERY = U_BATTERY_ALPHA * M_BATTERY_INST + # (1-U_BATTERY_ALPHA) * M_BATTERY# vacuum.csensor: u_vacuum_time(sec) 0 # in, Time between vacuum measurements # <0 is off, =0 as fast as possible # >0 that many seconds betweens measurementssensor: u_vacuum_recall(msec) -1 # in, <=0 no subcycle measurements # >0 millisecs between subcycle measurements # u_vacuum_time must be 0 to enablesensor: m_vacuum(inHg) # out, Internal glider pressuresensor: u_vacuum_cal_m(inHg/Volt) -14.4059 # Factory Calibration datasensor: u_vacuum_cal_b(inHg) 31.64615 # inHg = m V + b# leakdetect.csensor: c_leakdetect_time(s) 0.0 # in, Time between leakdetect measurements # <0 is off, =0 as fast as possible # >0 that many seconds betweens measurementssensor: c_leakdetect_recall(msec) -1.0 # in, <=0, no subcycle measurements # >0 millisecs between subcycle measurements # c_leakdetect_time must be 0 to enablesensor: f_leakdetect_threshold(volts) 2.0 # in, Any M_LEAKDETECT_VOLTAGE below this is considered # a leak.sensor: m_leakdetect_voltage(volts) 0.0 # out Voltage that was read # The lower the voltage, the worse the leak.sensor: m_leak(bool) 0.0 # non-zero ==> m_leakdetect_voltage < f_leakdetect_threshold# pinger.csensor: u_pinger_rep_rate(sec) 8 #in, secs between primary depth pings # 0 turns it offsensor: u_pinger_max_depth(m) 1000 #in, Secondary ping at 1 second when m_depth # is >= this depth. (assuming nominal # 8 second u_pinger_rep_rate)sensor: u_ping_n_enabled(bool) 1 # if non-zero enable "ping N times" # functionality, 0 turns it off for # "quiet missions"sensor: c_pinger_on(bool) 1 # in, non-zero means ping N times once# gps.csensor: c_gps_on(enum) 0 # in, <0-> off always 0->off, but surface autoon, 1->gps take fixes # >1 take fixes + diag output [see gps.h]sensor: u_gps_reqd_valid_fixes(nodim) 6 # in, reqd number of valid fixes since power on # before we publish as m_gps_lat/lonsensor: m_gps_on(bool) 0 # out, >0 means gps is actually turned onsensor: m_gps_lat(lat) 69696969 # out DDMM.MMMM >0 ==> North <0 ==> Southsensor: m_gps_lon(lon) 69696969 # out DDMM.MMMM >0 ==> East <0 ==> Westsensor: m_gps_x_lmc(m) 0 # out position in local mission coordinatessensor: m_gps_y_lmc(m) 0 # outsensor: m_gps_status(enum) 69 # out, updated with status of gps after received a linesensor: m_gps_full_status(enum) 69 # out, updated with status of gps after every attempt to # to read characters from the gps # 0 is good fix, m_gps_lat/lon update # >0 no fix see gps.h for list of whysensor: m_gps_ignored_lat(lat) 69696969 # out, first few ignored gps fixes heresensor: m_gps_ignored_lon(lon) 69696969 # published when m_gps_status == GPS_STATUS_FIRST_IGNORED_VALID(1)sensor: m_gps_invalid_lat(lat) 69696969 # out, published on A linessensor: m_gps_invalid_lon(lon) 69696969sensor: m_gps_toofar_lat(lat) 69696969 # out, published if too far from DR pointsensor: m_gps_toofar_lon(lat) 69696969 # M_GPS_STATUS == GPS_STATUS_TOOFAR_FIX(3)sensor: m_gps_dist_from_dr(m) 69696969 # out, how far fix is from dead reckoned positionsensor: x_gps_reasonable_radius(m) 69696969 # out, how far fix CAN BE from dead reckoned position # = U_GPS_REASONABLE_FACTOR * # ( U_GPS_UNCERTAINITY + secs_since_last_valid_gps_fix * # (U_MAX_WATER_SPEED + nominal glider horizontal speed))sensor: u_gps_reasonable_factor(nodim) 1.0 # in, see equation abovesensor: u_gps_uncertainity(m) 30.0 # in, see equation above # This data is read from gps and publishedsensor: m_gps_utc_day(byte) 0 # 1-31 Date/Time of positionsensor: m_gps_utc_month(byte) 0 # 1-12sensor: m_gps_utc_year(byte) 0 # 00, 01, ... until Y3Ksensor: m_gps_utc_hour(byte) 0 # 0-23sensor: m_gps_utc_minute(byte) 0 # 0-59sensor: m_gps_utc_second(nodim) 0 # 0-59.xxxxxxsensor: m_gps_speed(m/s) 0 # speed over groundsensor: m_gps_heading(rad) 0 # magnetic headingsensor: m_gps_mag_var(rad) 0 # mag_heading = true_heading + mag_var # mag_var>0 ==> variation is West (like on cape cod)sensor: m_system_clock_lags_gps(sec) 0 # lagtime between persistor and gps clocksensor: m_avg_system_clock_lags_gps(sec) 0 # exponential mean of above lagtimesensor: u_alpha_system_clock_lags_gps(nodim) 0.05 # weight in exponential mean# generic time syncing sensor, called in surface.c and g_shell.csensor: u_max_lag_before_syncing_time(sec) 12 # sync_time when avg lag exceeds 12 secs# generic sensor to record syncing offsets, called in g_shell.csensor: x_system_clock_adjusted(sec) 0 # records the last sync_time offset# argos.csensor: c_argos_on(enum) 0 # <0 PTT is always turned off, even at surface # 0 PTT powered off, but can be auto turned on at surface # >0 PTT is powered on and transmitting: # 1 no diagnostic output # 2 output xmitted chars to MLOG/TERM # 3 output xmitted/recvd chars to MLOG/TERMsensor: m_argos_on(bool) 0 # out, >0 means argos is actually turned onsensor: m_argos_sent_data(bool) 0 # out, > 0 means data was sent to PTTsensor: m_argos_is_xmitting(bool) 0 # out, > 0 means PTT is radiating# sensors to support new PTT format, along with legacy stuffsensor: x_argos_type(enum) 0 # 0 SmartCAT (legacy) # 1 X-CAT (external PIC)sensor: f_argos_format(enum) 0 # 0 rev0 legacy (32 byte) # 1 rev1 Mar05 (31 byte)# ctd.csensor: c_profile_on(sec) 0 # in, <0 is off, =0 as fast as possible # >0 that many seconds betweens measurementssensor: c_profile_recall(msec) -1 # in, <=0 no subcycle measurements # millisecs between subcycle measurements # c_profile_on must be 0 to enablesensor: m_water_cond(S/m) 3 # out, conductivitysensor: m_water_temp(degC) 10 # outsensor: m_water_pressure(bar) 0 # out# iridium.csensor: c_iridium_on(enum) 1 # in # <0 turns it off # 0 turns it off # 1 turns it on, becomes 2nd console when connected # 2 turns it on, no 2nd console # 3 turns it on in "send data" mode # 4 turns it on in "echo data" mode # >4 turns it off # Phone number+prefix, assuming 508 548-2446 target # For a commercial card: 0015085482446 # For a military card: 006975085482446 # You should put YOUR number in autoexec.misensor: c_iridium_phone_num(digits) 15085482446 # WRC phone number !no spaces!sensor: c_iridium_lead_zeros(nodim) 2 # number of leading zeros in phone number # typically 2 for both commercial or militarysensor: c_iridium_time_til_callback(sec) 0.0 # Set this non-zero to have iridium # hang up and call back in that many seconds. # Call back is canceled if anyone sets C_IRIDUM_ONsensor: u_iridium_max_time_til_callback(sec) 1800.0 # Maximum legal value for # C_IRIDIUM_TIME_TIL_CALLBACKsensor: c_iridium_power_on_delay(sec) 3 # min time between power on and sending AT # internally clipped to maximum of c_iridium_register secssensor: c_iridium_register(sec) 30 # minimum time for iridium to register after # powerup. We do not try to dial for this many secs.sensor: m_iridium_waiting_registration(bool) # out, 1 ==> waiting for phone to registersensor: c_iridium_redial_delay(sec) 1 # delay time between redials. Values less than # the cycle time (nominally two seconds) # will delay till next cycle (i.e. 2 seconds)sensor: m_iridium_waiting_redial_delay(bool) # out, 1 ==> waiting to redialsensor: c_iridium_redials_per_on_off(nodim) 1 # how often we cycle the iridium # power when trying to connect. Min 1, Max 10.sensor: c_iridium_await_connect_max(mins) 5 # how long we will wait for a response # after dialing the iridium phone number. # When exceeded the iridium power is cycled. # Zero or negative means wait forever.sensor: c_iridium_cmd_echo(enum) 1 # 0 = do not echo modem commands; 1 = do echosensor: m_iridium_connected(bool) 0 # out 1==> modem is connectedsensor: m_iridium_on(bool) 0.0 # out 0 it's off, 1 it's onsensor: m_iridium_status(enum) 99.0 # out MODEM_NO_CARRIER = 0 # MODEM_OK, = 1 # MODEM_CONNECT, = 2 # MODEM_ERROR, = 3 # MODEM_NO_ANSWER, = 4 # MODEM_BUSY, = 5 # MODEM_NO_DIALTONE, = 6 # LOGGING_IN = 7 # LOGGED_ON = 8 # MODEM_AWAITING_OK = 10, # MODEM_AWAITING_CONNECTION, = 11 # MODEM_TIMEOUT, = 12 # MODEM_UNKNOWN = 99, # NO_CHARS_TIMEOUT = 100,sensor: m_iridium_redials(nodim) 0.0 # out, number of redials since phone was onsensor: m_iridium_dialed_num(nodim) 0.0 # out, number of times phone was dialed # incremented on every dial attempt # it is never resetsensor: m_iridium_call_num(nodim) 0.0 # out, is incremented on every connection, # it is never