#if 0# Copyright (C) 1994-1998, Massachusetts Institute of Technology.# Modifications Copyright (C) 1999-2010 Teledyne Webb Research# 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# -- deleted a bunch of history -- 05-Jan-05 thru 22-Dec-07# 02-Jan-08 pfurey@webbresearch.com SN#3369 Added when_utc to surface behavior.# 12-Jan-08 pfurey@webbresearch.com SN#3370 Added u_hover_bpump_delta_value(cc)# Removed bpump_delta_value from# drift_at_depth argument list# 29-Jan-08 pfurey@webbresearch.com# for smith@spawar.navi.mil SN#3371 Added sensors for sscsd proglet.# 07-Feb-08 pfurey@webbresearch.com SN#3372 Added x_cycle_time, u_low_power_cycle_time# and u_allowable_devsched_msecs# 22-feb-08 tc@DinkumSoftware.com SN#3372 Added cc_final_est_time_til_inflection(s)# m_time_til_wpt(s) cc_est_time_til_inflection(s)# 23-feb-08 tc@DinkumSoftware.com SN#3373 Added bviper b_arg: min_reqd_quiet_time(s)# 24-feb-08 tc@DinkumSoftware.com SN#3374 Added bviper b_arg: post_inflection_holdoff(s)# 26-feb-08 tc@DinkumSoftware.com SN#3375 Added bviper b_arg: allow_sample_at_surface(bool)# 27-feb-08 tc@DinkumSoftware.com SN#3376 bug fix, bviper b_args:when_* had no units# 14-Mar-08 pfurey@webbresearch.com SN#3377 Changed default value of# u_max_altimeter(m) from 30 to 100# 15-Mar-08 pfurey@webbresearch.com SN#3378 Added u_low_power_hd_fin_ap_gain (_igain), and# x_hd_fin_ap_gain (_igain)# 17-Mar-08 pfurey@webbresearch.com SN#3379 Added sensor: sci_motebb_logout(nodim) to# for ahails@mote.org motebb list of parameters.# 20-Mar-08 pfurey@webbresearch.com SN#3380 Changed the default value of# u_de_avg_oil_vol_err_alpha from# 0.05 to 0.0 as a temp bug work-around.# 12-apr-08 dpingal@webbresearch.com SN#3381 added proglet bb2flV3# 03-jun-08 dpingal@webbresearch.com SN#3382 fixed cal factors, units for bb2flV3# 07-Jun-08 peter@fureysoftware.com SN#3383 Added sensors for FIRe proglet# 23-jun-08 dpingal@webbresearch.com SN#3384 added ohf# 14-jul-08 dpingal@webbresearch.com SN#3385 added proglet bb2flV4# 14-jul-08 dpingal@webbresearch.com SN#3386 added proglet bb2flV5# 15-sep-09 fmarcelino@webbresearch.com SN#3387 added c_iridium_phone_num_alt,# c_iridium_failover_retries, m_iridium_attempt_num# and m_iridium_current_num (MANTIS 255)# 14-Oct-08 fnj@webbresearch.com SN#3387A Added u_sci_cycle_time# 2008.10.23 tc@DinkumSoftware.com SN#3388 UTM nav bug# Renamed some sensors for consistency# X_LMC_UTM_VEHICLE_ZONE_DIGIT => X_LMC_UTM_VEH_ZONE_DIGIT# X_LMC_UTM_VEHICLE_ZONE_CHAR => X_LMC_UTM_VEH_ZONE_CHAR# X_LAST_UTM_EASTING_CORRECTION => X_LMC_UTM_VEH_EASTING_CORRECTION# X_LAST_UTM_NORTHING_CORRECTION => X_LMC_UTM_VEH_NORTHING_CORRECTION# 22-dec-08 dpingal@webbresearch.com SN#3389 fixed annotation, merged all reread log file sensors into one# 22-dec-08 dpingal@webbresearch.com SN#3390 added m_argos_timestamp, changed u_reqd_depth_at_surface to 2# 15-jan-09 dpingal@webbresearch.com SN#3391 added c_recovery_on# 2009.01.23 tc@DinkumSoftware.com SN#3392 deleted a bunch of history. 05-Jan-05 thru 22-Dec-07# 2009.01.26 tc@DinkumSoftware.com SN#3393 Added c_iridium_reread_config_files(button)# c_iridium_lead_zeros_alt(nodim)# 2009.02.06 tc@DinkumSoftware.com SN#3384 Typo in comment# 16-Feb-09 fnj@webbresearch.com SN#3389B Added u_sci_dbd_sensor_list_xmit_control# 22-jan-08 dpingal@webbresearch.com SN#3394 added x_low_power_status,# c_coulomb_on, u_coulomb_debug, m_coulomb_amphr,# m_coulomb_current, u_coulomb_timeout, u_iridium_force_port# 06-mar-09 dpingal@webbresearch.com SN#3395 added min_depth, max_depth to sample behavior# 17-mar-09 fmarcelino@webbresearch.com SN#3396 Modified c_iridium_current_num to initialize it to 0 which is now# the primary number.# 2009.01.22 tc@DinkumSoftware.com SN#3397 Added gbus and coulomb device driver sensors# C_COULOMB_ON, U_COULOMB_DEBUG,# M_COULOMB_AMPHR, M_COULOMB_CURRENT,# M_COULOMB_AMPHR_RAW, M_COULOMB_CURRENT_RAW# Added gbus digifin_v2 sensors# U_DIGIFIN_V2_DEBUG,# Moved some fin sensors in file to digifin_v2:# f_fin_safety_max(rad), c_fin(rad), m_fin(rad)## 2009.03.18 fmarcelino@webbresearch.com SN#3398 Changed c_iridium_failover_retries to# u_iridium_failover_retries and upped the default# value to 5# 2009.03.31 fmarcelino@webbresearch.com SN#3399 Added m_iridium_rssi sensor to store the iridium# signal strength.# 2009.04.01 fmarcelino@webbresearch.com SN#3400 Changed m_iridium_rssi to m_iridium_signal_strength# and changed the default value to -1.0# 2-Apr-09 dpingal@webbresearch.com SN#3401 removed a large number of unused sensors# (now commented out)# 6-Apr-09 dpingal@webbresearch.com SN#3402 Added ballast control b_args to drift_at_depth so they# can be tuned# 9-Apr-09 dpingal@webbresearch.com SN#3403 Added bbam proglet, fixed sensors_in b_args, made sure# that all proglets are included# 14-Apr-09 fnj@webbresearch.com SN#3404 Fixed minor conflict in merge from HEAD to SCIENCE_DATA_LOGGING_BRANCH.# 2009.04.22 fmarcelino@webbresearch.com SN#3404 Added lithium Ion Power device sensors# 2009.05.18 fmarcelino@webbresearch.com SN#3405 Added u_motor_debug. Added leak detect sensors to# support new hardware which can now be independently# checked with the new hardware.# Also added new sensors for new vehicle temp driver# New sensors are veh_temp_*# 2009.05.18 fmarcelino@webbresearch.com SN#3405 Added u_motor_debug. Added leak detect sensors to# support new hardware which can now be independently# checked with the new hardware.# Also added new sensors for new vehicle temp driver# New sensors are veh_temp_*# 01-Jun-09 fnj@webbresearch.com SN#3405 Added x_science_logging_state.# 07-Jul-09 fnj@webbresearch.com SN#3406 Added m_mission_start_time.# 08-Jul-09 fnj@webbresearch.com SN#3407 Added m_science_readiness_for_consci.# 13-Jul-09 fnj@webbresearch.com SN#3408 Changed c_science_printout from 2 to 0.# 2009.07.22 pfurey@webbresearch.com SN#3406 Added sensors for uModem proglet.# 2009.07.30 fmarcelino@webbresearch.com SN #3407 Added u_alt_filter_enabled to enable/disable median# filtering.# 2009.08.12 fmarcelino@webbresearch.com SN #3408 Added f_digifin_movement_retry_max to handle digifin retry# attempts before issuing warnings# 2009-08-18 fnj@webbresearch.com SN#3407 Added SCI_X_SENT_DATA_FILES.# 2009.08.20 pfurey@webbresearch.com SN#3409 Added extra output sensors to FIRe proglet# 2009-08-24 fnj@webbresearch.com SN#3408 Added sci_m_disk_usage, sci_m_disk_free, sci_x_disk_files_removed.# 2009-08-31 fnj@webbresearch.com SN#3409 Added c_science_send_all. Fixed doco for c_science_on.# 2009.09.09 pfurey@webbresearch.com SN#3410 Replaced enum with nodim units for sci_badd_error# and sci_FIRe_error, was causing logging error.# 2009.09.10 pfurey@webbresearch.com SN#3411 Added sensors for rinkoII proglet.# 2009.09.18 pfurey@webbresearch.com SN#3412 Added sensors for dvl proglet and# b_arg: intersample_depth for sample behavior.# 2009-09-22 fnj@webbresearch.com Reconciled merge conflicts.# 2009.09.24 fmarcelino@webbresearch.com SN#3413 Added sensors f_coulomb_calibration_factor and f_clock_source# 2009.09.24 pfurey@webbresearch.com SN#3414 Added m_avg_depth_rate(m/s) and# u_avg_depth_rate_alpha(nodim)# 2009-09-30 fnj@webbresearch.com Reconciled merge conflicts.# 2009-10-29 fmarcelino@teledyne.com SN#3415 added b_arg: remaining_charge_min(%) and# b_arg: remaining_charge_sample_time(sec)# 2009.10.19 dpingal@webbresearch.com SN#3415 Added m_science_readiness_for_consci.# 2009.10.21 dpingal@webbresearch.com SN#3416 Added u_ballast_pumped_stop_distance(cc),# u_battpos_stop_distance(in).# added bb2flsV6 proglet# Changed c_iridium_phone_num_alt value to production dockserver# 2009.10.22 dpingal@webbresearch.com SN#3417 Changed bb2flsV6 output chl->cdom# 2009.11.05 pfurey@webbresearch.com SN#3418 Added sensors for fpitch_pump driver, dynamic control,# and new behavior argument values for pitch control.# 2009-11-17 fnj@omegatech.hatchescreek.com SN#3419 Added sci_m_spare_heap, sci_m_min_free_heap, sci_m_min_spare_heap.# 2009-12-01 pfurey@webbresearch.com SN#3420 Added sensor: m_science_sync_time(timestamp)# 2009-12-02 pfurey@webbresearch.com SN#3421 Added sensor: u_att_rev_ignore_warnings(bool)# 2009-12-03 fmarcelino@teledyne.com SN#3422 Added m_coulomb_amphr_total(amp-hrs) persistant amp-hours total# 2009-12-22 fnj@omegatech.hatchescreek.com SN#3423 Added u_science_send_time_limit_adjustment_factor.# 2009-12-29 dpingal@teledyne.com Fixed comment for c_recovery_on# 2009-12-30 pfurey@webbresearch.com SN#3424 Removed u_abort_c_battpos(in)# 2010.01.12 pfurey@webbresearch.com SN#3425 Added nth_yo_to_sample sample argument.# 2010-01-15 fnj@webbresearch.com SN#3426 Changed default value of u_sci_cmd_max_consci_time from 1200 to 3600.# 2010-02-09 pfurey@webbresearch.com SN#3427 Added b_arg: end_action(enum) to goto_list behavior.# 2010-02-01 pfurey@webbresearch.com SN#3428 Changed values for f_pitch_fluid_pumped_cal_m# and f_pitch_fluid_pumped_cal_b.# Added f_thermal_reqd_acc_pres(bar) and updated values# for some engpres.c sensors, thr_reqd_pres_mul(nodim),# and max_pumping_charge_time(sec). Changed definition# and value of eng_pressure_mul(nodim).# 2010-02-12 pfurey@webbresearch.com SN#3429 Removed MTHR_AWAITING_AIR from the legal values# of m_thermal_pump(enum)# 2010-02-22 tc@DinkumSoftware.com SN#3430 Added C/M_AVBOT_POWER/ENABLE to masterdata.# 2010-02-25 pfurey@webbresearch.com SN#3431 Removed u_allowable_devsched_msecs.# 2010-03-12 fmarcelino@teledyne.com SN#3432 Added sensors m_gps_uncertainty(nodim) and m_gps_num_satellites(nodim)# 2010-03-12 fmarcelino@teledyne.com SN#3433 added b_arg: strobe_on and m_strobe_ctrl# 2010-03-15 pfurey@webbresearch.com SN#3434 Added/removed args to/from drift_at_depth behavior.# 2010-03-22 pfurey@webbresearch.com SN#3435 Added u_sound_speed(m/s) and u_angle_of_attack(rad).# 2010-03-19 pfurey@webbresearch.com SN#3436 Added xs_fluid_pumped(cc).# 2010-04-08 fmarcelino@teledyne.com SN#3437 Changed initialization of m_iridium_attempt_num to 1# 2010-04-08 pfurey@webbresearch.com SN#3438 Added simulation sensors for do_thermal_oil().# 2010-04-23 pfurey@webbresearch.com SN#3439 Added sensors for flbbrh pnd flur proglets.# 2010-05-24 pfurey@webbresearch.com SN#3440 Added sensors for bb2flsV7 and flbbcd proglets.# 2010-06-17 pfurey@webbresearch.com SN#3441 Added sensors for dmon proglet.# 2010-07-01 pfurey@teledyne.com SN#3442 Added sensors for c3sfl proglet.# 2010-08-12 pfurey@teledyne.com SN#3443 Updated/added/removed some drift_at_depth# arguments and sensors.# 2010-08-10 fmarcelino@teledyne.com SN#3444 Added sensors for suna proglet.# 2010-08-23 pfurey@teledyne.com SN#3445 Added target_altitude, alt_time, and bpump_delay# to drift_at_depth. Added x_target_hover_depth# and x_avg_hover_depth.# 2010-08-24 fmarcelino@teledyne.com SN#3446 Added f_coulomb_battery_capacity for mantis #722# 2010-09-07 pfurey@teledyne.com SN#3447 Updated drift_at_depth argument defaults.# 2010-09-14 pfurey@teledyne.com SN#3448 Changed the default for the abend b_arg:# max_allowable_busy_cpu_cycles(cycles)# from -1 to 75 (see Mantis issue #767).# 2010-09-21 www.DinkumSoftware.com/tc SN#3449 X_AVBOT_DISABLED# 2010-09-22 www.DinkumSoftware.com/tc SN#3450 SCI_AVBOT_PROGLET_IS_INSTALLED# 2010-09-30 fmarcelino@teledyne.com SN#3451 Added C_LOGGER_CTRL_TIMEOUT (Mantis #793)# 2010-10-01 pfurey@teledyne.com SN#3452 Added u_dvl_pd_data_stream_select(enum) and# sci_dvl_ensemble_offset(nodim).# 2010-10-06 pfurey@teledyne.com SN#3453 Added u_dvl_wd_data_out(nodim).# 2010-10-14 fmarcelino@teledyne.com SN#3454 Added f_device_reinit_timeout(min).# 2010-11-09 pfurey@teledyne.com SN#3455 Updated f_coulomb_calibration_factor(%)# from 0.68 to 0.068# 2010-11-16 fmarcelino@teledynec.om SN#3456 Changed units of the sci_suna_* sensors# 2010-12-02 pfurey@teledyne.com SN#3457 Added m_est_time_to_surface(sec),# when_utc_on_surface(bool),# m_avg_upward_inflection_time(sec),# m_avg_downward_inflection_time(sec),# m_avg_climb_rate(m/s), and# m_avg_dive_rate(m/s).# Changed u_avg_depth_rate_alpha(nodim) from 0.96 to 0.5# 2010-12-15 pfurey@teledyne.com SN#3458 Added comatose b_arg: start_sci_wants_quiet(bool)# and sci_wants_quiet(bool).# 2010-12-28 fmarcelino@teledyne.com SN#3459 Added u_suna_bootup_time# 2010-01-31 dpingal@teledyne.com SN#3460 Bug#874, changed value for u_max_water_depth_lifetime# from 3 to 1# 2010-02-01 dpingal@teledyne.com SN#3461 Bug#866, changed value for f_coulomb_calibration_factor# from .068 to .05# 2011-02-02 pfurey@teledyne.com SN#3462 Added sci_bbam_sim_is_installed().# 2011-02-07 pfurey@teledyne.com SN#3463 Added sci_auvb_sim_is_installed().# 2011-02-09 pfurey@teledyne.com SN#3464 Added sensors for satpar proglet.# 2011-02-24 lcooney@teledyne.com SN#3465 Added sensors for autoballast control and# b_args for yo, dive_to, climb_to. See /doco/how-it-works/autoballast.txt# 2011-03-02 lcooney@teledyne.com SN#3466 Changed value of c_delta_bpump_ballast(X) from 25 to -1# and added sensor m_delta_bpump_ballast_adj# 2011-03-14 pfurey@teledyne.com SN#3467 Increased b_arg: vacuum_max(inHg) from 11.0 to 12.0# 2011-04-07 pfurey@teledyne.com SN#3468 Added sensors for vsf proglet.# 2011-04-12 lcooney@teledyne.com SN#3469 Added u_calc_angle_of_attack# 2011-04-13 pfurey@teledyne.com SN#3470 Added sensors for oxy4330f proglet.# 2011-05-03 www.DinkumSoftware.com/tc SN#3471 added u_avbot_debug for avbot 485 usage# 2011-05-05 lcooney@teledyne.com SN#3472 Added c_autoballast_state which replaces c_autoballast_converged and# c_autoballast_init. Added u_autoballast_abort to choose whether or not to# abort on convergence error. Removed m_delta_bpump_ballast_adj# 2011-05-04 fmarcelino@teledyne.com SN#3473 Added s_coulomb_relative_charge# 2011-04-08 dpingal@teledyne.com SN#3474 Changed defauly values for lots of b_args to make glider# fly OK with defaults## 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 3474#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 degssensor: f_device_reinit_timeout(min) 2.0 # The amount of time to elapse before the glider # attempts to bring non super-critical devices # into back into service when a mission aborts # (in minutes)# 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"sensor: m_1meg_persistor(bool) 0 # out, 1 if M_FREE_HEAP > U_HEAP_REQUIRED_FOR_1MEG_PERSISTORsensor: u_heap_required_for_1meg_persistor(bytes) 500000 # in, heap required for 1 MB persistorsensor: m_why_started(enum) 255 # out, how GliderDos started # 128 -> External (the reset button) # 64 -> Power-On # 32 -> Software Watchdog # 16 -> Dbl Bus Fault # 4 -> Loss of Clock # 2 -> RESET instruction # 1 -> Test Submodule # 255 -> Uninitializedsensor: c_heap_measurement_period(mins) -1 # how often to measure the heap, <= 0 disablessensor: m_min_spare_heap(bytes) -1 # out, minimum spare heap seensensor: sci_m_min_spare_heap(bytes) -1 # and for sciencesensor: m_min_free_heap(bytes) -1 # out, minimum free heap seensensor: sci_m_min_free_heap(bytes) -1 # and for science# --- Set in outer control loop,# main_per.csensor: u_cycle_time(sec) 4.0 # in, num of secs/cycle on glider processorsensor: u_low_power_cycle_time(sec) -1.0 # in, num of secs/cycle on glider processor # during low power mode (dive/climbs), # <=0 disables low power modesensor: u_sci_cycle_time(sec) 1.0 # in, num of secs/cycle on science processor# calculated cycle timesensor: x_cycle_time(sec) 4.0 # either u_cycle_time or u_low_power_cycle_timesensor: x_low_power_status(nodim) 4.0 # why not low power?sensor: 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(timestamp) 0 # out, secs since 1970 @ start of cyclesensor: m_mission_start_time(timestamp) 0 # out, secs since 1970 @ start of missionsensor: 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 # This is for the weighted average of the post device scheduler # processing time (sensor processing and logging)sensor: x_avg_msecs_of_post_ds_processing_reqd(msec) 1000 # start here to speed up stabilizationsensor: u_avg_msecs_of_post_ds_processing_alpha(nodim) 0.75 # 0 - 1 (more weight to recent values)# --- Strobe light sensorsensor: c_strobe_ctrl(bool) 0 # boolean controller for the strobe light. # 0 = Off # 1 = Onsensor: m_strobe_ctrl(bool) 0 # boolean measurement for the strobe light. # 0 = Off # 1 = On# --- 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_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_time_til_inflect(s) -1 # out, <0 ==> invalidsensor: 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_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_comatosesensor: cc_final_time_til_inflect(s) -1 # out, <0 ==> invalid# behavior specific # behavior specific, have not sorted it all out# sensor: 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: sci_m_free_heap(bytes) -1 # and for sciencesensor: m_spare_heap(bytes) -1 # out, projected amt of heap if every # big consumer is activated.sensor: sci_m_spare_heap(bytes) -1 # and for sciencesensor: 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 glider log files sent via last zmodem batch # set to 0 on failure.sensor: sci_x_sent_data_files(nodim) 0 # set to the number of science log files sent via last zmodem batch # set to 0 on failure. # 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_reread_mafiles(bool) 0 # 1 -> reread mafile during a missionsensor: c_climb_target_depth(m) -1.0 # in, value of b_arg for climb target depthsensor: c_dive_target_depth(m) -1.0 # in, value of b_arg for dive target depth # drift_at_depth # Don't change intial values of computed x_hover_XXX sensors!sensor: x_target_hover_depth(m) 0.0 # deduced from b_args: target_depth and target_altitudesensor: x_avg_hover_depth(m) 0.0 # exponential mean of m_depth while hoveringsensor: x_hover_ballast(cc) 0.0 # adjusted hover_bpump_value for maintaining # neutral buoyancy at drift_at_depth target depthsensor: x_avg_hover_ballast(cc) 0.0 # exponential mean of calculated # neutral ballastsensor: u_avg_hover_ballast_alpha(nodim) 0.05 # more weight for longterm mean# used for maintaining a depth vs neutral buoyancy lookup tablesensor: x_hover_ballast_shallow(cc) 0.0 # the shallowest neutral buoyancy pumpedsensor: x_hover_ballast_deep(cc) 0.0 # the deepest neutral buoyancy pumpedsensor: x_hover_depth_shallow(m) 0.0 # the shallowest target drift depthsensor: x_hover_depth_deep(m) 0.0 # the deepest target drift depth# --- 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_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 inflection# --- diveclimb.c## Start: sensors for autoballast/speed control. See /doco/how-it-works/autoballast.txt## Start: autoballast configuration sensors (i.e. sensors a user may wish to change before running a mission):sensor: u_autoballast_abort(bool) 0 #in, if autoballast fails to converge, then abort if true. if false, c_autoballast_state will change to 3 and continue with the last ballast amountssensor: c_autoballast_state(enum) 0 # in/out, describes the current state of autoballast. The user may also change its value to force autoballast to change state # 0=uninitialized. # 1=initialized, still converging # 2=converged successfully # 3=converged unsuccessfullysensor: c_dive_bpump(X) -1000.0 # in/out, amt of ballast used in a dive in autoballast control.sensor: c_climb_bpump(X) 1000.0 # in/out, amt of ballast used in a climb in autoballast control.sensor: f_scale_pitch(X) 3.0 # in, value to scale pitch deadband in the wait_for_pitch routinesensor: f_speed_min(m/s) 0.05 #in, minimum allowable speed input. Protects against excessively low c_speed_min b_args that could cause stallsensor: f_min_ballast(X) 150.0 # in, the minimum amt of total ballast, limits c_autoballast_volume. Provided as a safety against unreasonably low b_argsensor: f_max_ballast(X) 400.0 # in, the maximum amt of total ballast, limits c_autoballast_volume. Provided as a safety against unreasonably high b_argsensor: f_min_pump(X) 10.0 #in, the minimum amt of delta ballast for use in a climb or dive .## End: autoballast configuration sensors## Start: autoballast measurement sensorssensor: m_dive_tot_time(s) -1.0 # out, amount of time to complete divesensor: m_climb_tot_time(s) -1.0 # out, amount of time to complete climbsensor: m_dive_depth(m) -1.0 # out, depth that dive actually achieves (to determine if veh has inflected early.)sensor: c_speed_ctrl(bool) 0 # out, True if speed control (SM_SPEED, dynamic_control) was used in this dive or climb.## End: autoballast measurement sensors## Start: autoballast storage sensors (sensors defined in b_args, stored in these sensors)sensor: c_autoballast_volume(X) 1000.0 #in/out, stores the user specified total amt of ballast. Read in as b_arg_bpump_value and recorded to this sensorsensor: c_wait_for_pitch(bool) 1 #in, if true, wait for pitch/batt pos dynamics to settle before enabling speed control. Set by yo b_arg, and stored in this sensor.sensor: f_depth_rate_method(enum) 3 # in, method of filtered depth rate to use for speed control. Set by yo b_arg, and stored in this sensor. # 0= raw m_depth_rate # 1= m_depth_rate_subsample # 2 = tbd. # 3 = running average. uses m_depth_rate_avg_final # tbd other methods: # filter out unreasonable depth rates, combos of those above, etc.sensor: c_delta_bpump_speed(X) 50.0 #in/out, amount of ballast to add to bpump in order to reach desired speed. Should always be positive. SM_SPEED takes care of the sign # Set by yo b_arg, and stored in this sensor.sensor: c_delta_bpump_ballast(X) -1.0 #in/out, amount of ballast to add to bpump in order to converge on ballast. #If < deadband, diveclimb.c will set it to deadband # Set by yo b_arg or changed by autoballast routine, and stored in this sensor.sensor: c_time_ratio(X) 1.1 # in, ratio of climb/dive times that must be maintained for speed control. Set by yo b_arg, and stored in this sensor.sensor: c_use_sc_model(bool) 0 #out, if using model of veh for SM_SPEED. Always set to 0 for now until the model is designed. Read in as b_arg_bpump_value and recorded to this sensorsensor: c_speed_max(m/s) -100.0 # in/out, fastest depth rate allowed for SM_SPEED control. Gets set separately by user b_arg for dive and climbsensor: c_speed_min(m/s) -100.0 # in/out, slowest depth rate allowed for SM_SPEED control. Gets set separately by user b_arg for dive and climb## End: autoballast storage sensors## End: sensors for autoballast/speed control.sensor: 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_fluid_pumped(cc) 0 # out, what dynamic control wants fore/aft fluid to besensor: dc_c_thermal_updown(enum) # out, what dynamic_control wants thermal engine to do# sensor: 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_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) 0 #The first 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.