resetsensor: m_iridium_console_on(enum) 0. # out. 0 = iridium console off, 1 = on# science.c/science_super.csensor: c_science_on(bool) 1 # In, nonzero turns on science uart # 0 off # 1 on + log only errors # 2 on + log successfully received variables # + log all transmitted lines # 3 on _log all received chars # + log all transmitted linessensor: m_science_on(bool) 0 # Out, actual power state of science uartsensor: sci_m_science_on(bool) 0 # In, set by science when powered on # clr by science when safe to power offsensor: c_science_all_on(secs) 2 # in, if enabled this value is set into the # C_xxx_ON for all installed sensors on # the science computer as detected by # SCI_xxx_IS_INSTALLED on every cyclesensor: c_science_all_on_enabled(bool) 1 # in, non-zero enables c_science_all_onsensor: sci_software_ver(nodim) 0 # In, software version running on sciencesensor: sci_reqd_heartbeat(secs) -1.0 # In. How often each side must communicate # over the clothesline # DISABLED, too many false alarmssensor: m_science_sent_some_data(timestamp) 0 # Out, incremented when the glider pulls a character # out of the clothesline buffer where chars received # from science processor are stored.sensor: u_science_max_power_off_time(s) 120 # In, how long to wait for sci_m_science_on # to go low before giving up and yanking powersensor: u_science_power_off_delay(s) 0.5 # In, how long to wait AFTER sci_m_science_on # has gone to 0 before yanking power. This # gives science a little time to clean upsensor: x_sci_cmd_mode_state(enum) 0 # out, state of science console state machine # see science_cmd_execution.h, enum science_cmd_mode_tsensor: u_sci_cmd_max_ack_wait_time(s) 60.0 # in, how long to wait for science to acknowdge request # to go to command modesensor: u_sci_cmd_max_consci_time(s) 1200. # in, maximum time in conscisensor: f_sci_max_input_process_time(msec) 200. # In, how long science driver can spend # processing input lines from science # on each call. Set only to prevent # science data from consuming all the # glider cpu time. Not really an issue # with superscience, this replaces # f_sci_max_sensors_per_call(nodim)sensor: c_science_printout(nodim) 2 # How much science printout is seen # on the glider: # 0 none # 1 proglet _begin()/_end() # 2 proglet _start()/_stop() # 3 proglet _runsensor: c_science_stress_on(sensors/sec) 0 # causes proglet to send SCI_GENERIC_A-Z # this many times/sec for diagnostic purposessensor: sci_m_present_time(sec) 0 # In, written by science on every cycle # their notion of timesensor: m_science_clothesline_lag(s) 0 # out, How far behind science is # M_PRESENT_TIME - SCI_M_PRESENT_TIMEsensor: sci_m_free_heap(bytes) -1 # In, written by science proglet house_elf # when it is started or stoppedsensor: f_sci_max_sensors_per_call(nodim) 2 # max. number of sensor lines # that glider will consume from # the clothesline before relinquishing # control. # see science.c/exchange_sensors_with_science()sensor: sci_wants_surface(enum) 0 # In, requests from science computer # 0 science does not need to surface # 1 science wants to surface at next reasonable opportunity # 2 science wants to surface NOW!sensor: sci_has_error(enum) 0 # In, t-> science has error conditionsensor: sci_has_warning(enum) 0 # In, t-> science has warningsensor: sci_has_oddity(enum) 0 # In, t-> science has odditysensor: sci_wants_comms(bool) 0 # In, t-> science computer wants direct commssensor: u_sci_max_comm_time(sec) 300 # In, max time that science can have direct commssensor: c_console_to_science(bool) 0 # Set by a behavior to switch the console # cleared by science driver when recognized # >0 give science console # 1 science computer requested (CONS2SCI_VAL_SCIENCE) # 2 behavior Bconsci requested (CONS2SCI_VAL_BCONSCI) # <0 take console back # reset to 0 by driversensor: m_console_to_science(bool) 0 # out, set by science driver when science has console # CTD data measured by Science. Updates m_water_cond, m_water_temp, & m_water_pressuresensor: sci_ctd_is_installed(bool) 0 # in, t--> ctd installed on science # sensor: sci_ctd41_is_installed(bool) 0 # in, t--> ctd installed on science sensor: sci_ctd41cp_is_installed(bool) 0 # in, t--> ctd installed on science sensor: sci_ctd41cp_sim_is_installed(bool) 0 # in, t--> ctd being simulated on science computersensor: sci_water_cond(S/m) 3 # out, conductivitysensor: sci_water_temp(degC) 10 # outsensor: sci_water_pressure(bar) 0 # outsensor: sci_generic_a(nodim) 0 # unspecified variables for science to usesensor: sci_generic_b(nodim) 0sensor: sci_generic_c(nodim) 0sensor: sci_generic_d(nodim) 0sensor: sci_generic_e(nodim) 0sensor: sci_generic_f(nodim) 0sensor: sci_generic_g(nodim) 0sensor: sci_generic_h(nodim) 0sensor: sci_generic_i(nodim) 0sensor: sci_generic_j(nodim) 0sensor: sci_generic_k(nodim) 0sensor: sci_generic_l(nodim) 0sensor: sci_generic_m(nodim) 0sensor: sci_generic_n(nodim) 0sensor: sci_generic_o(nodim) 0sensor: sci_generic_p(nodim) 0sensor: sci_generic_q(nodim) 0sensor: sci_generic_r(nodim) 0sensor: sci_generic_s(nodim) 0sensor: sci_generic_t(nodim) 0sensor: sci_generic_u(nodim) 0sensor: sci_generic_v(nodim) 0sensor: sci_generic_w(nodim) 0sensor: sci_generic_x(nodim) 0sensor: sci_generic_y(nodim) 0sensor: sci_generic_z(nodim) 0 # For testing connectivitysensor: x_ping_glider_to_sci(nodim) 0 # Out, science driver increments this each cycle # and can be sent to science for testingsensor: sci_ping_sci_to_glider(nodim) 0 # In, science can send this to us if its copy # does not match recvd version of x_ping_glider_to_sci # legacy sensor for Benthos Acoustic Modem amconnect.RUNsensor: c_acoustic_modem_target_id(enum) 0 # Out, the address of the remote modem # (typically a deck unit) being called. Used by # the science program amconnct. min 0, max 31. # sensors for Benthos Acoustic Modem (bam) progletsensor: c_bam_on(sec) 0 # >0 secs between run cycles, <0 off, # 0 = fast as possiblesensor: c_bam_mode(enum) 0 # 0: command mode # 1: data collect modesensor: c_bam_target_id(enum) 1 # The address of the remote host modem being # called (typically a deck unit, min 0, max 31).sensor: c_bam_update_secs(sec) 120 # how often to transmit location and depth, # <0 => don't transmit location and depth # minimum value = c_bam_cmd_parse(sec) * # (c_bam_number_of_echos(nodim) + 1)sensor: c_bam_inactivity_secs(sec) 60 # how long the modem must be quiet before # location is broadcastsensor: c_bam_cmd_parse_secs(sec) 5 # How often to check command input buffersensor: c_bam_number_of_echos(nodim) 3 # Number of times to echo commandssensor: c_bam_chars_to_get_before_surfacing(nodim) 1000 # how many chars to collect # in modmdata.dat before # surfacing, <0 => don't # collect any datasensor: c_bam_datacol_report_secs(sec) 10 # How often to send bam_datacol # output sensors to glider # (xx_rcvd_chars_xx)sensor: sci_bam_is_installed(bool) # true -> proglet is installedsensor: sci_bam_science_on(bool) # false -> exit supersci app # maps to c_science_onsensor: sci_bam_rcvd_chars_since_last_report(nodim) # num of chars heard in last 10 secondssensor: sci_bam_rcvd_chars_since_last_surfacing(nodim) # num of chars heard since last surfacing # HydroScat2 sensorssensor: c_hs2_on(sec) 0 # in, sets seconds between hs2 measurements # < 0 stops hs2 data collection # >=0 values are forced to be between 2 and 10 inclusive.sensor: sci_hs2_is_installed(bool) 0 # in, t--> installed on sciencesensor: sci_hs2_1bb(nodim) 0 # out, "bb" backscatter for hs2 channel 1sensor: sci_hs2_1bbu(nodim) 0 # "bbu" backscatter for hs2 channel 1sensor: sci_hs2_2bb(nodim) 0 # "bb" backscatter for hs2 channel 2sensor: sci_hs2_2bbu(nodim) 0 # "bbu" backscatter for hs2 channel 2sensor: sci_hs2_3bb(nodim) 0 # "bb" backscatter for hs2 channel 3sensor: sci_hs2_3bbu(nodim) 0 # "bbu" backscatter for hs2 channel 3 # proglet bb2f: wet labs bb2f fluorometer / backscatter sensorsensor: c_bb2f_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2f_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb2f_num_fields_to_send(nodim) 7 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list below # output sensors, listed in PRIORITY order # e.g. if c_bb2f_num_fields_to_send is 3, cols 3,5,6 sentsensor: sci_bb2f_b470(nodim) 0 # col 3, blue scattersensor: sci_bb2f_b700(nodim) 0 # col 5, red scattersensor: sci_bb2f_fluor(nodim) 0 # col 6, fluorescencesensor: sci_bb2f_therm(nodim) 0 # col 7, thermistorsensor: sci_bb2f_b470_ref(nodim) 0 # col 2, blue refsensor: sci_bb2f_b700_ref(nodim) 0 # col 4, red refsensor: sci_bb2f_counter(nodim) 0 # col 1, counter (resets to zero at each power-up) # proglet bb2c: Wetlabs no clue what name is or data meanssensor: c_bb2c_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2c_is_installed(bool) 0 # in, t--> installed on sciencesensor: u_bb2c_is_calibrated(bool) 0 # false, assume not calibrated# for deriving bb2c engineering units, these should be tailered for each# glider with this device in the science bay (these are defaults for RU04)sensor: u_bb2c_beta532_factor(Mnodim) 7.494 # really 0.000007494 (see Mnodim doco above)sensor: u_bb2c_beta660_factor(Mnodim) 1.8 # really 0.0000018 " " " "sensor: u_bb2c_beta532_offset(nodim) 55.37 # offset for eng unit conversionsensor: u_bb2c_beta660_offset(nodim) 55.0 # " " " "sensor: c_bb2c_num_fields_to_send(nodim) 9 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list below # output sensors, listed in PRIORITY order # Note: date(col1) and time(col2) fields tossedsensor: sci_bb2c_beta532_eng_units(nodim) 0 # derived from col 4sensor: sci_bb2c_beta660_eng_units(nodim) 0 # derived from col 6sensor: sci_bb2c_beta532(nodim) 0 # col 4sensor: sci_bb2c_beta660(nodim) 0 # col 6sensor: sci_bb2c_cdom(nodim) 0 # col 8sensor: sci_bb2c_ref1(nodim) 0 # col 3sensor: sci_bb2c_ref2(nodim) 0 # col 5sensor: sci_bb2c_ref3(nodim) 0 # col 7sensor: sci_bb2c_temp(nodim) 0 # col 9 # proglet bb2lss, wetlabs Light Scatter Sensorsensor: c_bb2lss_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2lss_is_installed(bool) 0 # in, t--> installed on sciencesensor: u_bb2lss_is_calibrated(bool) 0 # false, assume not calibrated# for deriving bb2lss engineering units, these should be tailered for each# glider with this device in the science bay (these are defaults for RU04)sensor: u_bb2lss_beta880_factor(Mnodim) 2.664 # really 0.000002664 (see Mnodim doco above)sensor: u_bb2lss_beta880_offset(nodim) 52.97 # offset for eng unit conversionsensor: c_bb2lss_num_fields_to_send(nodim) 6 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list below # output sensors, listed in PRIORITY order # Note: date(col1) and time(col2) fields tossedsensor: sci_bb2lss_beta880_eng_units(nodim) 0 # derived from col4sensor: sci_bb2lss_beta880(nodim) 0 # col4sensor: sci_bb2lss_lss(nodim) 0 # col6sensor: sci_bb2lss_ref1(nodim) 0 # col3sensor: sci_bb2lss_ref2(nodim) 0 # col5sensor: sci_bb2lss_temp(nodim) 0 # col7 #proglet sam: Wetlabs: Scattering Attenuation Metersensor: c_sam_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_sam_is_installed(bool) 0 # in, t--> installed on sciencesensor: u_sam_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific calibration constantssensor: u_sam_do1(nodim) 68.0 # for deriving engineering unitssensor: u_sam_do2(nodim) 85.0 # " " " "sensor: u_sam_exp1coeff(nodim) 0.055 # " " " "sensor: u_sam_exp2coeff(nodim) 4.448 # " " " "sensor: u_sam_offset(nodim) 7.0 # " " " "sensor: u_sam_eff_pathlength(nodim) 0.104 # " " " "sensor: u_sam_a(nodim) 10.0 # " " " "sensor: u_sam_transition_val(nodim) 1.8 # " " " "sensor: u_sam_median_window(nodim) 10 # valid range 1-15 (for eng units)sensor: c_sam_num_fields_to_send(nodim) 9 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list below # output sensors, listed in PRIORITY ordersensor: sci_sam_c_mix(nodim) 0 # engineering unit1, derived from cols 2 and 3sensor: sci_sam_vis(nodim) 0 # engineering unit2, derived from cols 2 and 3sensor: sci_sam_filter_age(sec) 0 # age of oldest sample in median windowsensor: sci_sam_s1_filtered(nodim) 0 # median filtered version of sci_sam_s1sensor: sci_sam_s2_filtered(nodim) 0 # median filtered version of sci_sam_s2sensor: sci_sam_s1(nodim) 0 # col 2sensor: sci_sam_s2(nodim) 0 # col 3sensor: sci_sam_ref(nodim) 0 # col 1sensor: sci_sam_temp(nodim) 0 # col 4 # proglet whpar: WHOI Photosynthetic Active Radiationsensor: c_whpar_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_whpar_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_whpar_num_fields_to_send(nodim) 6 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list below # output sensors, listed in PRIORITY order # e.g. if c_whpar_num_fields_to_send is 2, par and voltage sentsensor: sci_whpar_par(nodim) 0 # col 2, Primary PARsensor: sci_whpar_ref(nodim) 0 # col 3, Second PAR or referencesensor: sci_whpar_therm(nodim) 0 # col 4, Temperaturesensor: sci_whpar_volt(nodim) 0 # col 5, Voltagesensor: sci_whpar_counter(nodim) 0 # col 1, Frame countersensor: sci_whpar_spare(nodim) 0 # col 6, Spare # proglet whgpbm: WHOI Photosynthetic Active Radiationsensor: c_whgpbm_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_whgpbm_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_whgpbm_num_fields_to_send(nodim) 7 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list below # output sensors, listed in PRIORITY order # e.g. if c_whgpbm_num_fields_to_send is 2, par and bio are sentsensor: sci_whgpbm_par(nodim) 0 # col 3, PPPPPsensor: sci_whgpbm_biolumin(nodim) 0 # col 2, BBBBBsensor: sci_whgpbm_interval(nodim) 0 # col 7, RRsensor: sci_whgpbm_volt_excite(nodim) 0 # col 4, LLLLsensor: sci_whgpbm_volt_left(nodim) 0 # col 5, QQQQsensor: sci_whgpbm_volt_bat(nodim) 0 # col 6, VVVVsensor: sci_whgpbm_counter(nodim) 0 # col 1, CCCC # proglet whfctd: WHoi Fast CTDsensor: c_whfctd_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: c_whfctd_num_fields_to_send(nodim) 8 # in, number of columns to send on each measurement, # fields to send chosen by order in the list abovesensor: sci_whfctd_is_installed(bool) 0 # in, t--> installed on sciencesensor: sci_whfctd_ref_hi(nodim) 0 # col 1, AAAAAAAAsensor: sci_whfctd_ref_mid(nodim) 0 # col 2, BBBBBBBsensor: sci_whfctd_ref_lo(nodim) 0 # col 3, CCCCCCsensor: sci_whfctd_raw_temp(nodim) 0 # col 4, DDDDDDDsensor: sci_whfctd_raw_con1(nodim) 0 # col 5, EEEEEEsensor: sci_whfctd_raw_con2(nodim) 0 # col 6, FFFFFFFsensor: sci_whfctd_raw_pres(nodim) 0 # col 7, GGGGGGsensor: sci_whfctd_elap_time(nodim) 0 # col 8, HHHHH # Mote Marine Lab Optical Phytoplankton Detector (BrevBuster) # last modified: 24 May-05 jhillier@mote.orgsensor: c_motebb_on(sec) 0 #sensor: sci_motebb_is_installed(bool) 0 # installed on sciencesensor: sci_motebb_sn(nodim) 0 #sensor: sci_motebb_status(nodim) 0 #sensor: sci_motebb_volt(nodim) 0 #sensor: sci_motebb_press(nodim) 0 #sensor: sci_motebb_cdomref(nodim) 0 #sensor: sci_motebb_int_time(nodim) 0 #sensor: sci_motebb_start_time(nodim) 0 #sensor: sci_motebb_stop_time(nodim) 0 #sensor: sci_motebb_absorb_a(nodim) 0 #sensor: sci_motebb_absorb_b(nodim) 0 #sensor: sci_motebb_corr0(nodim) 0 #sensor: sci_motebb_cell0(nodim) 0 #sensor: sci_motebb_corr1(nodim) 0 #sensor: sci_motebb_cell1(nodim) 0 #sensor: sci_motebb_corr2(nodim) 0 #sensor: sci_motebb_cell2(nodim) 0 #sensor: sci_motebb_corr3(nodim) 0 #sensor: sci_motebb_cell3(nodim) 0 #sensor: sci_motebb_corr4(nodim) 0 #sensor: sci_motebb_cell4(nodim) 0 #sensor: sci_motebb_corr5(nodim) 0 #sensor: sci_motebb_cell5(nodim) 0 ## proglet hydrophonesensor: c_hydrophone_on(sec) -1.0 # positive or zero turns it on and starts sampling sequencesensor: c_hydrophone_pre_delay(sec) 15.0 # delay between proglet start and sample startsensor: c_hydrophone_post_delay(sec) 30.0 # delay between sample done and starting oversensor: c_hydrophone_duration(sec) 30.0 # how long a measurementsensor: c_hydrophone_gain(nodim) 3.0 # 0-7sensor: c_hydrophone_num_channels(nodim) 1.0 # 1-4sensor: c_hydrophone_sample_rate(Hz) 5000.0 # 1000-5000, how fast to ADsensor: c_hydrophone_drive_num(nodim) 3.0 # 2->C:, 3:->D: etcsensor: c_hydrophone_pre_pings(nodim) 1.0 # number of pings before samplesensor: c_hydrophone_post_pings(nodim) 2.0 # number of pings after samplesensor: sci_hydrophone_is_installed(bool) 0.0 # T-> if proglet installedsensor: sci_hydrophone_collecting(nodim) 0.0 # set during collection to sample#, DDHHMM # sample as filename, less two alpha chars # which encode year and month# proglet hard_disksensor: sci_hard_disk_is_installed(bool) 0.0 # true means installed# proglet bbfl2s: wet labs bbfl2slo fluorometer / backscatter sensorsensor: c_bbfl2s_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bbfl2s_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bbfl2s_num_fields_to_send(nodim) 10 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list belowsensor: u_bbfl2s_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BBFL2SLO-234)sensor: u_bbfl2s_bb_cwo(nodim) 55 # clean water offset, nodim == countssensor: u_bbfl2s_chlor_cwo(nodim) 56 # clean water offset, nodim == countssensor: u_bbfl2s_cdom_cwo(nodim) 54 # clean water offset, nodim == countssensor: u_bbfl2s_bb_sf(Mnodim) 2.47 # scale factor (0.00000247)sensor: u_bbfl2s_chlor_sf(ug/l/nodim) 0.0125 # scale factor to get unitssensor: u_bbfl2s_cdom_sf(ppb/nodim) 0.0979 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_bbfl2s_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_bbfl2s_bb_scaled(nodim) 0 # derived from col 4sensor: sci_bbfl2s_chlor_scaled(ug/l) 0 # derived from col 6sensor: sci_bbfl2s_cdom_scaled(ppb) 0 # derived from col 8sensor: sci_bbfl2s_bb_sig(nodim) 0 # col 4sensor: sci_bbfl2s_chlor_sig(nodim) 0 # col 6sensor: sci_bbfl2s_cdom_sig(nodim) 0 # col 8sensor: sci_bbfl2s_bb_ref(nodim) 0 # col 3sensor: sci_bbfl2s_chlor_ref(nodim) 0 # col 5sensor: sci_bbfl2s_cdom_ref(nodim) 0 # col 7sensor: sci_bbfl2s_temp(nodim) 0 # col 9# proglet fl3slo: wet labs fl3slo fluorometer triplet sensorsensor: c_fl3slo_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_fl3slo_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_fl3slo_num_fields_to_send(nodim) 10 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list belowsensor: u_fl3slo_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for FL3-341)sensor: u_fl3slo_chlor_cwo(nodim) 55 # clean water offset, nodim == countssensor: u_fl3slo_phyco_cwo(nodim) 55 # clean water offset, nodim == countssensor: u_fl3slo_cdom_cwo(nodim) 55 # clean water offset, nodim == countssensor: u_fl3slo_chlor_sf(ug/l/nodim) 0.0126 # scale factor to get unitssensor: u_fl3slo_phyco_sf(ppb/l/nodim) 0.0459 # scale factor to get unitssensor: u_fl3slo_cdom_sf(ppb/l/nodim) 0.0984 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_fl3slo_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_fl3slo_chlor_units(ug/l) 0 # derived from col 4sensor: sci_fl3slo_phyco_units(ppb) 0 # derived from col 6sensor: sci_fl3slo_cdom_units(QSDE) 0 # derived from col 8sensor: sci_fl3slo_chlor_sig(nodim) 0 # col 4sensor: sci_fl3slo_phyco_sig(nodim) 0 # col 6sensor: sci_fl3slo_cdom_sig(nodim) 0 # col 8sensor: sci_fl3slo_chlor_ref(nodim) 0 # col 3sensor: sci_fl3slo_phyco_ref(nodim) 0 # col 5sensor: sci_fl3slo_cdom_ref(nodim) 0 # col 7sensor: sci_fl3slo_temp(nodim) 0 # col 9# proglet bb3slo: wet labs bb3slo backscatter triplet sensorsensor: c_bb3slo_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb3slo_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb3slo_num_fields_to_send(nodim) 10 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list belowsensor: u_bb3slo_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB3SLO-207)sensor: u_bb3slo_b470_do(nodim) 51 # dark offset, nodim == countssensor: u_bb3slo_b532_do(nodim) 51 # dark offset, nodim == countssensor: u_bb3slo_b660_do(nodim) 114 # dark offset, nodim == countssensor: u_bb3slo_b470_sf(Mnodim) 0.117 # scale factor (0.000000117)sensor: u_bb3slo_b532_sf(Mnodim) 8.17 # scale factor (0.00000817)sensor: u_bb3slo_b660_sf(Mnodim) 3.85 # scale factor (0.00000385)# output sensors, listed in PRIORITY order# e.g. if c_bb3slo_num_fields_to_send is 3, cols derived from 4,6,8 sentsensor: sci_bb3slo_b470_scaled(nodim) 0 # from col 4, bluesensor: sci_bb3slo_b532_scaled(nodim) 0 # from col 6, greensensor: sci_bb3slo_b660_scaled(nodim) 0 # from col 8, redsensor: sci_bb3slo_b470_sig(nodim) 0 # col 4, bluesensor: sci_bb3slo_b532_sig(nodim) 0 # col 6, greensensor: sci_bb3slo_b660_sig(nodim) 0 # col 8, redsensor: sci_bb3slo_b470_ref(nodim) 0 # col 3, bluesensor: sci_bb3slo_b532_ref(nodim) 0 # col 5, greensensor: sci_bb3slo_b660_ref(nodim) 0 # col 7, redsensor: sci_bb3slo_temp(nodim) 0 # col 9# proglet oxy3835: Aanderaa Oxygen Optode 3835sensor: c_oxy3835_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_oxy3835_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_oxy3835_num_fields_to_send(nodim) 3 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list below # output sensors, listed in PRIORITY order # e.g. if c_oxy3835_num_fields_to_send is 3, cols 3,4,5 sentsensor: sci_oxy3835_oxygen(nodim) 0 # col 3, oxygensensor: sci_oxy3835_saturation(nodim) 0 # col 4, saturationsensor: sci_oxy3835_temp(nodim) 0 # col 5, temperature# proglet viper: DMA Viper Processorsensor: c_viper_on(sec) -1.0 # positive or zero turns it on and starts sampling sequencesensor: c_viper_turn_on_timeout(sec) 120.0 # max wait time for viper to power onsensor: c_viper_collect_timeout(sec) 200.0 # max wait time for viper to collect/analyse acoustic datasensor: c_viper_reset_timeout(sec) 60.0 # max wait time for viper to respond to reset gain commandsensor: c_viper_start_sampling_timeout(sec) 60.0 # max wait time for viper to respond to start sampling commandsensor: c_viper_detection_done_timeout(sec) 60.0 # max wait time for viper to respond to detection done commandsensor: c_viper_turn_off_timeout(sec) 120.0 # max wait time for viper to power offsensor: c_viper_gain(nodim) 3.0 # 0-7 gain sent to vipersensor: c_viper_max_sample_starts(nodim) 3.0 # max allowable attempts to obtain a definitive detectionsensor: c_viper_max_errors(nodim) 3.0 # max number of viper errors before mission abortsensor: sci_viper_power_on(bool) 0 # power state of the Viper, true -> onsensor: sci_viper_error(nodim) 0 # unique number for each error sequencesensor: sci_viper_target(enum) 0 # target priority returned by Vipersensor: sci_viper_collect_time(sec) 0 # data collection time returned by Vipersensor: sci_viper_is_installed(bool) 0.0 # T-> if proglet installedsensor: sci_viper_finished(bool) 0.0 # T-> viper is ready to be powered downsensor: sci_viper_collecting(bool) 0.0 # T-> viper is doing it's thing, comatose time# proglet ocr504R: Satlantic OCR-504 Radiance configuration#Inputssensor: c_ocr504R_on(sec) 0 # sets secs between how often data is sent # <0 stops, 0 fast as possible, 0> that many secssensor: u_ocr504R_is_calibrated(bool) 0 # needs to be set in autoexec.mi# sensor specific calibration constants (defaults for S/N 004)sensor: u_ocr504R_dark_counts_c1(nodim) 2147326431.3 # dark offset for channel 1sensor: u_ocr504R_cal_coeff_c1(Tnodim) 29310.139102 # calibration factor for channel 1sensor: u_ocr504R_immersion_coeff_c1(nodim) 1.758 # immersion factor for channel 1sensor: u_ocr504R_dark_counts_c2(nodim) 2147357165.1 # dark offset for channel 2sensor: u_ocr504R_cal_coeff_c2(Tnodim) 33825.794480 # calibration factor for channel 2sensor: u_ocr504R_immersion_coeff_c2(nodim) 1.752 # immersion factor for channel 2sensor: u_ocr504R_dark_counts_c3(nodim) 2147621476.7 # dark offset for channel 3sensor: u_ocr504R_cal_coeff_c3(Tnodim) 29314.178969 # calibration factor for channel 3sensor: u_ocr504R_immersion_coeff_c3(nodim) 1.746 # immersion factor for channel 3sensor: u_ocr504R_dark_counts_c4(nodim) 2147499550.4 # dark offset for channel 4sensor: u_ocr504R_cal_coeff_c4(Tnodim) 18677.199017 # calibration factor for channel 4sensor: u_ocr504R_immersion_coeff_c4(nodim) 1.739 # immersion factor for channel 4sensor: u_ocr504R_Vin_a0(nodim) 0.0 # polynomial coefficient to scale Vinsensor: u_ocr504R_Vin_a1(nodim) 0.03 # polynomial coefficient to scale Vinsensor: u_ocr504R_itemp_a0(nodim) -50.0 # polynomial coefficient to scale itempsensor: u_ocr504R_itemp_a1(nodim) 0.5 # polynomial coefficient to scale itempsensor: c_ocr504R_num_fields_to_send(nodim) 16 # number of columns to send on each # measurement, fields to send chosen # by order in the list belowsensor: sci_ocr504R_is_installed(bool) 0 # in, t--> installed on science#Outputs, in order of priority:sensor: sci_ocr504R_rad1(uW/cm^2/nm) # from channel1sensor: sci_ocr504R_rad2(uW/cm^2/nm) # from channel2sensor: sci_ocr504R_rad3(uW/cm^2/nm) # from channel3sensor: sci_ocr504R_rad4(uW/cm^2/nm) # from channel4sensor: sci_ocr504R_itemp(Celsius) # internal temperature of instrumentsensor: sci_ocr504R_Vin(volts) # regulated input voltagesensor: sci_ocr504R_fcount(nodim) # 0-255, count of frame transmittedsensor: sci_ocr504R_channel1(nodim) # raw counts from discrete optical waveband 1sensor: sci_ocr504R_channel2(nodim) # raw counts from discrete optical waveband 2sensor: sci_ocr504R_channel3(nodim) # raw counts from discrete optical waveband 3sensor: sci_ocr504R_channel4(nodim) # raw counts from discrete optical waveband 4sensor: sci_ocr504R_itemp_raw(nodim) # raw pre-scaled temperaturesensor: sci_ocr504R_Vin_raw(nodim) # raw pre-scaled regulated input voltagesensor: sci_ocr504R_timer(sec) # seconds since initialization (power-on)sensor: sci_ocr504R_delay(msec) # milliseconds offset to timer for # accurate indication of when frame's sensors # were sampledsensor: sci_ocr504R_cksum(nodim) # data integrity sensor, checksum on frame# proglet ocr504I: Satlantic OCR-504 Irradiance configuration#Inputssensor: c_ocr504I_on(sec) 0 # sets secs between how often data is sent # <0 stops, 0 fast as possible, 0> that many secssensor: u_ocr504I_is_calibrated(bool) 0 # needs to be set in autoexec.mi# sensor specific calibration constants (defaults for S/N 089)sensor: u_ocr504I_dark_counts_c1(nodim) 2147679780.3 # dark offset for channel 1sensor: u_ocr504I_cal_coeff_c1(Tnodim) 1636922.3650 # calibration factor for channel 1sensor: u_ocr504I_immersion_coeff_c1(nodim) 1.368 # immersion factor for channel 1sensor: u_ocr504I_dark_counts_c2(nodim) 2147446582.0 # dark offset for channel 2sensor: u_ocr504I_cal_coeff_c2(Tnodim) 1940758.5765 # calibration factor for channel 2sensor: u_ocr504I_immersion_coeff_c2(nodim) 1.410 # immersion factor for channel 2sensor: u_ocr504I_dark_counts_c3(nodim) 2147390884.4 # dark offset for channel 3sensor: u_ocr504I_cal_coeff_c3(Tnodim) 2286152.2061 # calibration factor for channel 3sensor: u_ocr504I_immersion_coeff_c3(nodim) 1.365 # immersion factor for channel 3sensor: u_ocr504I_dark_counts_c4(nodim) 2147443303.2 # dark offset for channel 4sensor: u_ocr504I_cal_coeff_c4(Tnodim) 1804514.9462 # calibration factor for channel 4sensor: u_ocr504I_immersion_coeff_c4(nodim) 1.372 # immersion factor for channel 4sensor: u_ocr504I_Vin_a0(nodim) 0.0 # polynomial coefficient to scale Vinsensor: u_ocr504I_Vin_a1(nodim) 0.03 # polynomial coefficient to scale Vinsensor: u_ocr504I_itemp_a0(nodim) -50.0 # polynomial coefficient to scale itempsensor: u_ocr504I_itemp_a1(nodim) 0.5 # polynomial coefficient to scale itempsensor: c_ocr504I_num_fields_to_send(nodim) 16 # number of columns to send on each # measurement, fields to send chosen # by order in the list belowsensor: sci_ocr504I_is_installed(bool) 0 # in, t--> installed on science#Outputs, in order of priority:sensor: sci_ocr504I_irrad1(uW/cm^2/nm) # from channel1sensor: sci_ocr504I_irrad2(uW/cm^2/nm) # from channel2sensor: sci_ocr504I_irrad3(uW/cm^2/nm) # from channel3sensor: sci_ocr504I_irrad4(uW/cm^2/nm) # from channel4sensor: sci_ocr504I_itemp(Celsius) # internal temperature of instrumentsensor: sci_ocr504I_Vin(volts) # regulated input voltagesensor: sci_ocr504I_fcount(nodim) # 0-255, count of frame transmittedsensor: sci_ocr504I_channel1(nodim) # raw counts from discrete optical waveband 1sensor: sci_ocr504I_channel2(nodim) # raw counts from discrete optical waveband 2sensor: sci_ocr504I_channel3(nodim) # raw counts from discrete optical waveband 3sensor: sci_ocr504I_channel4(nodim) # raw counts from discrete optical waveband 4sensor: sci_ocr504I_itemp_raw(nodim) # raw pre-scaled temperaturesensor: sci_ocr504I_Vin_raw(nodim) # raw pre-scaled regulated input voltagesensor: sci_ocr504I_timer(sec) # seconds since initialization (power-on)sensor: sci_ocr504I_delay(msec) # milliseconds offset to timer for # accurate indication of when frame's sensors # were sampledsensor: sci_ocr504I_cksum(nodim) # data integrity sensor, checksum on frame # sensors for Benthos Acoustic Data Delivery (badd) proglet#Inputs:sensor: c_badd_on(sec) 0 # secs between run cyclessensor: c_badd_mode(enum) 0 # 0: search mode # 1: data collect modesensor: c_badd_target_id(enum) 0 # address of remote host modem being calledsensor: c_badd_range_secs(sec) 300 # how often to request range to remote mode # <0 => don't request range, # min value = c_badd_input_parse_secs(sec) * 2sensor: c_badd_input_parse_secs(sec) 30 # How long to check command response # input buffersensor: c_badd_datacol_status_secs(sec) 30 # How often to check download statussensor: c_badd_clear_remote_data(bool) 0 # 0: do NOT clear remote data after successful#Outputs:sensor: sci_badd_is_installed(bool) # true -> proglet is installedsensor: sci_badd_power_on(bool) # power state of modem (true -> on)sensor: sci_badd_error(enum) # unique number for each error typesensor: sci_badd_remote_stored_bytes(nodim) # number of stored bytes on remote modemsensor: sci_badd_retrieved_bytes(nodim) # number of bytes collected from remote modemsensor: sci_badd_n_tries_to_connect(nodim) # number of attempts to connect with target modemsensor: sci_badd_target_range(m) # response to range commandsensor: sci_badd_datacol_finished(bool) # we're finished collecting data# <PROTO> Add additional science proglets here# console.csensor: c_console_on(bool) 2.0 # in 0 power it off # 1 power on automatically at surface # power off automatically when underwater AND # no carrier for U_CONSOLE_REQD_CD_OFF_TIME secs # 2 power on regardlesssensor: u_console_reqd_cd_off_time(sec) 15.0 # in, how long without CD before powering off # modem if C_CONSOLE_ON == 1sensor: m_console_on(bool) 1.0 # out, power state of RF modemsensor: m_console_cd(bool) 1.0 # out, state of RF modem carrier detectsensor: u_console_off_if_mission_iridium(bool) 1.0 # in, if non-zero causes the freewave # to be powered off during a mission if a # carrier isn't detected.sensor: f_ignore_console_cd_time(sec) 5.0 # in, how long to "filter", i.e. ignore # carrier detect after the freewave is # just powered on.sensor: m_chars_tossed_with_power_off(nodim) 0 # out, chars eaten with power offsensor: m_chars_tossed_with_cd_off(nodim) 0 # out, chars eaten with CD offsensor: m_chars_tossed_by_abend(nodim) 0 # out, chars eaten by abend # this one maintained by behavior abend, # listed here for completenesssensor: u_console_announce_time(sec) 60 # controls how often glidername # is announced when M_CONSOLE_CD # <0 disables announcementsensor: x_console_announcement_made(nodim) 0 # incremented whenever an announcement is made# A variety of simulated variables. These are all maintained by# simdrvr.c. # Keep track of if simulatingsensor: x_are_simulating(enum) 0 # out # 0 not simulating # 3 on bench # 2 just electronics # 1 no electronicssensor: s_hardware_ver(nodim) 128 # what no_electronics reports for X_HARDWARE_VER # RevE board. # This is only read at startup, to change it, # you probably have to change it here # and recompile or store it as longterm sensor.sensor: s_hardware_cop_jumper(bool) 0 # simulated jumper setting for no_electronics only # 0 2hr, 1 16hr # Configuration(environmental) controlssensor: xs_water_depth(m) 30.0 # How deep the water is (COMPUTED! do not set directly) # xs_water_depth = s_water_depth_avg - # s_water_depth_delta * # sin( 2PI * r / s_water_depth_wavelength) # where r = current distance from (0,0) LMCsensor: s_water_depth_avg(m) 30.0sensor: s_water_depth_delta(m) 0.0sensor: s_water_depth_wavelength(m) 100.0sensor: s_water_cond(S/m) 4.0 # conductivity, How salty it issensor: xs_water_temp(degC) 00 # How warm water is, (COMPUTED! do not set directly) sensor: s_water_temp_surface(degc) 20.0 # temp above sensor: s_water_temp_depth_inft(m) 5.0 # this depth (inflection top) sensor: s_water_temp_bottom(degc) 4.0 # temp below sensor: s_water_temp_depth_infb(m) 500.0 # this depth (inflection bottom) # mnenonic: ....INF(T/B) stands for inflection top and inflection bottom. #XS_VEHICLE_TEMP = S_VEHICLE_TIME_TC * ( XS_WATER_TEMP - XS_VEHICLE_TEMP) * delta_tsensor: xs_vehicle_temp(degC) 25.0 # How warm vehicle issensor: s_vehicle_temp_tc(1/sec) 0.01 # tc ==> time constant # See simdrvr.c do_xs_vehicle_temp() for derivationsensor: s_wind_speed(m/s) 9.0 # how fast the wind is blowing, 3.0 ==> 5.4 knotssensor: s_wind_direction(rad) 0.0 # Direction wind is blowing