# These store the vehicles zone (for detecting boundry crossing)# and the correction for computing vehicle's lat/lon from lmc positionsensor: x_lmc_utm_veh_zone_digit(byte) 0 # The utm zone of the vehiclesensor: x_lmc_utm_veh_zone_char(byte) 0 # ditto, 0->A 1->B etcsensor: x_lmc_utm_veh_easting_correction(m) 0 # needed for crossing lon UTM zonessensor: x_lmc_utm_veh_northing_correction(m) 0 # needed for crossing equator # 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)# initial best guess for u_low_power_cycle_time(s) = 30sensor: u_low_power_hd_fin_ap_gain(1/rad) 1.0 # not a function of timesensor: u_low_power_hd_fin_ap_igain(1/rad-sec) 0.004 # 4/30 * 0.03# These get set to either u_hd_fin_ap_gain(igain) or# u_low_power_hd_fin_ap_gain(igain) depending on the value of x_cycle_time.# Initially set to the default values of u_hd_fin_ap_gain(igain).sensor: x_hd_fin_ap_gain(1/rad) 1.00sensor: x_hd_fin_ap_igain(1/rad-sec) 0.03sensor: 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# specify the curve relating vehicle pitch to fluid pumped# pitch(rad) = F_PITCH_FLUID_PUMPED_CAL_M(rad/cc) * fluid_pumped(cc) + F_PITCH_FLUID_PUMPED_CAL_B(cc)# note: signs on pitch/fluid_pumped are documented under C_PITCH and C_FLUID_PUMPED valuessensor: f_pitch_fluid_pumped_cal_m(rad/cc) -0.0043 # inputsensor: f_pitch_fluid_pumped_cal_b(cc) 0.0 # 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_max_delta_fluid_pumped(cc) 4.0 # 40% of deadband # in, max delta fluid_pumped 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.c# sensor: 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()# NOTE: Raw depth data (m_depth) is noisy. Depth rate for purposes of depth state evaluation# (m_depth_rate_subsampled) will be based on subsampled depth data (m_depth_subsampled)# in order to minimize false reversals, false motion, and false stalls.# We take a long enough interval between depth measurements for subsampling, so that# depth state does not have a significant occurrence of false reversals, false motion,# and false stalls.sensor: f_depth_subsampling_rate(sec) -1 # in, time rate of subsampled depth (will be APPROX!) # 0 ==> no subsampling # <0 ==> autodetect based on is_deepsensor: f_depth_subsampling_rate_default_deep(sec) 23 # auto value for deepsensor: f_depth_subsampling_rate_default_shallow(sec) 0 # auto value for shallowsensor: m_depth_subsampled(m) 0 # out, subsampled depth measurementsensor: m_depth_rate(m/s) 0 # out, rate of change of depth, >0 is downsensor: m_depth_rate_subsampled(m/s) 0 # out, subsampled depth rate measurementsensor: m_avg_depth_rate(m/s) 0 # out, avg rate of change of depth, >0 is downsensor: m_avg_climb_rate(m/s) 0 # out, avg rate of change of depth when climbingsensor: m_avg_dive_rate(m/s) 0 # out, avg rate of change of depth when divingsensor: u_avg_depth_rate_alpha(nodim) 0.25 # in, time constant for exponential averaging of # m_depth_rate ==> m_avg_depth_rate # 1==> no averaging, i.e. # m_avg_depth_rate = m_depth_rate # smaller numbers (>0) ==> longer time constant# Calculate an average depth rate (m_depth_rate_avg_final) over a finite number of samples (c_depth_rate_running_avg_num).# The running average is stored as m_depth_rate_running_avg, the current sample number is stored as m_depth_rate_running_avg_n# See calc_running_avg() in sensor_processing.csensor: m_depth_rate_avg_final(m/s) 0.0 # Final value of the calculation. Use this!sensor: m_depth_rate_running_avg(m/s) 0.0 # out, a running average calculation, used in diveclimb.c and sensor_processing.csensor: m_depth_rate_running_avg_n(enum) 0 # out, identifies the data sample # "n" of m_depth_rate_running_avgsensor: c_depth_rate_running_avg_num(enum) 10 # the number of data samples to collect for the m_depth_rate_running_avg calculation.sensor: u_reqd_depth_at_surface(m) 2 # 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_altitude_rate(m/s) 0 # out, rate of change of altitude, <0 is downsensor: 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) 100.0 # the maximum range of the altimetersensor: 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) 1.0 # 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: u_calc_angle_of_attack(bool) 1 # in, whether or not to make an angle of attack calculationsensor: u_angle_of_attack(rad) 0 # The angle of attack is used in the speed calculation # and is a function of pitch. In reality, the glide angle # is slightly steeper than the pitch. The difference, the # angle of attack, allows the wings (and body) to generate # lift to transfer vertical to horizontal velocity. The # angle of attack is generally small (2 degrees or so) # but still can account for errors in horizontal # speed of 2-3 cm/s.sensor: 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)sensor: m_time_til_wpt(s) # out, m_dist_to_wpt / m_vmg_to_wpt# 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# compute_time_to_surfacesensor: m_est_time_to_surface(sec) 0.0 # An estimate of the time to climb to # the surface from the current depth.# compute_avg_inflection_timesensor: m_avg_upward_inflection_time(sec) 12.0 # exponential average of inflectionssensor: m_avg_downward_inflection_time(sec) 12.0 # start with reasonable guess# --- 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_motor_debug(nodim) 0 # bitmask: # 0x0000000000000001 1 print motor travel stats at end of motionsensor: 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: x_ballast_pumped_passive_retraction_depth(m) 200.0 # Maintains shallowest depth # where battery spike occuredsensor: 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 sensor: u_ballast_pumped_stop_distance(cc) 0 # how long it takes pump to stop# This battery voltage spike relative to m_battery triggers the driver to use# passive retraction, disengaged brake with pump power off.sensor: f_ballast_pumped_battery_spike_trigger(volts) 2.0 # 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 manysensor: u_battpos_stop_distance(in) 0 # stop distance # 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# fpitch_pump (fluid pumped fore/aft): fpitch_pump.csensor: c_fluid_pumped(cc) 0 # in, >0 vehicle dives (nose down) # the fluid is pumped forwardsensor: m_fluid_pumped(cc) # outsensor: x_fluid_pumped_max(cc) # out, Maximum OPERATIONAL limitsensor: x_fluid_pumped_deadband(cc) 0.0 # out, how close is good enuf # = f_fluid_pumped_deadzone_width * f_fluid_pumped_db_frac_dzsensor: m_is_fpitch_pump_moving(bool) 0 # out, t-> pump is movingsensor: m_fluid_pumped_vel(cc/sec) 0 # out, measured fluid pumped velocitysensor: m_fluid_pumped_fwd_hall_voltage(volts) # out, voltage from forward hall sensorsensor: m_fluid_pumped_aft_hall_voltage(volts) # out, voltage from aft hall sensor# With all the fluid in the aft reservoir take the difference of:# m_fpitch_pump_fwd_hall_voltage - m_fpitch_aft_hall_voltagesensor: f_fluid_pumped_voltage_offset(volts) -1.27 # fully retracted (fwd_volts-aft_volts)# max = safety_max - deadzone# x_fluid_pumped_max = f_fluid_pumped_safety_max - f_fluid_pumped_deadzone_widthsensor: f_fluid_pumped_safety_max(cc) 160.0 # in, damage to glidersensor: f_fluid_pumped_deadzone_width(cc) 20.0 # Sets x_ limitsensor: f_fluid_pumped_db_frac_dz(nodim) 0.5 # deadband as fraction of dead zonesensor: f_fluid_pumped_nominal_vel(cc/sec) 20.0 # nominal speedsensor: f_fluid_pumped_reqd_vel_frac(nodim) 0.2 # 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# fluid_pumped(cc) = _cal_m(cc/Volt) * volts + _cal_b(cc)sensor: f_fluid_pumped_cal_m(cc/Volt) 134.4 # slopesensor: f_fluid_pumped_cal_b(cc) -168.0 # 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_drivers# These moved (in this file) to digifin_v2: c_fin, m_fin,sensor: f_fin_offset(rad) 0.0 # in, added to c_fin to trim (after autopilot)sensor: 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################################################# start of readbacks which apply only to# Lithium Ion Power Driver################################################# debugging control - only effective for Lithium Ion Power Driver (LIPD)sensor: u_lithium_battery_debug(nodim) 0 # Bit-mapped debug control register - add desired elements together # b0 1 real time trace all rcvd packets # b1 2 real time trace all gliderbus_transact errors # b2 4 real time trace all lipd_do_transaction errors # b3 8 fake a good return from gliderbus_transact errors # b4 16 fake a good return for missing "$" beginning of packet # b5 32 fake a good return for packet parse errors # b6 64 fake a good return for ill-formed checksums # b7 128 fake a good return for checksum mismatches # b8 256 print a trace of faked good returns # b9 512 make response packet timeout only a device oddity # b10 1024 make all non-hopeless device errors into warnings # b11 2048 make all non-hopeless device errors and warnings into oddities # b12 4096 make all non-hopeless device errors, warnings, and oddities into non-entities # b13 8192 never turn off gliderbus power # b14 16384 print number of phases attempted during lipd_ctrl execution # b15 32768 print duration of lipd_ctrl execution # b16 65536 unassigned # b17 131072 unassigned # b18 262144 unassigned # b19 524288 unassigned # b20 1048576 unassigned # b21 2097152 unassigned # b22 4194304 unassigned # b23 8388608 unassigned # b24 16777216 unassigned # b25 33554432 unassigned # b26 67108864 unassigned # b27 134217728 unassigned # b28 268435456 unassigned # b29 536870912 unassigned # b30 1073741824 unassigned # b31 2147483648 unassignedsensor: c_lithium_battery_on(sec) 0 # required by gb_devdrvr paradigm# statisticssensor: m_lithium_battery_relative_charge(%) 0 # Relative cumulative chargesensor: m_lithium_battery_time_to_discharge(mins) 0 # cumulative time to dischargesensor: m_lithium_battery_time_to_charge(mins) 0 # cumulative time to chargesensor: m_lithium_battery_status(nodim) 0 # cumulative LIPD status################################################# end of readbacks which apply only to LIPD# (Lithium Ion Power Driver)################################################ ################################################ # start of readbacks which apply only to digifin # These moved (in this file) to digifin_v2: m_digifin_rawposition(nodim) ################################################ # status sensor: m_digifin_status(nodim) 0 # bit mapped status # primary data # sensor m_digifin -------------------------------- # share use win fin_motor driver # sensor: m_digifin_rawposition-------------------- # share use with digifin_v2 driver # statistics# sensor: m_digifin_boot_counter(nodim) 0 # number of PIC power cycles# sensor: m_digifin_uptime_secs(nodim) 0 # number of seconds into PIC power cycle# sensor: m_digifin_uptime_secs_delta(nodim) 0 # delta of number of seconds into PIC power cycle# sensor: m_digifin_num_pkts_rcvd_by_pic_total(nodim) 0 # total number of packets received by PIC (per power cycle)# sensor: m_digifin_num_pkts_rcvd_by_pic_total_delta(nodim) 0 # delta of total number of packets received by PIC# sensor: m_digifin_num_pkts_rcvd_by_pic_with_error(nodim) 0 # number of packets received with error by PIC (per power cycle)# sensor: m_digifin_num_pkts_rcvd_by_pic_with_error_delta(nodim) 0 # delta of number of packets received with error by PIC# sensor: m_digifin_num_pkts_rcvd_by_pic_good(nodim) 0 # number of packets received good by PIC (per power cycle)# sensor: m_digifin_num_pkts_rcvd_by_pic_good_delta(nodim) 0 # delta of number of packets received good by PIC# sensor: m_digifin_motorstep_counter(nodim) 0 # energy consumption metric (per power cycle)# sensor: m_digifin_motorstep_counter_delta(nodim) 0 # delta of energy consumption metric# sensor: m_digifin_recapture_counter(nodim) 0 # number of times recapture performed (per power cycle)# sensor: m_digifin_recapture_counter_delta(nodim) 0 # delta of number of times recapture performed# sensor: m_digifin_factorycal_counter(nodim) 0 # number of times factory cal performed (per power cycle)# sensor: m_digifin_factorycal_counter_delta(nodim) 0 # delta of number of times factory cal performed# sensor: m_digifin_startupcal_counter(nodim) 0 # number of times startup cal performed (per power cycle)# sensor: m_digifin_startupcal_counter_delta(nodim) 0 # delta of number of times startup cal performed# sensor: m_digifin_demandcal_counter(nodim) 0 # number of times demand cal performed (per power cycle)# sensor: m_digifin_demandcal_counter_delta(nodim) 0 # delta of number of times demand cal performed# sensor: m_digifin_activecal_counter(nodim) 0 # number of times active cal set (per power cycle)# sensor: m_digifin_activecal_counter_delta(nodim) 0 # delta of number of times active cal set# sensor: m_digifin_leakdetect_counter(nodim) 0 # number of times leak detected (per power cycle)# sensor: m_digifin_leakdetect_counter_delta(nodim) 0 # delta of number of times leak detected# sensor: m_digifin_motorfault_counter(nodim) 0 # number of times motor fault registered (per power cycle)# sensor: m_digifin_motorfault_counter_delta(nodim) 0 # delta of number of times motor fault registered# sensor: m_digifin_phases_attempted(nodim) 0 # number of I/O phases attempted by digifin_ctrl# sensor: m_digifin_phases_failed(nodim) 0 # number of I/O phases failed by digifin_ctrl# sensor: m_digifin_phases_busy(nodim) 0 # number of I/O phases by digifin_ctrl with busy response# sensor: m_digifin_phases_good(nodim) 0 # number of I/O phases good by digifin_ctrl # calibration# sensor: m_digifin_calbehavior(nodim) 0 # 0 -> old behavior, 1 -> new behavior# sensor: m_digifin_factorycal_portstop(nodim) 0 # port stop for factory cal in A/D counts# sensor: m_digifin_factorycal_stbdstop(nodim) 0 # stbd stop for factory cal in A/D counts# sensor: m_digifin_startupcal_portstop(nodim) 0 # port stop for startup cal in A/D counts# sensor: m_digifin_startupcal_stbdstop(nodim) 0 # stbd stop for startup cal in A/D counts# sensor: m_digifin_demandcal_portstop(nodim) 0 # port stop for demand cal in A/D counts# sensor: m_digifin_demandcal_stbdstop(nodim) 0 # stbd stop for demand cal in A/D counts# sensor: m_digifin_activecal_midpoint(nodim) 0 # active cal midpoint in A/D counts# sensor: m_digifin_activecal_type(nodim) 0 # last cal type: 0-1023 -> set to specified value # 65535 -> set from last factory cal # 65534 -> set from last startup cal # 65533 -> set from last demand cal # 65532 -> set from current position # leak detect sensor: m_digifin_leakdetect_reading(nodim) 0 # leak detect reading in A/D counts# sensor: m_digifin_leakdetect_threshold(nodim) 0 # leak detect threshold in A/D counts # firmware properties# sensor: m_digifin_bootloader_version(nodim) 0 # bootloader version# sensor: m_digifin_firmware_version(nodim) 0 # firmware version# sensor: m_digifin_firmware_stored_checksum(nodim) 0 # firmware checksum stored in flash# sensor: m_digifin_firmware_calculated_checksum(nodim) 0 # firmware checksum calculated at boot time # debugging# sensor: m_digifin_pic_debug(nodim) 0 # general-use debug register sensor: f_digifin_movement_retry_max(nodim) 3 # Number of times digifin will attempt to # retry to move the fin to a commanded position # before it issues a warning (-1 = infinite retry, never give warning). ############################################## # end of readbacks which apply only to digifin ############################################## # basically fixed parameters for digifin# sensor: u_digifin_response_timeout(msec) -1 # timeout from issuing command to receiving response from digifin # (-1 means using gliderbus default value)# sensor: f_digifin_busy_timeout_secs(sec) 45 # max # of secs the digifin can respond to our cmds # with "busy" responses before we generate an error # (note: this is in one continuous run of all "busy" # response packets with no non-"busy" response packets)# sensor: f_digifin_startup_wait(sec) 10 # number of secs after turning digifin power on # until we start talking to it# sensor: f_digifin_status_mask(nodim) 524031 # every bit 0-18 set except b8 = 256 (leakdetect rdg chgd)# sensor: f_digifin_status_force(nodim) 2 # only bit set b1 = 2 (position changed) # mechanism for issuing special commands to digifin sensor: c_digifin_write_reg(nodim) 0 # in; digifin register to write to sensor: c_digifin_read_reg(nodim) 0 # in, digifin register to read from sensor: c_digifin_cmd_data(nodim) 0 # in; data for digifin command sensor: m_digifin_resp_data(nodim) 0 # out; data from digifin response sensor: m_digifin_cmd_done(nodim) 0 # in/out; flag for command completed; T ==> completed sensor: m_digifin_cmd_error(nodim) 0 # out; T ==> error running special command # debugging control - only effective for digifin sensor: u_digifin_debug(nodim) 0 # Bit-mapped debug control register - add desired elements together # b0 1 real time trace all rcvd packets # b1 2 real time trace all gliderbus_transact errors # b2 4 real time trace all digifin_do_transaction errors # b3 8 fake a good return from gliderbus_transact errors # b4 16 fake a good return for missing "$" beginning of packet # b5 32 fake a good return for packet parse errors # b6 64 fake a good return for ill-formed checksums # b7 128 fake a good return for checksum mismatches # b8 256 print a trace of faked good returns # b9 512 make response packet timeout only a device oddity # b10 1024 make all non-hopeless device errors into warnings # b11 2048 make all non-hopeless device errors and warnings into oddities # b12 4096 make all non-hopeless device errors, warnings, and oddities into non-entities # b13 8192 never turn off gliderbus power # b14 16384 print number of phases attempted during digifin_ctrl execution # b15 32768 print duration of digifin_ctrl execution # b16 65536 unassigned # b17 131072 unassigned # b18 262144 unassigned # b19 524288 unassigned # b20 1048576 unassigned # b21 2097152 unassigned # b22 4194304 unassigned # b23 8388608 unassigned # b24 16777216 unassigned # b25 33554432 unassigned # b26 67108864 unassigned # b27 134217728 unassigned # b28 268435456 unassigned # b29 536870912 unassigned # b30 1073741824 unassigned # b31 2147483648 unassigned # debugging values - only apply to digifin # reset these by setting c_fin_debug_reset to true (this is edge detected and automatically set back to false) # max = safety_max - deadzone # These moved (in this file) to digifin_v2: f_fin_safety_max sensor: f_fin_deadzone_width(rad) 0.020 # in, Sets x_ limit (motor_fin and digifin_v2) sensor: f_fin_db_frac_dz(nodim) 1.0 # deadband as fraction of dead zone (motor_fin and digifin_v2) 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_pump.c# Inputs:sensor: c_de_oil_vol(cc) 270.0 # >0, goes upsensor: u_min_de_oil_flux(cc/sec) 0.10 # if below, errorsensor: u_de_oil_vol_check_time(sec) 0.0 # monitoring rate while stable # 0 = every cyclesensor: u_secs_for_oil_vol_stabilization(secs) 30.0 # <=0 disables, wait time for any gas in system # to stabilize after ascentssensor: u_de_avg_oil_vol_err_alpha(nodim) 0.0 # 0 - 0.05 (0.05 = more weight to long term average)# set these to illegal values to insure them getting set in autoexec.misensor: f_de_oil_vol_pot_voltage_min(volts) -20.0 # raw AD voltage of fully retracted potsensor: f_de_oil_vol_pot_voltage_max(volts) -20.0 # raw AD voltage of fully extended potsensor: f_de_oil_vol_in_system(cc) 650.0 # volume of internal oil reservoirsensor: f_de_oil_vol_safety_max(cc) 300.0 # shouldn't go beyond thissensor: f_de_oil_vol_deadz_width(cc) 30.0 # sets x_ limitsensor: f_de_oil_vol_db_frac_dz(nodim) 0.667 # deadband as fraction of dead zonesensor: f_de_max_secs_for_updown_to_finish(secs) 540.0 # 9 minutes (~ how # long it takes # to retract 650cc # of oil at surface)sensor: x_de_pump_disable(bool) 0 # t-> disable the de_pump driver, # needed to run GliderDos tvalve command# Outputs:sensor: m_de_oil_vol(cc) 0.0 # calibrated from m_de_oil_vol_pot_voltagesensor: m_de_oil_vol_pot_voltage(volts) 0.0 # raw voltage from ADsensor: m_is_de_pump_moving(bool) 0 # t-> motor is movingsensor: x_de_oil_vol_deadband(cc) 0.0 # how close is good enough # = f_de_oil_vol_deadz_width * # f_de_oil_vol_db_frac_dz# max = safety_max - deadz_widthsensor: x_de_oil_vol_max(cc) 0.0 # Maximum OPERATIONAL limit# Needed to adjust voltage limits in de_pump_chore to account for pump# and valve power off time latencies, and gas in the systemsensor: x_de_oil_vol_ierr_on_ascent(cc) 0.0 # sum(measured - commanded)sensor: x_de_oil_vol_ierr_on_descent(cc) 0.0 # sum(measured - commanded)sensor: x_de_avg_oil_vol_ierr_on_ascent(cc) 0.0 # avg(sum(measured - commanded))sensor: x_de_avg_oil_vol_ierr_on_descent(cc) 0.0 # avg(sum(measured - commanded))# Keeps tract of the oil flux in the deep electricsensor: x_de_oil_flux(cc/sec) 0.0 # positive = pumping, negative = retractingsensor: x_de_ignore_tvalve_oddity(bool) 0 # t-> don't log tvalve oddity after # de_pump chore# 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) 150 # 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# 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.sensor: m_tcm3_poll_time(ms) 0 # Time after open_uart() call we poll for datasensor: m_tcm3_recv_start_time(ms) 0 # Time after open_uart() call we start receiving datasensor: m_tcm3_recv_stop_time(ms) 0 # Time after open_uart() call we stop receiving data# attitude.c/attitude_tcm3.c/attitude_rev.