FROMsensor: s_water_speed(m/s) 0.05 # Current speed, 0.5 ==> 1knotsensor: s_water_direction(rad) 4.712 # direction current is going TO, # toward the westsensor: s_mag_var(rad) 0.2810 # mag_heading = true_heading + mag_var # mag_var>0 ==> variation is West (like on cape cod) # This is cape cod numbersensor: xs_wax_temp(degC) 20 # temperature of working fluidsensor: xs_wax_frac_frozen(nodim) 0 # what fraction of the fluid is frozensensor: s_wax_freeze_temp(degC) 10 # where it freezes # combination config/working # Glider real world location # DO NOT CHANGE THESE SETTINGS # Users should PUT s_ini_lat or s_ini_lon to change # simulated glider locationsensor: xs_lat(deg) 4138.051 # Ashumetsensor: xs_lon(deg) -7032.124 # Users should change these to move the simulated glider # positionsensor: s_ini_lat(deg) 69696969 # these are purposely set tosensor: s_ini_lon(deg) 69696969 # unreasonable valuessensor: x_simulated_position_moved(bool) 0 # non-zero means user moved simulated position # flag between gps.c and simdrvr.c # to tell gps to skip moved too far check # set in simdrvr.c, cleared in gps.c# deep electric observed oil pot voltage rate of changesensor: s_de_oil_pot_volt_flux(volts/sec) 0.00625 # workingsensor: x_simdrvr_ran(out) 0 # out, set to 1 on every simdrvr_ctrl() callsensor: xs_battpos(in) 0 # simdrvr.c, do_glider_internals()sensor: xs_battroll(rad) 0sensor: xs_ballast_pumped(cc) 0sensor: xs_fin(rad) 0sensor: xs_roll(rad) 0 # simdrvr.c, do_glider_attitude()sensor: xs_pitch(rad) 0sensor: xs_depth(m) 0 # simdrvr.c, do_glider_depth()sensor: xs_altitude(m) 0 # how far above bottmsensor: xs_vert_speed(m/s) 0 # veh vert speed thru watersensor: s_ocean_pressure_min(volts) 0.20 # used to generate voltage for 0 pressuresensor: xs_pressure_drift(volts) 0 # integrated pressure driftsensor: xs_hdg_rate(rad/sec) 0sensor: xs_heading(rad) 0sensor: xs_speed(m/s) 0 # veh horz speed thru watersensor: xs_vx_lmc(m/s) 0 # vehicle horizontal velocity OVER GROUNDsensor: xs_vy_lmc(m/s) 0sensor: xs_x_lmc(m) 0 # vehicle position in Local Mission Coordinatessensor: xs_y_lmc(m) 0 # (0,0) at mission start Y axis is magnetic north # These are set to 1 if bad data is generated for a devicesensor: s_corrupted_altitude(bool) 0 # altimetersensor: s_corrupted_gps(bool) 0 # The gps, valid or invalidsensor: s_corrupted_gps_error(bool) 0 # The gps, error added to fixsensor: s_corrupted_watchdog_oddity(bool) 0 # watchdog generated odditysensor: s_corrupted_bpump_stalled(bool) 0 # buoyancy pump "jammed"sensor: s_corrupted_bpump_overheated(bool) 0 # buoyancy pump overheat bit went highsensor: s_corrupted_pitch_stalled(bool) 0 # pitch motor "jammed"sensor: s_corrupted_memory_leak(bool) 0 # We leaked some heap memorysensor: s_corrupted_pressure_drift(bool) 0 # we generated a pressure driftsensor: s_corrupted_pressure_spike(bool) 0 # we generated an ocean pressure spike # error metricssensor: xs_x_lmc_error(m) 0 # m_x/y_lmc - s_x/y_lmcsensor: xs_y_lmc_error(m) 0sensor: xs_speed_error(m/s) 0 #xs_speed_error = m_speed - xs_speed# test_driversensor: u_test_driver_errors_per_min(nodim) 0.0 # Only for testing error handlingsensor: u_test_driver_warnings_per_min(nodim) 0.0 # Only for testing error handlingsensor: u_test_driver_oddities_per_min(nodim) 0.0 # Only for testing error handling# DBD/SBD header control for headersensor: u_dbd_sensor_list_xmit_control(enum) 1 # -1 = always transmit header, compatibility mode # use for legacy shore side programs # 0 = always transmit header # 1 = transmit header on initial mission segment only # 2 = transmit header if THIS glider hasn't sent it before # 3 = never transmit header# File system make-space pruningsensor: u_reqd_disk_space(Mbytes) 10.0 # How much disk space do we want to keep free # as a minimum. ~ 1 Mbyte/hour is generatedsensor: m_disk_usage(Mbytes) 0.0 # How much disk space is currently usedsensor: m_disk_free(Mbytes) 0.0 # How much disk space is currently freesensor: x_disk_files_removed(nodim) 0 # Count of how many files pruned last time# Send log files time requirement calculationsensor: u_freewave_data_rate(KBps) 3.0 # Nominal data throughput on Freewave kilobytes per secondsensor: u_iridium_data_rate(KBps) 0.1 # Nominal data throughput on Iridium kilobytes per second# Some documentation on b_args common to all behaviors# NOTE: When you add these common b_args, put them at END of b_arg# list for behaviors. They do not "naturally" belong there, but# it means you do not have to edit behaviors which typically have# hardwired b_arg positions in them# NOTE: These are symbolically defined beh_args.h# b_arg: START_WHEN When the behavior should start, i.e. go from UNITIALIZED to ACTIVE# BAW_IMMEDIATELY 0 // immediately# BAW_STK_IDLE 1 // When stack is idle (nothing is being commanded)# BAW_PITCH_IDLE 2 // When pitch is idle(nothing is being commanded)# BAW_HEADING_IDLE 3 // When heading is idle(nothing is being commanded)# BAW_UPDWN_IDLE 4 // When bpump/threng is idle(nothing is being commanded)# BAW_NEVER 5 // Never stop# BAW_WHEN_SECS 6 // After behavior arg "when_secs", from prior END if cycling# BAW_WHEN_WPT_DIST 7 // When sensor(m_dist_to_wpt) < behavior arg "when_wpt_dist"# BAW_WHEN_HIT_WAYPOINT 8 // When X_HIT_A_WAYPOINT is set by goto_wpt behavior# BAW_EVERY_SECS 9 // After behavior arg "when_secs", from prior START if cycling# BAW_EVERY_SECS_UPDWN_IDLE 10 // After behavior arg "when_secs", from prior START AND# // updown is idle, no one commanding vertical motion# BAW_SCI_SURFACE 11 // SCI_WANTS_SURFACE is non-zero# BAW_NOCOMM_SECS 12 // when have not had comms for WHEN_SECS secs# BAW_WHEN_UTC_TIME 13 // At a specific UTC time or UTC minute into the hour## b_arg: STOP_WHEN# 0 complete# 1-N same as "start_when"# ----- This is the start of a typical missionbehavior: abend # MS_ABORT_OVERDEPTH b_arg: overdepth(m) 10000.0 # <0 disables, # clipped to F_MAX_WORKING_DEPTH b_arg: overdepth_sample_time(sec) 60.0 # how often to check # MS_ABORT_OVERTIME b_arg: overtime(sec) 7200.0 # < 0 disables # MS_ABORT_UNDERVOLTS b_arg: undervolts(volts) 10.0 # < 0 disables b_arg: undervolts_sample_time(sec) 60.0 # how often to check # MS_ABORT_SAMEDEPTH b_arg: samedepth_for(sec) 1800.0 # <0 disables b_arg: samedepth_for_sample_time(sec) 1800.0 # how often to check # MS_ABORT_STALLED b_arg: stalled_for(sec) 1800.0 # <0 disables b_arg: stalled_for_sample_time(sec) 1800.0 # how often to check # MS_ABORT_USER_INTERRUPT b_arg: control_c(bool) 1.0 # bool, T-> let user interrupt # with control-c # MS_ABORT_NO_TICKLE b_arg: no_cop_tickle_for(sec) 6300.0 # secs, abort mission if watchdog # not tickled this often, <0 disables b_arg: no_cop_tickle_percent(%) 12.5 # 0-100, <0 disables # Abort this % of time before # hardware, i.e. for 12.5% # hardware 2hr 15min before # 16hr 2hr before # Note: no_cop_tickle_percento only used on RevE boards or later # If non-zero and hardware supports COP timeout readback... # causes no_cop_tickle_for(sec) to be IGNORED # On old boards, no_cop_tickle_percent(%) is IGNORED and # control reverts to no_cop_tickle_for(sec) # MS_ABORT_ENG_PRESSURE, thermal only b_arg: eng_pressure_mul(nodim) 1.10 # abort if M_THERMAL_ACC_PRES < eng_pressure_mul*M_PRESSURE # Must be > 1, make bigger to be safer b_arg: eng_pressure_sample_time(sec) 15.0 # how often to measure, <0 disables b_arg: max_wpt_distance(m) 3000 # MS_ABORT_WPT_TOOFAR # Maximum allowable distance to a waypoint # < 0 disables b_arg: chk_sensor_reasonableness(bool) 1 # MS_ABORT_UNREASONABLE_SETTINGS # 0 disables check b_arg: reqd_spare_heap(bytes) 45000 # MS_ABORT_NO_HEAP if M_SPARE_HEAP is less than this # <0 disables check #################################################### # NOTE - VALUE OF REQD_SPARE_HEAP IN LASTGASP.MI # SHOULD BE MAINTAINED LOWER THAN THIS NUMBER SO # IF A MISSION ABORTS WITH MS_ABORT_NO_HEAP AND WE # SEQUENCE TO LASTGASP.MI, THAT IN TURN WILL NOT # ITSELF LIKEWISE DO A HEAP ABORT #################################################### b_arg: leakdetect_sample_time(sec) 60.0 # MS_ABORT_LEAK, M_LEAK is non-zero # <0 disables check b_arg: vacuum_min(inHg) 4.0 # MS_ABORT_VACUUM, M_VACUUM out of limits b_arg: vacuum_max(inHg) 10.0 b_arg: vacuum_sample_time(sec) 120.0 # <0 disables check b_arg: oil_volume_sample_time(sec) 180.0 # how often to measure, <0 disables check b_arg: max_allowable_busy_cpu_cycles(cycles) 10.0 # aborts if M_DEVICE_DRIVERS_CALLED_ABNORMALLY # is true for this many cycles in a row # <= 0 disables the abortbehavior: surface b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/surfac<N>.ma b_arg: start_when(enum) 0 # See doco above b_arg: when_secs(sec) 180 # How long between surfacing, only if start_when==6,9, or 12 b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if start_when==7 b_arg: end_action(enum) 1 # 0-quit, 1-wait for ^C quit/resume, 2-resume, 3-drift til "end_wpt_dist" # 4-wait for ^C once 5-wait for ^C quit on timeout b_arg: report_all(bool) 0 # T->report all sensors once, F->just gps b_arg: gps_wait_time(sec) 120 # how long to wait for gps b_arg: keystroke_wait_time(sec) 30 # how long to wait for control-C b_arg: end_wpt_dist(m) 0 # end_action == 3 ==> stop when m_dist_to_wpt > this arg # Arguments for climb_to when going to surface b_arg: c_use_bpump(enum) 2 b_arg: c_bpump_value(X) 1000.0 b_arg: c_use_pitch(enum) 3 # servo on pitch b_arg: c_pitch_value(X) 0.4363 # 25 degrees b_arg: printout_cycle_time(sec) 20.0 # How often to print dialog # iridium related stuff b_arg: gps_postfix_wait_time(sec) 60.0 # How long to wait after initial # gps fix before turning the iridium # on (which disables the gps). It will # wait the shorter of this time or until # all the water velocity calculations are # complete. b_arg: force_iridium_use(nodim) 0.0 # Only for test. non-zero values are set # into C_IRIDIUM_ON. Used to force the # use of the iridium even if freewave is # present. b_arg: min_time_between_gps_fixes(sec) 300.0 # The irdium will be hung up this often # to get gps fixes. It will call back however. # Primarily for use in hold missions to get # periodic gps fixes to tell how far the glider # has drifted. b_arg: sensor_input_wait_time(sec) 10.0 # Time limit to wait for input sensors at surface.behavior: goto_wpt b_arg: start_when(enum) 0 # See doco above b_arg: stop_when(enum) 2 # See doco above b_arg: when_wpt_dist(m) 0 # stop_when == 7 ==> stop when m_dist_to_wpt < this arg b_arg: wpt_units(enum) 0 # 0 LMC, 1 UTM, 2 LAT/LONG b_arg: wpt_x(X) 0 # The waypoint (east or lon) b_arg: wpt_y(X) 0 # (north or lat) # These only used for UTM waypoints b_arg: utm_zd(byte) 19.0 # UTM Zone as digit (see coord_sys.h) b_arg: utm_zc(byte) 19.0 # (T) UTM Zone as char (see coord_sys.h) b_arg: end_action(enum) 0 # 0-quit, 2 resumebehavior: goto_list b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/goto_l<N>.ma b_arg: start_when(enum) 0 # See doco above b_arg: num_waypoints(nodim) 0 # Number of valid waypoints in list # maximum of 8 (this can be increased at compile-time) b_arg: num_legs_to_run(nodim) 0 # Number of waypoints to sequence thru # 1-N exactly this many waypoints # 0 illegal # -1 loop forever # -2 traverse list once (stop at last in list) # <-2 illegal b_arg: initial_wpt(enum) 0 # Which waypoint to head for first # 0 to N-1 the waypoint in the list # -1 ==> one after last one achieved # -2 ==> closest # Stopping condition applied to all of waypoints in the list b_arg: list_stop_when(enum) 7 # See doco above b_arg: list_when_wpt_dist(m) 10. # used if list_stop_when == 7 # The waypoints b_arg: wpt_units_0(enum) 0 # 0 LMC, 1 UTM, 2 LAT/LONG b_arg: wpt_x_0(X) 0 # The waypoint (east or lon) b_arg: wpt_y_0(X) 0 # (north or lat) b_arg: wpt_units_1(enum) 0 b_arg: wpt_x_1(X) 0 b_arg: wpt_y_1(X) 0 b_arg: wpt_units_2(enum) 0 b_arg: wpt_x_2(X) 0 b_arg: wpt_y_2(X) 0 b_arg: wpt_units_3(enum) 0 b_arg: wpt_x_3(X) 0 b_arg: wpt_y_3(X) 0 b_arg: wpt_units_4(enum) 0 b_arg: wpt_x_4(X) 0 b_arg: wpt_y_4(X) 0 b_arg: wpt_units_5(enum) 0 b_arg: wpt_x_5(X) 0 b_arg: wpt_y_5(X) 0 b_arg: wpt_units_6(enum) 0 b_arg: wpt_x_6(X) 0 b_arg: wpt_y_6(X) 0 b_arg: wpt_units_7(enum) 0 b_arg: wpt_x_7(X) 0 b_arg: wpt_y_7(X) 0behavior: yo b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/yo<N>.ma b_arg: start_when(enum) 0 # See doco above b_arg: start_diving(bool) 1 # T-> dive first, F->climb first b_arg: num_half_cycles_to_do(nodim) 2 # Number of dive/climbs to perform # <0 is infinite, i.e. never finishes # arguments for dive_to b_arg: d_target_depth(m) 10 b_arg: d_target_altitude(m) -1 b_arg: d_use_bpump(enum) 2 b_arg: d_bpump_value(X) -1000.0 b_arg: d_use_pitch(enum) 1 b_arg: d_pitch_value(X) 0.0 b_arg: d_stop_when_hover_for(sec) 180.0 b_arg: d_stop_when_stalled_for(sec) 240.0 b_arg: d_max_thermal_charge_time(sec) 1200.0 b_arg: d_max_pumping_charge_time(sec) 300.0 b_arg: d_thr_reqd_pres_mul(nodim) 1.10 # arguments for climb_to b_arg: c_target_depth(m) 10 b_arg: c_target_altitude(m) -1 b_arg: c_use_bpump(enum) 2 b_arg: c_bpump_value(X) 1000.0 b_arg: c_use_pitch(enum) 1 b_arg: c_pitch_value(X) 0.0 b_arg: c_stop_when_hover_for(sec) 180.0 b_arg: c_stop_when_stalled_for(sec) 240.0 b_arg: end_action(enum) 0 # 0-quit, 2 resumebehavior: prepare_to_dive b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/prepar<N>.ma b_arg: start_when(enum) 0 # See doco above b_arg: wait_time(sec) 720 # 12minutes, how long to wait for gps b_arg: max_thermal_charge_time(sec) 120 # The maximum length of time to wait for # charge from thermal tubes. After this time the # electric charge pump is used. b_arg: max_pumping_charge_time(sec) 300 # The maximum length of time to wait for a charge # after using electric c charge pump. # max time to wait = max_thermal_charge_time + # max_pumping_charge_timebehavior: sensors_in # <0 off, 0 as fast as possible, N, sample every N secs b_arg: c_att_time(sec) -1.0 b_arg: c_pressure_time(sec) -1.0 b_arg: c_alt_time(sec) -1.0 b_arg: u_battery_time(sec) -1.0 b_arg: u_vacuum_time(sec) -1.0 b_arg: c_profile_on(sec) -1.0 b_arg: c_leakdetect_time(sec) -1.0 b_arg: c_gps_on(bool) 0.0 # Special, 1 is on, 0 is off b_arg: c_science_all_on(sec) -1.0 b_arg: c_hs2_on(sec) -1.0 b_arg: c_bb2f_on(sec) -1.0 b_arg: c_bb2c_on(sec) -1.0 b_arg: c_bb2lss_on(sec) -1.0 b_arg: c_sam_on(sec) -1.0 b_arg: c_whpar_on(sec) -1.0 b_arg: c_motebb_on(sec) -1.0 b_arg: c_bbfl2s_on(sec) -1.0 b_arg: c_fl3slo_on(sec) -1.0 b_arg: c_bb3slo_on(sec) -1.0 b_arg: c_oxy3835_on(sec) -1.0 b_arg: c_whfctd_on(sec) -1.0 b_arg: c_bam_on(sec) -1.0 b_arg: c_ocr504R_on(sec) -1.0 b_arg: c_ocr504I_on(sec) -1.0 b_arg: c_badd_on(sec) -1.0# ----- This is end of a typical mission# These usually do not get called directlybehavior: set_heading b_arg: use_heading(bool) 2 # in, 1 HM_HEADING # in, 2 HM_ROLL # in, 3 HM_BATTROLL # in, 4 HM_FIN b_arg: heading_value(X) 1000.0 # use_heading == 1 C_HEADING(rad) desired heading # use_heading == 2 C_ROLL(rad), >0 bank right # use_heading == 3 C_BATTROLL(rad) >0 puts stbd wing down # use_heading == 4 C_FIN(rad), >0 turns to stbd b_arg: start_when(enum) 0 # See doco above b_arg: stop_when(enum) 2 # See doco abovebehavior: dive_to b_arg: target_depth(m) 10 # how deep to dive b_arg: target_altitude(m) -1 # stop this far from bottom, <0 disables # bpump_mode_t values - ballast control # Electric only, ignored in thermal b_arg: use_bpump(enum) 2 # 0 Speed - servo # 1 Buoyancy Pump relative to neutral # 2 Buoyancy Pump absolute b_arg: bpump_value(X) -1000.0 # use_bpump == 0 m/s desired thru water # use_bpump == 1 cc, clips to max legal, >0 goes up # use_bpump == 2 cc, clips to max legal >0 goes up # pitch_mode_t values - battery fore/aft control b_arg: use_pitch(enum) 1 # 3 Servo on Pitch # 2 Pitch, set once from curve # 1 BattPos b_arg: pitch_value(X) 0.0 # use_pitch == 2,3 rad, desired pitch angle, <0 to dive # use_pitch == 1 in, desired battpos, >0 to nose down # clips to max legal b_arg: start_when(enum) 0 # See doco above b_arg: stop_when_hover_for(sec) 180.0 # terminate dive when depth does not change for # this many secs, <0 to disable b_arg: stop_when_stalled_for(sec) 240.0 # terminate dive when glider not moving thru water # this many secs, i.e. M_SPEED is 0 # <0 to disable b_arg: initial_inflection(bool) 1.0 # T->Want to start with an inflection # Thermal only, ignored in electric b_arg: max_thermal_charge_time(sec) 1200.0 # How long to wait for thermal # charge before using the thermal pump b_arg: max_pumping_charge_time(sec) 300.0 # how long to wait after starting charge pump # before an error b_arg: thr_reqd_pres_mul(nodim) 