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: u_att_rev_ignore_warnings(bool) 1 # Only on the Revolution, ignore warnings by default.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, averaged or median filtered from 20 raw samples of 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 sensor: u_pressure_median(bool) 0 # T ==> perform median filtering (new behavor), # F ==> perform averaging only (old behavior) sensor: u_pressure_median_k(nodim) 1 # standard deviation mutiplier for median filtering sensor: u_pressure_median_iter(nodim) 1 # number of iterations for median filtering # (minimum for this sensor is clipped at 1) sensor: u_pressure_median_median(bool) 0 # T ==> after median filtering, use median of remaining samples for pressure measurement # F ==> after median filtering, use mean of remaining samples for pressure measurement sensor: u_pressure_median_debug(enum) 0 # bit-mapped debug control (values are additive): # 0 = no debug functionality # 1 = (b0) debug trace for statistics # 2 = (b1) debug trace for oops # 4 = (b2) record raw samples # 8 = (b3) debug trace for timing # raw samples for debugging the averaging/median filtering code # (only if enabled by u_pressure_median_debug) sensor: m_pressure_raw_voltage_sample0(volts) # first raw AD sample# sensor: m_pressure_raw_voltage_sample1(volts) # second raw AD sample# sensor: m_pressure_raw_voltage_sample2(volts) # third raw AD sample# sensor: m_pressure_raw_voltage_sample3(volts) # fourth raw AD sample# sensor: m_pressure_raw_voltage_sample4(volts) # fifth raw AD sample# sensor: m_pressure_raw_voltage_sample5(volts) # sixth raw AD sample# sensor: m_pressure_raw_voltage_sample6(volts) # seventh raw AD sample# sensor: m_pressure_raw_voltage_sample7(volts) # eighth raw AD sample# sensor: m_pressure_raw_voltage_sample8(volts) # ninth raw AD sample# sensor: m_pressure_raw_voltage_sample9(volts) # tenth raw AD sample# sensor: m_pressure_raw_voltage_sample10(volts) # eleventh raw AD sample# sensor: m_pressure_raw_voltage_sample11(volts) # twelfth raw AD sample# sensor: m_pressure_raw_voltage_sample12(volts) # thirteenth raw AD sample# sensor: m_pressure_raw_voltage_sample13(volts) # fourteenth raw AD sample# sensor: m_pressure_raw_voltage_sample14(volts) # fifteenth raw AD sample# sensor: m_pressure_raw_voltage_sample15(volts) # sixteenth raw AD sample# sensor: m_pressure_raw_voltage_sample16(volts) # seventeenth raw AD sample# sensor: m_pressure_raw_voltage_sample17(volts) # eighteenth raw AD sample# sensor: m_pressure_raw_voltage_sample18(volts) # nineteenth raw AD sample sensor: m_pressure_raw_voltage_sample19(volts) # twentieth raw AD sample# 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) 220.0 # pressure @ FS volts sensor: f_thermal_acc_pres_min(volts) 0.160 # voltage for 0 pressure sensor: f_thermal_acc_pres_max(volts) 1.767 # 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) 1340.0 # in, invariant volume with piston full out # 800cc from ext tank # 540cc accumulator (25 in^3) sensor: f_thermal_acc_vol_cal_p0(bar) 137.8948 # in, initial pressure with piston full out # 2000psi=>137.8948sensor: m_thermal_enuf_acc_vol(bool) 0 # out, reflects state of switch that measure # adequate thermal displacement. # 0==> not enuf !=0 ==> enuf #sensor: f_thermal_reqd_acc_pres(bar) 200.0 # in, threshold pressure for thermal charge # minimum reqd value = 186.0 (as of 2010.01.14)sensor: x_thermal_reqd_acc_vol(cc) 416.1048 # 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 -3.0sensor: 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 3.2 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_sound_speed(m/s) 1500.0 # User may tune this nominal value for sound speed in seawater. # Altimeters are calibrated assuming a 1500 m/s speed of sound. # Tuning this value will scale the output by (1500.0/u_sound_speed).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: u_alt_filter_enabled(bool) 1 # enable median filter depth for altitude.sensor: 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. This threshold is for both aft leakdetect and # forward leakdetect (if exists)sensor: m_leakdetect_voltage(volts) 0.0 # out Voltage that was read out of the aft leak detect # The lower the voltage, the worse the leak.sensor: m_leak(bool) 0.0 # non-zero ==> m_leakdetect_voltage_aft < f_leakdetect_thresholdsensor: m_leakdetect_voltage_forward(volts) 0.0 # out Voltage that was read out of the forward leak detect # The lower the voltage, the worse the leak.sensor: m_leak_forward(bool) 0.0 # non-zero ==> m_leakdetect_voltage_forward < f_leakdetect_threshold# veh_temp.csensor: c_veh_temp_time(s) 0.0 # in, Time between vehicle temperature measurements # <0 is off, =0 as fast as possible # >0 that many seconds betweens measurementssensor: c_veh_temp_recall(msec) 0.0 # in, <=0, no subcycle measurements # >0 millisecs between subcycle measurements # c_leakdetect_time must be 0 to enablesensor: f_veh_temp_threshold(c) 38.0 # in, Any M_VEH_TEMP at or above this is considered # an overheat.sensor: m_veh_temp(c) -1.0 # out temperature that was read out from the boardsensor: m_veh_overheat(bool) -1.0 # non-zero ==> m_veh_temp >= f_veh_temp_threshold# pinger.csensor: u_pinger_rep_rate(sec) 0 #in, secs between primary depth pings # 0 turns it offsensor: u_pinger_max_depth(m) 0 #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) 0 # if non-zero enable "ping N times" # functionality, 0 turns it off for # "quiet missions"sensor: c_pinger_on(bool) 0 # 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_gps_uncertainty(nodim) 69696969 # out, Horizontal dilution of precision 0.5 to 99.9sensor: m_gps_num_satellites(nodim) 69696969 # out, Number of satellites in use, 00 to 12sensor: 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)sensor: m_argos_timestamp(timestamp) 0 # last time argos was powered off# 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) 2000 # 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# avbot-devdrvr.c# A linux add-on cpusensor: c_avbot_power(bool) 0 # in, power supplied to linux cpusensor: m_avbot_power(bool) 0 # out, dittosensor: c_avbot_enable(bool) 0 # in, linux cpu enabled to controlsensor: m_avbot_enable(bool) 0 # out, dittosensor: x_avbot_disabled(bool) 0 # out, true => hardware bit (currently persistor bit 29) # shorted to ground. # clears c_avbot_enablesensor: sci_avbot_proglet_is_installed(bool) 0 # in, t-> avbot_proglet installed on science.sensor: u_avbot_debug(nodim) 0 # required by gbus (485)# 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 offsensor: c_iridium_reread_config_files(button) 0.0 # Set to force reread of: # iridinit.* and loginexp.* # code sets it back to 0 # 1 ==> read,parse and USE # 2 ==> read,parse and DO NOT use # (use for syntax checking) # 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.mi# Main numbersensor: c_iridium_lead_zeros(nodim) 2 # number of leading zeros in phone number # typically 2 for both commercial or militarysensor: c_iridium_phone_num(digits) 15085482446 # WRC phone number !no spaces!# ALT number (RESOLVES MANTIS #255)sensor: c_iridium_lead_zeros_alt(nodim) 2 # number of leading zeros in phone numbersensor: c_iridium_phone_num_alt(digits) 15085482446 # WRC phone number !no spaces! # Used to manage which phone number to usesensor: u_iridium_failover_retries(nodim) 5 # Maximum number of retries before failing over to # other numbersensor: m_iridium_attempt_num(nodim) 0 # keeps track of the number of retries for the # current number (Should be initialized to 1)sensor: c_iridium_current_num(enum) 0 # 0 - IRIDIUM_PHONE_NUM_PRIMARY # 1 - IRIDIUM_PHONE_NUM_ALTERNATE# How long to wait for modem to respond at various timessensor: c_iridium_atok_timeout(sec) 30 # how long to wait for OK after AT # should be immediate if phone is attachedsensor: c_iridium_register(sec) 30 # minimum time for iridium to register after # powerup. We do not try to dial for this many secs.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_no_char_timeout(mins) 10 # How long to wait for a character at all other times # This is internally to clipped to never be less than 5 minutes # unless you are in lab_mode. This is catch all to force an iridium # error (and a redial) if it ever gets "stuck"sensor: 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_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: 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_redials_per_on_off(nodim) 1 # how often we cycle the iridium # power when trying to connect. Min 1, Max 10.sensor: c_iridium_cmd_echo(enum) 1 # 0 = do not echo modem commands; 1 = do echosensor: m_iridium_on(bool) 0.0 # out 0 it's off, 1 it's onsensor: m_iridium_connected(bool) 0 # out 1==> modem is connectedsensor: m_iridium_console_on(enum) 0. # out. 0 = iridium console off, 1 = 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_waiting_registration(bool) # out, 1 ==> waiting for phone to registersensor: m_iridium_waiting_redial_delay(bool) # out, 1 ==> waiting to redialsensor: m_iridium_signal_strength(nodim) -1.0 # iridium received signal # strength indication (RSSI)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: u_iridium_force_port(bool) 0 # in, iridium always uses J26 if true# nose.csensor: c_recovery_on(bool) 0 # In, nonzero deploys recovery system# science.c/science_super.csensor: c_science_on(bool) 1 # In, nonzero turns on science uart # 0 off # >=1 on + log errors # >=2 on + log successfully received variables # + log errors # >=3 on + log all sent lines # + log successfully received variables # + log errors # >=4 on + log all received lines # + log all sent lines # + log successfully received variables # + log errorssensor: c_science_send_all(bool) 0 # T->send all sci_ vars from science but still log them on science. # F->just send standard subset but still log them all on science.sensor: 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(nodim) 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: u_max_clothesline_lag_for_consci(s) 20.0 # don't attempt to consci until # glider-science time lag is # below this.sensor: m_science_unreadiness_for_consci(enum) 1 # 0 -> Ready # 1 -> Not ready because sci_m_science_on = 0. # 2 -> Not ready because m_science_clothesline_lag not updated. # 3 -> Not ready because m_science_clothesline_lag # > u_max_clothesline_lag_for_consci. # 4 -> Not ready because not checked yet.sensor: m_science_ready_for_consci(bool) 0 # out, true -> clothesline ready for consci # determined in sensor_processing.csensor: 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) 3600. # in, maximum time in conscisensor: u_science_send_time_limit_adjustment_factor(nodim) 0.5 # in, fudge factor to used with u_sci_cmd_max_consci_time # to compute time limit on science send commandsensor: 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) 0 # 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(timestamp) 0 # In, written by science on every cycle # their notion of time, secs since 1970sensor: sci_m_present_secs_into_mission(sec) 0 # out, secs since mission startedsensor: m_science_clothesline_lag(s) 0 # out, How far behind science is # M_PRESENT_TIME - SCI_M_PRESENT_TIMEsensor: m_science_sync_time(timestamp) 0 # Out, Glider timestamp (secs since 1970) at the # request of Science for synchronizing clocks.