1.10 # engine pressure must be this many # times the ocean pressure at target_depth # before the dive is started.behavior: climb_to b_arg: target_depth(m) 10 # how deep to dive b_arg: target_altitude(m) -1 # stop this far from bottom, <0 disables # bpump_mode_t values - ballast control b_arg: use_bpump(enum) 2 # 0 Speed - servo # 1 Buoyancy Pump relative to neutral # 2 Buoyancy Pump absolute b_arg: bpump_value(X) 1000.0 # use_bpump == 0 m/s desired thru water # use_bpump == 1 cc, clips to max legal, >0 goes up # use_bpump == 2 cc, clips to max legal >0 goes up # pitch_mode_t values - battery fore/aft control b_arg: use_pitch(enum) 1 # 3 Servo on Pitch # 2 Pitch, set once from curve # 1 BattPos b_arg: pitch_value(X) 0.0 # use_pitch == 2,3 rad, desired pitch angle, <0 to dive # use_pitch == 1 in, desired battpos, >0 to nose down # clips to max legal b_arg: start_when(enum) 0 # See doco above b_arg: stop_when_hover_for(sec) -1.0 # terminate dive when depth does not change for # this many secs, <0 to disable b_arg: stop_when_stalled_for(sec) 240.0 # terminate climb when glider not moving thru water # this many secs, i.e. M_SPEED is 0 # <0 to disable b_arg: initial_inflection(bool) 1.0 # T->Want to start with an inflection# behaviors which control/communicate with the science computer # bconsci # A terminal session with the glider. # Stops by loss of carrier. Package with abend # to stop by time/depthbehavior: bconsci b_arg: terminate_mission_when_done(bool) 1 # end mission when this behavior is done # Controls the sampling of the hydrophones # Obsolete, should be removed # replaced by behavior: bhydrophonebehavior: hydrosmp b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/hydros<N>.ma # b_arg: num_samples(nodim) 1 # How many collections, -1 runs forever b_arg: time_between_samples(min) 10 # wait time between samples # controls initial start minute sych to hour b_arg: duration(sec) 30 # How long each sample is b_arg: gain(dB) 0 # 0, 5, 10, .., 35 b_arg: channel(nodim) 0 # 0-3, which channel b_arg: xmit_files(bool) 0 # t-> have science xmit files b_arg: silence_lvl(nodim) 0 # 0-1, higher the number, the quieter the glider b_arg: idle_stack_when_done(bool) 1 # T-> idle the stack to terminate # mission when sampling is done # bhydrophone # A behavior to control the superscience (quest-2003) version of # drea hydrophone samplingbehavior: bhydrophone b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/bhydro<N>.ma b_arg: start_when(enum) 0 # See doco above: 0, 9 b_arg: when_secs(sec) 0 # # Behavior ends when either of these conditions met b_arg: max_collection_time(sec) -1 # Collect for this long maximum, <0 ==> forever b_arg: num_collections(nodim) -1 # Number of collections to make, <0 ==> infinite # Timing of collection b_arg: c_hydrophone_duration(sec) 60.0 # How long to collect b_arg: c_hydrophone_pre_delay(sec) 15.0 # Delay between proglet start and collection b_arg: no_sample_time(sec) 15.0 # Time between collection # c_hydrophone_pre_delay+no_sample_time is total # time when NOT sampling b_arg: c_hydrophone_post_delay(sec) 30.0 # How long before proglet recycles # This is not part of duty cycle # only how long before proglet recycles # It is normally stopped after every measurement # Ping control b_arg: c_hydrophone_pre_pings(nodim) 1 # number of pings before sample b_arg: c_hydrophone_post_pings(nodim) 2 # number of pings after sample # Collection parameters b_arg: c_hydrophone_gain(nodim) 3.0 # 0-7 b_arg: c_hydrophone_num_channels(nodim) 1.0 # 1-4 b_arg: c_hydrophone_sample_rate(Hz) 5000.0 # 1000-5000, how fast to AD b_arg: c_hydrophone_drive_num(nodim) 3.0 # 2->C:, 3:->D: etc # bviper # A behavior to control the DMA Viper processorbehavior: bviper b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/bhydro<N>.ma b_arg: start_when(enum) 0 # See doco above: 0, 9, 13 b_arg: when_secs(sec) 0 # b_arg: when_utc_min -1 # 0-59, -1 any minute b_arg: when_utc_hour -1 # 0-23, -1 any hour b_arg: when_utc_day -1 # 1-31, -1 any day b_arg: when_utc_month -1 # 1-12, -1 any month # Behavior ends when either of these conditions met b_arg: max_collection_time(sec) -1 # Collect for this long maximum, <0 ==> forever b_arg: num_collections(nodim) -1 # Number of collections to make, <0 ==> infinite # Timing of collection b_arg: no_sample_time(sec) 300.0 # Time between collection # time when NOT sampling # Collection parameters b_arg: c_viper_turn_on_timeout(sec) 120.0 # max wait time for viper to power on b_arg: c_viper_collect_timeout(sec) 200.0 # max wait time for viper to collect/analyse acoustic data b_arg: c_viper_reset_timeout(sec) 60.0 # max wait time for viper to respond to reset gain command b_arg: c_viper_start_sampling_timeout(sec) 60.0 # max wait time for viper to respond to start sampling command b_arg: c_viper_detection_done_timeout(sec) 60.0 # max wait time for viper to respond to detection done command b_arg: c_viper_turn_off_timeout(sec) 120.0 # max wait time for viper to power off b_arg: c_viper_gain(nodim) 3.0 # 0-7 gain sent to viper b_arg: c_viper_max_sample_starts(nodim) 3.0 # max allowable attempts to obtain a definitive detection b_arg: c_viper_max_errors(nodim) 3.0 # max number of viper errors before mission abort # Added at sea (that's why out of order) b_arg: min_sample_depth(m) 20 # min depth to start, <0 disables b_arg: max_sample_depth(m) 60 # max depth to start, <0 disables # Controls the sampling of specified sensor type (b_arg: sensor_type)behavior: sample b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/sample<N>.ma b_arg: sensor_type(enum) 0 # 0 C_SCIENCE_ALL_ON # 1 C_PROFILE_ON # 2 C_HS2_ON # 3 C_BB2F_ON # 4 C_BB2C_ON # 5 C_BB2LSS_ON # 6 C_SAM_ON # 7 C_WHPAR_ON # 8 C_WHGPBM_ON # 9 C_MOTEBB_ON # 10 C_BBFL2S_ON # 11 C_FL3SLO_ON # 12 C_BB3SLO_ON # 13 C_OXY3835_ON # 14 C_WHFCTD_ON # 15 C_BAM_ON # 16 C_OCR504R_ON # 17 C_OCR504I_ON # <PROTO> pick next number here for new proglet # REQUIRED: also add it to: science_super.c: __ss_indexes[], # add it to output_sensors[] in snsr_in.c, # and update header doco in sample.c. # This is a bit-field, combine: # 8 on_surface, 4 climbing, 2 hovering, 1 diving b_arg: state_to_sample(enum) 1 # 0 none # 1 diving # 2 hovering # 3 diving|hovering # 4 climbing # 5 diving|climbing # 6 hovering|climbing # 7 diving|hovering|climbing # 8 on_surface # 9 diving|on_surface # 10 hovering|on_surface # 11 diving|hovering|on_surface # 12 climbing|on_surface # 13 diving|climbing|on_surface # 14 hovering|climbing|on_surface # 15 diving|hovering|climbing|on_surface b_arg: sample_time_after_state_change(s) 15 # time after a positional stat # change to continue sampling b_arg: intersample_time(s) 2 # if < 0 then off, if = 0 then # as fast as possible, and if # > 0 then that many seconds # between measurements# An alternative method of terminating a mission (b_arg: sensor_type)behavior: mission_ender b_arg: start_when(enum) 1 # See doco above: 1,2,3, or 4behavior: comatose b_arg: start_sci_hydrophone_collecting(bool) 1.0 # in, t-> start when this sensor true b_arg: start_sci_viper_collecting(bool) 1.0 # in, t-> start when this sensor true b_arg: post_inflection_holdoff(s) 30.0 # in, how many secs post inflection to # hold off before going comatose# These do not get used to much. Generally only for testingbehavior: nop_cmds b_arg: nop_pitch(bool) 0 # t-> cmd pitch to _IGNORE to keep stack busy b_arg: nop_bpump(bool) 0 # t-> cmd bpump to _IGNORE to keep stack busy b_arg: nop_heading(bool) 0 # t-> cmd heading to _IGNORE to keep stack busy b_arg: nop_threng(bool) 0 # t-> cmd threng to _IGNORE to keep stack busy b_arg: nop_de_eng(bool) 0 # t-> cmd de_eng to _IGNORE to keep stack busy b_arg: secs_to_run(sec) -1 # how long this behavior runs, <0 to run foreverbehavior: oob_abort b_arg: start_when(enum) 6 # see doco above b_arg: when_secs(sec) 120.0 # How long to wait for issuing out of band abort # For testing iridium, sends file irdatst.datbehavior: iridium_ascii_test b_arg: time_between_xmit(secs) 900.0 # 15 minutes b_arg: tries_per_xmit(nodim) 5 # How many attempts to send file b_arg: link_ok_timeout(secs) 30.0 # How long to wait for link ok # < 0 means do not expect "link ok" b_arg: modem_drain_time(secs) 30.0 # How long to delay phone power offEND#endif