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_wants_comms(bool) 0 # In, t-> science computer wants direct commssensor: sci_wants_quiet(bool) 0 # In, t-> science computer wants glider in comatose behavior # 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_nbctd_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: c_ctd41cp_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 # A negative value signifies # to use this value as a bitmap. # The user may specify any # outputs regardless of order by # by using this sensor as a bitmap. # -1 * (2^(f1-1)+2^(f2-1)+...) # where fn is the field number. # For example, if the user wished # to just record temperature # they would use: # -1 * 2^(2-1) = -2# we use this one instead for a Neil Brown CTDsensor: c_nbctd_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 # A negative value signifies # to use this value as a bitmap. # The user may specify any # outputs regardless of order by # by using this sensor as a bitmap. # -1 * (2^(f1-1)+2^(f2-1)+...) # where fn is the field number. # For example, if the user wished # to just record temperature # they would use: # -1 * 2^(2-1) = -2sensor: sci_water_cond(S/m) 3 # out, conductivity f#=1sensor: sci_water_temp(degC) 10 # out f#=2sensor: sci_water_pressure(bar) 0 # out f#=3sensor: sci_ctd41cp_timestamp(timestamp) 0 # out, secs since 1970 f#=4# we use this one instead for a Neil Brown CTDsensor: sci_nbctd_timestamp(timestamp) 0 # out, secs since 1970 f#=4sensor: 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)sensor: sci_bb2f_timestamp(timestamp) 0 # secs since 1970 # 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 9sensor: sci_bb2c_timestamp(timestamp) 0 # secs since 1970 # 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 # col7sensor: sci_bb2lss_timestamp(timestamp) 0 # secs since 1970 #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, Sparesensor: sci_whpar_timestamp(timestamp) 0 # secs since 1970 # proglet whgpbm: WHOI Glider Bathy-PhotoMetersensor: 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, CCCCsensor: sci_whgpbm_timestamp(timestamp) 0 # secs since 1970 # proglet whfctd: WHoi Fast CTDsensor: c_whfctd_on(sec) 10.0 # 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: ahails@mote.org 14 MAR 08sensor: 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(timestamp) 0 #sensor: sci_motebb_stop_time(timestamp) 0 #sensor: sci_motebb_absorb_a(nodim) 0 #sensor: sci_motebb_absorb_b(nodim) 0 #sensor: sci_motebb_corr0(nodim) 0 #sensor: sci_motebb_corr1(nodim) 0 #sensor: sci_motebb_corr2(nodim) 0 #sensor: sci_motebb_corr3(nodim) 0 #sensor: sci_motebb_corr4(nodim) 0 #sensor: sci_motebb_corr5(nodim) 0 #sensor: sci_motebb_corr6(nodim) 0 #sensor: sci_motebb_corr7(nodim) 0 #sensor: sci_motebb_corr8(nodim) 0 #sensor: sci_motebb_corr9(nodim) 0 #sensor: sci_motebb_corr10(nodim) 0 #sensor: sci_motebb_corr11(nodim) 0 #sensor: sci_motebb_logout(nodim) 0 # ahails@mote.org added 14 MAR 08# 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 9sensor: sci_bbfl2s_timestamp(timestamp) 0 # secs since 1970# proglet bbfl2sV2: wet labs bbfl2slo fluorometer / backscatter sensor, 2nd confsensor: c_bbfl2sV2_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bbfl2sV2_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bbfl2sV2_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_bbfl2sV2_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BBFL2SLO-407#p)sensor: u_bbfl2sV2_bb_cwo(nodim) 42 # 532 nm, clean water offset, nodim == countssensor: u_bbfl2sV2_fl1_cwo(nodim) 43 # Phycoerythrin, clean water offset, nodim == countssensor: u_bbfl2sV2_fl2_cwo(nodim) 52 # CDOM, clean water offset, nodim == countssensor: u_bbfl2sV2_bb_sf(Mnodim) 8.328 # 532 nm, scale factor (0.000008328)sensor: u_bbfl2sV2_fl1_sf(nodim) 0.0434 # Phycoerythrin, scale factor to get unitssensor: u_bbfl2sV2_fl2_sf(nodim) 0.0930 # CDOM, 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_bbfl2sV2_bb_scaled(nodim) 0 # derived from col 4sensor: sci_bbfl2sV2_fl1_scaled(nodim) 0 # derived from col 6sensor: sci_bbfl2sV2_fl2_scaled(nodim) 0 # derived from col 8sensor: sci_bbfl2sV2_bb_sig(nodim) 0 # col 4sensor: sci_bbfl2sV2_fl1_sig(nodim) 0 # col 6sensor: sci_bbfl2sV2_fl2_sig(nodim) 0 # col 8sensor: sci_bbfl2sV2_bb_ref(nodim) 0 # col 3sensor: sci_bbfl2sV2_fl1_ref(nodim) 0 # col 5sensor: sci_bbfl2sV2_fl2_ref(nodim) 0 # col 7sensor: sci_bbfl2sV2_therm(nodim) 0 # col 9sensor: sci_bbfl2sV2_timestamp(timestamp) 0 # secs since 1970# 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 9sensor: sci_fl3slo_timestamp(timestamp) 0 # secs since 1970# 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 9sensor: sci_bb3slo_timestamp(timestamp) 0 # secs since 1970# 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, temperaturesensor: sci_oxy3835_timestamp(timestamp) 0 # secs since 1970# proglet oxy3835_wphase: Aanderaa Oxygen Optode 3835sensor: c_oxy3835_wphase_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_oxy3835_wphase_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_oxy3835_wphase_num_fields_to_send(nodim) 10 # 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_wphase_num_fields_to_send is 3, cols 3,4,5 sentsensor: sci_oxy3835_wphase_oxygen(nodim) 0 # col 3, oxygensensor: sci_oxy3835_wphase_saturation(nodim) 0 # col 4, saturationsensor: sci_oxy3835_wphase_temp(nodim) 0 # col 5, temperaturesensor: sci_oxy3835_wphase_dphase(nodim) 0 # col 6, d-phasesensor: sci_oxy3835_wphase_bphase(nodim) 0 # col 7, b-phasesensor: sci_oxy3835_wphase_rphase(nodim) 0 # col 8, r-phasesensor: sci_oxy3835_wphase_bamp(nodim) 0 # col 9, b-ampsensor: sci_oxy3835_wphase_bpot(nodim) 0 # col 10, b-potsensor: sci_oxy3835_wphase_ramp(nodim) 0 # col 11, r-ampsensor: sci_oxy3835_wphase_rawtemp(nodim) 0 # col 12, RawTempsensor: sci_oxy3835_wphase_timestamp(timestamp) 0 # secs since 1970# 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# proglet ocr507R: Satlantic OCR-507 Radiance configuration#Inputssensor: c_ocr507R_on(sec) 0 # sets secs between how often data is sent # <0 stops, 0 fast as possible, 0> that many secssensor: u_ocr507R_is_calibrated(bool) 0 # needs to be set in autoexec.mi# sensor specific calibration constants (defaults for S/N 082)sensor: u_ocr507R_dark_counts_c1(nodim) 2148739218.5 # dark offset for channel 1sensor: u_ocr507R_cal_coeff_c1(Tnodim) 27096.112147 # calibration factor for channel 1sensor: u_ocr507R_immersion_coeff_c1(nodim) 1.758 # immersion factor for channel 1sensor: u_ocr507R_dark_counts_c2(nodim) 2147915422.1 # dark offset for channel 2sensor: u_ocr507R_cal_coeff_c2(Tnodim) 27065.322575 # calibration factor for channel 2sensor: u_ocr507R_immersion_coeff_c2(nodim) 1.754 # immersion factor for channel 2sensor: u_ocr507R_dark_counts_c3(nodim) 2148704283.1 # dark offset for channel 3sensor: u_ocr507R_cal_coeff_c3(Tnodim) 26930.360588 # calibration factor for channel 3sensor: u_ocr507R_immersion_coeff_c3(nodim) 1.745 # immersion factor for channel 3sensor: u_ocr507R_dark_counts_c4(nodim) 2148332704.3 # dark offset for channel 4sensor: u_ocr507R_cal_coeff_c4(Tnodim) 17037.140659 # calibration factor for channel 4sensor: u_ocr507R_immersion_coeff_c4(nodim) 1.741 # immersion factor for channel 4sensor: u_ocr507R_dark_counts_c5(nodim) 2147608197.8 # dark offset for channel 5sensor: u_ocr507R_cal_coeff_c5(Tnodim) 16287.406269 # calibration factor for channel 5sensor: u_ocr507R_immersion_coeff_c5(nodim) 1.739 # immersion factor for channel 5sensor: u_ocr507R_dark_counts_c6(nodim) 2146048148.6 # dark offset for channel 6sensor: u_ocr507R_cal_coeff_c6(Tnodim) 11802.500350 # calibration factor for channel 6sensor: u_ocr507R_immersion_coeff_c6(nodim) 1.730 # immersion factor for channel 6sensor: u_ocr507R_dark_counts_c7(nodim) 2145662191.9 # dark offset for channel 7sensor: u_ocr507R_cal_coeff_c7(Tnodim) 5511.536788 # calibration factor for channel 7sensor: u_ocr507R_immersion_coeff_c7(nodim) 1.729 # immersion factor for channel 7sensor: u_ocr507R_Vin_a0(nodim) 0.0 # polynomial coefficient to scale Vinsensor: u_ocr507R_Vin_a1(nodim) 0.03 # polynomial coefficient to scale Vinsensor: u_ocr507R_Va_a0(nodim) 0.0 # polynomial coefficient to scale Vinsensor: u_ocr507R_Va_a1(nodim) 0.03 # polynomial coefficient to scale Vinsensor: u_ocr507R_itemp_a0(nodim) -50.0 # polynomial coefficient to scale itempsensor: u_ocr507R_itemp_a1(nodim) 0.5 # polynomial coefficient to scale itempsensor: c_ocr507R_num_fields_to_send(nodim) 24 # number of columns to send on each # measurement, fields to send chosen # by order in the list belowsensor: sci_ocr507R_is_installed(bool) 0 # in, t--> installed on science#Outputs, in order of priority:sensor: sci_ocr507R_rad1(uW/cm^2/nm) # from channel1sensor: sci_ocr507R_rad2(uW/cm^2/nm) # from channel2sensor: sci_ocr507R_rad3(uW/cm^2/nm) # from channel3sensor: sci_ocr507R_rad4(uW/cm^2/nm) # from channel4sensor: sci_ocr507R_rad5(uW/cm^2/nm) # from channel5sensor: sci_ocr507R_rad6(uW/cm^2/nm) # from channel6sensor: sci_ocr507R_rad7(uW/cm^2/nm) # from channel7sensor: sci_ocr507R_itemp(Celsius) # internal temperature of instrumentsensor: sci_ocr507R_Vin(volts) # regulated input voltagesensor: sci_ocr507R_Va(volts) # analog voltagesensor: sci_ocr507R_fcount(nodim) # 0-255, count of frame transmittedsensor: sci_ocr507R_channel1(nodim) # raw counts from discrete optical waveband 1sensor: sci_ocr507R_channel2(nodim) # raw counts from discrete optical waveband 2sensor: sci_ocr507R_channel3(nodim) # raw counts from discrete optical waveband 3sensor: sci_ocr507R_channel4(nodim) # raw counts from discrete optical waveband 4sensor: sci_ocr507R_channel5(nodim) # raw counts from discrete optical waveband 5sensor: sci_ocr507R_channel6(nodim) # raw counts from discrete optical waveband 6sensor: sci_ocr507R_channel7(nodim) # raw counts from discrete optical waveband 7sensor: sci_ocr507R_itemp_raw(nodim) # raw pre-scaled temperaturesensor: sci_ocr507R_Vin_raw(nodim) # raw pre-scaled regulated input voltagesensor: sci_ocr507R_Va_raw(nodim) # raw pre-scaled analog voltagesensor: sci_ocr507R_timer(sec) # seconds since initialization (power-on)sensor: sci_ocr507R_delay(msec) # milliseconds offset to timer for # accurate indication of when frame's sensors # were sampledsensor: sci_ocr507R_cksum(nodim) # data integrity sensor, checksum on frame# proglet ocr507I: Satlantic OCR-507 Irradiance configuration#Inputssensor: c_ocr507I_on(sec) 0 # sets secs between how often data is sent # <0 stops, 0 fast as possible, 0> that many secssensor: u_ocr507I_is_calibrated(bool) 0 # needs to be set in autoexec.mi# sensor specific calibration constants (defaults for S/N 152)sensor: u_ocr507I_dark_counts_c1(nodim) 2149587489.7 # dark offset for channel 1sensor: u_ocr507I_cal_coeff_c1(Tnodim) 2139416.2652 # calibration factor for channel 1sensor: u_ocr507I_immersion_coeff_c1(nodim) 1.368 # immersion factor for channel 1sensor: u_ocr507I_dark_counts_c2(nodim) 2147351752.0 # dark offset for channel 2sensor: u_ocr507I_cal_coeff_c2(Tnodim) 1973191.3026 # calibration factor for channel 2sensor: u_ocr507I_immersion_coeff_c2(nodim) 1.401 # immersion factor for channel 2sensor: u_ocr507I_dark_counts_c3(nodim) 2148356170.6 # dark offset for channel 3sensor: u_ocr507I_cal_coeff_c3(Tnodim) 2072416.6110 # calibration factor for channel 3sensor: u_ocr507I_immersion_coeff_c3(nodim) 1.365 # immersion factor for channel 3sensor: u_ocr507I_dark_counts_c4(nodim) 2147879094.8 # dark offset for channel 4sensor: u_ocr507I_cal_coeff_c4(Tnodim) 2070368.1944 # calibration factor for channel 4sensor: u_ocr507I_immersion_coeff_c4(nodim) 1.378 # immersion factor for channel 4sensor: u_ocr507I_dark_counts_c5(nodim) 2147571956.1 # dark offset for channel 5sensor: u_ocr507I_cal_coeff_c5(Tnodim) 2108980.9681 # calibration factor for channel 5sensor: u_ocr507I_immersion_coeff_c5(nodim) 1.372 # immersion factor for channel 5sensor: u_ocr507I_dark_counts_c6(nodim) 2147977849.9 # dark offset for channel 6sensor: u_ocr507I_cal_coeff_c6(Tnodim) 2209709.2232 # calibration factor for channel 6sensor: u_ocr507I_immersion_coeff_c6(nodim) 1.354 # immersion factor for channel 6sensor: u_ocr507I_dark_counts_c7(nodim) 2147679441.1 # dark offset for channel 7sensor: u_ocr507I_cal_coeff_c7(Tnodim) 2090347.2455 # calibration factor for channel 7sensor: u_ocr507I_immersion_coeff_c7(nodim) 1.347 # immersion factor for channel 7sensor: u_ocr507I_Vin_a0(nodim) 0.0 # polynomial coefficient to scale Vinsensor: u_ocr507I_Vin_a1(nodim) 0.03 # polynomial coefficient to scale Vinsensor: u_ocr507I_Va_a0(nodim) 0.0 # polynomial coefficient to scale Vasensor: u_ocr507I_Va_a1(nodim) 0.03 # polynomial coefficient to scale Vasensor: u_ocr507I_itemp_a0(nodim) -50.0 # polynomial coefficient to scale itempsensor: u_ocr507I_itemp_a1(nodim) 0.5 # polynomial coefficient to scale itempsensor: c_ocr507I_num_fields_to_send(nodim) 24 # number of columns to send on each # measurement, fields to send chosen # by order in the list belowsensor: sci_ocr507I_is_installed(bool) 0 # in, t--> installed on science#Outputs, in order of priority:sensor: sci_ocr507I_irrad1(uW/cm^2/nm) # from channel1sensor: sci_ocr507I_irrad2(uW/cm^2/nm) # from channel2sensor: sci_ocr507I_irrad3(uW/cm^2/nm) # from channel3sensor: sci_ocr507I_irrad4(uW/cm^2/nm) # from channel4sensor: sci_ocr507I_irrad5(uW/cm^2/nm) # from channel5sensor: sci_ocr507I_irrad6(uW/cm^2/nm) # from channel6sensor: sci_ocr507I_irrad7(uW/cm^2/nm) # from channel7sensor: sci_ocr507I_itemp(Celsius) # internal temperature of instrumentsensor: sci_ocr507I_Vin(volts) # regulated input voltagesensor: sci_ocr507I_Va(volts) # analog voltagsensor: sci_ocr507I_fcount(nodim) # 0-255, count of frame transmittedsensor: sci_ocr507I_channel1(nodim) # raw counts from discrete optical waveband 1sensor: sci_ocr507I_channel2(nodim) # raw counts from discrete optical waveband 2sensor: sci_ocr507I_channel3(nodim) # raw counts from discrete optical waveband 3sensor: sci_ocr507I_channel4(nodim) # raw counts from discrete optical waveband 4sensor: sci_ocr507I_channel5(nodim) # raw counts from discrete optical waveband 5sensor: sci_ocr507I_channel6(nodim) # raw counts from discrete optical waveband 6sensor: sci_ocr507I_channel7(nodim) # raw counts from discrete optical waveband 7sensor: sci_ocr507I_itemp_raw(nodim) # raw pre-scaled temperaturesensor: sci_ocr507I_Vin_raw(nodim) # raw pre-scaled regulated input voltagesensor: sci_ocr507I_Va_raw(nodim) # raw pre-scaled analog voltagesensor: sci_ocr507I_timer(sec) # seconds since initialization (power-on)sensor: sci_ocr507I_delay(msec) # milliseconds offset to timer for # accurate indication of when frame's sensors # were sampledsensor: sci_ocr507I_cksum(nodim) # data integrity sensor, checksum on frame # sensors for Benthos Acoustic Data Delivery (badd) proglet#Inputs:sensor: c_badd_on(sec) -1 # 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) 60 # 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(nodim) # 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_finished(bool) # the proglet has finished# proglet flntu: wet labs flntu fluorometer and turbidity sensorsensor: c_flntu_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_flntu_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_flntu_num_fields_to_send(nodim) 7 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list belowsensor: u_flntu_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for FLNTUSLO-513)sensor: u_flntu_chlor_do(nodim) 39 # dark water offset, nodim == countssensor: u_flntu_turb_do(nodim) 47 # dark water offset, nodim == countssensor: u_flntu_chlor_sf(ug/l/nodim) 0.0125 # scale factor to get unitssensor: u_flntu_turb_sf(NTU/nodim) 0.0062 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_flntu_num_fields_to_send is 2, cols derived # from 4,6 sentsensor: sci_flntu_chlor_units(ug/l) 0 # derived from col 4sensor: sci_flntu_turb_units(NTU) 0 # derived from col 6sensor: sci_flntu_chlor_sig(nodim) 0 # col 4sensor: sci_flntu_turb_sig(nodim) 0 # col 6sensor: sci_flntu_chlor_ref(nodim) 0 # col 3sensor: sci_flntu_turb_ref(nodim) 0 # col 5sensor: sci_flntu_temp(nodim) 0 # col 7sensor: sci_flntu_timestamp(timestamp) 0 # secs since 1970# proglet fl3sloV2: wet labs fl3slo fluorometer triplet sensor, 2nd configurationsensor: c_fl3sloV2_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_fl3sloV2_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_fl3sloV2_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_fl3sloV2_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for FL3SLO-496)sensor: u_fl3sloV2_chlor_cwo(nodim) 46 # clean water offset, nodim == countssensor: u_fl3sloV2_rhod_cwo(nodim) 49 # clean water offset, nodim == countssensor: u_fl3sloV2_cdom_cwo(nodim) 48 # clean water offset, nodim == countssensor: u_fl3sloV2_chlor_sf(ug/l/nodim) 0.0127 # scale factor to get unitssensor: u_fl3sloV2_rhod_sf(ppb/nodim) 0.0481 # scale factor to get unitssensor: u_fl3sloV2_cdom_sf(ppb/nodim) 0.0961 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_fl3sloV2_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_fl3sloV2_chlor_units(ug/l) 0 # derived from col 4sensor: sci_fl3sloV2_rhod_units(ppb) 0 # derived from col 6sensor: sci_fl3sloV2_cdom_units(ppb) 0 # derived from col 8sensor: sci_fl3sloV2_chlor_sig(nodim) 0 # col 4sensor: sci_fl3sloV2_rhod_sig(nodim) 0 # col 6sensor: sci_fl3sloV2_cdom_sig(nodim) 0 # col 8sensor: sci_fl3sloV2_chlor_ref(nodim) 0 # col 3sensor: sci_fl3sloV2_rhod_ref(nodim) 0 # col 5sensor: sci_fl3sloV2_cdom_ref(nodim) 0 # col 7sensor: sci_fl3sloV2_temp(nodim) 0 # col 9sensor: sci_fl3sloV2_timestamp(timestamp) 0 # secs since 1970# proglet bb3sloV2: wet labs bb3slo backscatter triplet sensor, 2nd configurationsensor: c_bb3sloV2_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb3sloV2_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb3sloV2_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_bb3sloV2_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB3SLO-286)sensor: u_bb3sloV2_b532_do(nodim) 44 # dark offset, nodim == countssensor: u_bb3sloV2_b660_do(nodim) 49 # dark offset, nodim == countssensor: u_bb3sloV2_b880_do(nodim) 52 # dark offset, nodim == countssensor: u_bb3sloV2_b532_sf(Mnodim) 8.42 # scale factor (0.00000842)sensor: u_bb3sloV2_b660_sf(Mnodim) 4.16 # scale factor (0.00000416)sensor: u_bb3sloV2_b880_sf(Mnodim) 3.27 # scale factor (0.00000327)# output sensors, listed in PRIORITY order# e.g. if c_bb3sloV2_num_fields_to_send is 3, cols derived from 4,6,8 sentsensor: sci_bb3sloV2_b532_scaled(nodim) 0 # from col 4sensor: sci_bb3sloV2_b660_scaled(nodim) 0 # from col 6sensor: sci_bb3sloV2_b880_scaled(nodim) 0 # from col 8sensor: sci_bb3sloV2_b532_sig(nodim) 0 # col 4sensor: sci_bb3sloV2_b660_sig(nodim) 0 # col 6sensor: sci_bb3sloV2_b880_sig(nodim) 0 # col 8sensor: sci_bb3sloV2_b532_ref(nodim) 0 # col 3sensor: sci_bb3sloV2_b660_ref(nodim) 0 # col 5sensor: sci_bb3sloV2_b880_ref(nodim) 0 # col 7sensor: sci_bb3sloV2_temp(nodim) 0 # col 9sensor: sci_bb3sloV2_timestamp(timestamp) 0 # secs since 1970# proglet bb3sloV3: wet labs bb3slo backscatter triplet sensor, 3nd configurationsensor: c_bb3sloV3_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb3sloV3_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb3sloV3_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_bb3sloV3_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB3SLO-300)sensor: u_bb3sloV3_b532_do(nodim) 20 # dark offset, nodim == countssensor: u_bb3sloV3_b630_do(nodim) 11 # dark offset, nodim == countssensor: u_bb3sloV3_b880_do(nodim) 18 # dark offset, nodim == countssensor: u_bb3sloV3_b532_sf(Mnodim) 7.093 # scale factor (0.000007093)sensor: u_bb3sloV3_b630_sf(Mnodim) 3.888 # scale factor (0.000003888)sensor: u_bb3sloV3_b880_sf(Mnodim) 2.370 # scale factor (0.000002370)# output sensors, listed in PRIORITY order# e.g. if c_bb3sloV3_num_fields_to_send is 3, cols derived from 4,6,8 sentsensor: sci_bb3sloV3_b532_scaled(nodim) 0 # from col 4sensor: sci_bb3sloV3_b630_scaled(nodim) 0 # from col 6sensor: sci_bb3sloV3_b880_scaled(nodim) 0 # from col 8sensor: sci_bb3sloV3_b532_sig(nodim) 0 # col 4sensor: sci_bb3sloV3_b630_sig(nodim) 0 # col 6sensor: sci_bb3sloV3_b880_sig(nodim) 0 # col 8sensor: sci_bb3sloV3_b532_ref(nodim) 0 # col 3sensor: sci_bb3sloV3_b630_ref(nodim) 0 # col 5sensor: sci_bb3sloV3_b880_ref(nodim) 0 # col 7sensor: sci_bb3sloV3_temp(nodim) 0 # col 9sensor: sci_bb3sloV3_timestamp(timestamp) 0 # secs since 1970# simulator proglet wetlabs_sim: generic wet labs sensor simulatorsensor: sci_wetlabs_sim_is_installed(bool) 0 # in, t--> wetlabs sensor is being simulated on science computersensor: u_wetlabs_sim_num_eng_units(nodim) 3 # currently, either 2 or 3# proglet bb2fls: wet labs bb2flslk scatter meter and fluorometer sensorsensor: c_bb2fls_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2fls_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb2fls_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_bb2fls_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB2FLSLK-295)sensor: u_bb2fls_b660_cwo(nodim) 38 # clean water offset, nodim == countssensor: u_bb2fls_b880_cwo(nodim) 48 # clean water offset, nodim == countssensor: u_bb2fls_cdom_cwo(nodim) 45 # clean water offset, nodim == countssensor: u_bb2fls_b660_sf(Mnodim) 3.298 # scale factor (0.000003298)sensor: u_bb2fls_b880_sf(Mnodim) 3.079 # scale factor (0.000003079)sensor: u_bb2fls_cdom_sf(ppb/nodim) 0.1695 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_bb2fls_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_bb2fls_b660_scaled(nodim) 0 # derived from col 4sensor: sci_bb2fls_b880_scaled(nodim) 0 # derived from col 6sensor: sci_bb2fls_cdom_scaled(ppb) 0 # derived from col 8sensor: sci_bb2fls_b660_sig(nodim) 0 # col 4sensor: sci_bb2fls_b880_sig(nodim) 0 # col 6sensor: sci_bb2fls_cdom_sig(nodim) 0 # col 8sensor: sci_bb2fls_b660_ref(nodim) 0 # col 3sensor: sci_bb2fls_b880_ref(nodim) 0 # col 5sensor: sci_bb2fls_cdom_ref(nodim) 0 # col 7sensor: sci_bb2fls_therm(nodim) 0 # col 9sensor: sci_bb2fls_timestamp(timestamp) 0 # secs since 1970# proglet bb2flsV2: wet labs bb2flslk scatter meter and fluorometer sensor, 2nd configurationsensor: c_bb2flsV2_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2flsV2_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb2flsV2_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_bb2flsV2_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB2FLSLK-296)sensor: u_bb2flsV2_b470_cwo(nodim) 51 # clean water offset, nodim == countssensor: u_bb2flsV2_b532_cwo(nodim) 50 # clean water offset, nodim == countssensor: u_bb2flsV2_chl_cwo(nodim) 51 # clean water offset, nodim == countssensor: u_bb2flsV2_b470_sf(Mnodim) 11.67 # scale factor (0.00001167)sensor: u_bb2flsV2_b532_sf(Mnodim) 3.079 # scale factor (0.000003079)sensor: u_bb2flsV2_chl_sf(ug/l/nodim) 0.0133 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_bb2flsV2_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_bb2flsV2_b470_scaled(nodim) 0 # derived from col 4sensor: sci_bb2flsV2_b532_scaled(nodim) 0 # derived from col 6sensor: sci_bb2flsV2_chl_scaled(ug/l) 0 # derived from col 8sensor: sci_bb2flsV2_b470_sig(nodim) 0 # col 4sensor: sci_bb2flsV2_b532_sig(nodim) 0 # col 6sensor: sci_bb2flsV2_chl_sig(nodim) 0 # col 8sensor: sci_bb2flsV2_b470_ref(nodim) 0 # col 3sensor: sci_bb2flsV2_b532_ref(nodim) 0 # col 5sensor: sci_bb2flsV2_chl_ref(nodim) 0 # col 7sensor: sci_bb2flsV2_therm(nodim) 0 # col 9sensor: sci_bb2flsV2_timestamp(timestamp) 0 # secs since 1970# simulator proglet auvb_sim: Wet Labs AUV-B Fluorometer simulatorsensor: sci_auvb_sim_is_installed(bool) 0 # in, t--> auvb is being simulated on science computer# proglet auvb: wet labs auv-b ECO Fluorometersensor: c_auvb_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_auvb_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_auvb_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 ordersensor: sci_auvb_ref(nodim) 0 # col 3, refernece countssensor: sci_auvb_sig(nodim) 0 # col 4, signal countssensor: sci_auvb_therm(nodim) 0 # col 5, internal thermistorsensor: sci_auvb_timestamp(timestamp) 0 # secs since 1970# proglet bb2fV2: wet labs bb2fslo scatter meter and fluorometer sensorsensor: c_bb2fV2_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2fV2_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb2fV2_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 # A negative value signifies # to use this value as a bitmap. # The user may specify any # outputs regardless of order by # by using this sensor as a bitmap. # -1 * (2^(f1-1)+2^(f2-1)+...) # where fn is the field number. # For example, if the user wished # to just record sci_bb2fV2_b700_scaled # they would use: # -1 * 2^(2-1) = -2sensor: u_bb2fV2_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB2FSLO-341)sensor: u_bb2fV2_b470_cwo(nodim) 54 # clean water offset, nodim == countssensor: u_bb2fV2_b700_cwo(nodim) 58 # clean water offset, nodim == countssensor: u_bb2fV2_chlor_cwo(nodim) 53 # clean water offset, nodim == countssensor: u_bb2fV2_b470_sf(Mnodim) 22.09 # scale factor (0.00002209)sensor: u_bb2fV2_b700_sf(Mnodim) 1.45 # scale factor (0.00000145)sensor: u_bb2fV2_chlor_sf(ug/l/nodim) 0.0152 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_bb2fV2_num_fields_to_send is 3, cols derived # from 4,6,7 sentsensor: sci_bb2fV2_b470_scaled(nodim) 0 # derived from col 4sensor: sci_bb2fV2_b700_scaled(nodim) 0 # derived from col 6sensor: sci_bb2fV2_chlor_scaled(ug/l) 0 # derived from col 7sensor: sci_bb2fV2_b470_sig(nodim) 0 # col 4sensor: sci_bb2fV2_b700_sig(nodim) 0 # col 6sensor: sci_bb2fV2_chlor(nodim) 0 # col 7sensor: sci_bb2fV2_b470_ref(nodim) 0 # col 3sensor: sci_bb2fV2_b700_ref(nodim) 0 # col 5sensor: sci_bb2fV2_therm(nodim) 0 # col 9sensor: sci_bb2fV2_timestamp(timestamp) 0 # secs since 1970# proglet tarr: OASIS Towed Array Receiver / DSP#inputs:sensor: c_tarr_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: u_tarr_num_errors_before_restart(nodim) 5 # number of errors before cycling # power, <0 = never cycle power # 0 = restart on any errorsensor: u_tarr_dsp_power_on_delay(sec) 75.0 # wait time between tarr and dsp power on#outputs:sensor: sci_tarr_is_installed(bool) 0 # in, t--> installed on sciencesensor: sci_tarr_track_count(nodim) 0 # number of data tracks produced since power onsensor: sci_tarr_error(nodim) 0 # unique number to indicate error type# proglet glbps: ASL GLBPS SONAR Devicesensor: c_glbps_on(sec) 1 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_glbps_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_glbps_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_glbps_num_fields_to_send is 12, cols 10,11,timestamp,1,2,3,4,5,6,7,8,9 sentsensor: sci_glbps_round_trip_time(nodim) 0 # col 10, round trip timesensor: sci_glbps_persistance(nodim) 0 # col 11, persistancesensor: sci_glbps_timestamp(timestamp) 0 # secs since 1970sensor: sci_glbps_ping_number(nodim) 0 # col 1, ping numbersensor: sci_glbps_year(nodim) 0 # col 2, yearsensor: sci_glbps_month(nodim) 0 # col 3, monthsensor: sci_glbps_day(nodim) 0 # col 4, daysensor: sci_glbps_hour(nodim) 0 # col 5, hoursensor: sci_glbps_minute(nodim) 0 # col 6, minutesensor: sci_glbps_second(nodim) 0 # col 7, secondsensor: sci_glbps_hundreds_of_second(nodim) 0 # col 8, hundreds of secondsensor: sci_glbps_target_count(nodim) 0 # col 9, target count#SPAWAR Acoustic Array Progletsensor: c_sscsd_on(sec) 2.0 #sensor: sci_sscsd_is_installed(bool) 0 # in, t--> installed on sciencesensor: sci_sscsd_test(nodim) 0 # this is only a test#output sensors:sensor: sci_wants_turn(enum) 0 # 0 no request yet # 1 requestsensor: sci_wants_wpt(enum) 0sensor: sci_heading(rad) 0 # heading sci wants to turn tosensor: sci_wpt_x(m) -7032.0610 # The waypoint (east or lon)sensor: sci_wpt_y(m) 4137.9980 # (north or lat)sensor: sci_wpt_units(enum) 2 # 0 LMC, 1 UTM, 2 LAT/LONGsensor: sci_wants_depth(enum) 0 # science request to change depth profilesensor: sci_depth(m) 0 # depth to change tosensor: sci_array_heading1(deg) 0sensor: sci_array_pitch1(deg) 0sensor: sci_array_roll1(deg) 0sensor: sci_array_heading2(deg) 0sensor: sci_array_pitch2(deg) 0sensor: sci_array_roll2(deg) 0sensor: sci_array_heading3(deg) 0sensor: sci_array_pitch3(deg) 0sensor: sci_array_roll3(deg) 0# proglet bb2flsV3: wet labs bb2flslk scatter meter and fluorometer sensor, 3rd configurationsensor: c_bb2flsV3_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2flsV3_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb2flsV3_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_bb2flsV3_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB2FLSLK-296)sensor: u_bb2flsV3_b715_cwo(nodim) 55 # clean water offset, nodim == countssensor: u_bb2flsV3_b880_cwo(nodim) 51 # clean water offset, nodim == countssensor: u_bb2flsV3_pe_cwo(nodim) 51 # clean water offset, nodim == countssensor: u_bb2flsV3_b715_sf(Mnodim) 3.62 # scale factor x 1e-6sensor: u_bb2flsV3_b880_sf(Mnodim) 2.97 # scale factor x 1e-6sensor: u_bb2flsV3_pe_sf(ppb/nodim) 0.0432 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_bb2flsV3_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_bb2flsV3_b715_scaled(nodim) 0 # derived from col 4sensor: sci_bb2flsV3_b880_scaled(nodim) 0 # derived from col 6sensor: sci_bb2flsV3_pe_scaled(ppb) 0 # derived from col 8sensor: sci_bb2flsV3_b715_sig(nodim) 0 # col 4sensor: sci_bb2flsV3_b880_sig(nodim) 0 # col 6sensor: sci_bb2flsV3_pe_sig(nodim) 0 # col 8sensor: sci_bb2flsV3_b715_ref(nodim) 0 # col 3sensor: sci_bb2flsV3_b880_ref(nodim) 0 # col 5sensor: sci_bb2flsV3_pe_ref(nodim) 0 # col 7sensor: sci_bb2flsV3_therm(nodim) 0 # col 9sensor: sci_bb2flsV3_timestamp(timestamp) 0 # secs since 1970# proglet bb2flsV4: wet labs bb2flslk scatter meter and fluorometer sensor, 4th configurationsensor: c_bb2flsV4_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2flsV4_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb2flsV4_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_bb2flsV4_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB2FLSLK-507)sensor: u_bb2flsV4_b412_cwo(nodim) 51 # clean water offset, nodim == countssensor: u_bb2flsV4_b470_cwo(nodim) 48 # clean water offset, nodim == countssensor: u_bb2flsV4_chl_cwo(nodim) 54 # clean water offset, nodim == countssensor: u_bb2flsV4_b412_sf(Mnodim) 13.27 # scale factor x 1e-6sensor: u_bb2flsV4_b470_sf(Mnodim) 12.08 # scale factor x 1e-6sensor: u_bb2flsV4_chl_sf(ug/l/nodim) 0.0118 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_bb2flsV4_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_bb2flsV4_b412_scaled(nodim) 0 # derived from col 4sensor: sci_bb2flsV4_b470_scaled(nodim) 0 # derived from col 6sensor: sci_bb2flsV4_chl_scaled(ug/l) 0 # derived from col 8sensor: sci_bb2flsV4_b412_sig(nodim) 0 # col 4sensor: sci_bb2flsV4_b470_sig(nodim) 0 # col 6sensor: sci_bb2flsV4_chl_sig(nodim) 0 # col 8sensor: sci_bb2flsV4_b412_ref(nodim) 0 # col 3sensor: sci_bb2flsV4_b470_ref(nodim) 0 # col 5sensor: sci_bb2flsV4_chl_ref(nodim) 0 # col 7sensor: sci_bb2flsV4_therm(nodim) 0 # col 9sensor: sci_bb2flsV4_timestamp(timestamp) 0 # secs since 1970# proglet bb2flsV5: wet labs bb2flslk scatter meter and fluorometer sensor, 5th configurationsensor: c_bb2flsV5_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2flsV5_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb2flsV5_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_bb2flsV5_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB2FLSLK-506)sensor: u_bb2flsV5_b532_cwo(nodim) 52 # clean water offset, nodim == countssensor: u_bb2flsV5_b660_cwo(nodim) 59 # clean water offset, nodim == countssensor: u_bb2flsV5_cdom_cwo(nodim) 63 # clean water offset, nodim == countssensor: u_bb2flsV5_b532_sf(Mnodim) 7.678 # scale factor x 1e-6sensor: u_bb2flsV5_b660_sf(Mnodim) 3.829 # scale factor x 1e-6sensor: u_bb2flsV5_cdom_sf(ppb/nodim) 0.0959 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_bb2flsV5_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_bb2flsV5_b532_scaled(nodim) 0 # derived from col 4sensor: sci_bb2flsV5_b660_scaled(nodim) 0 # derived from col 6sensor: sci_bb2flsV5_cdom_scaled(ppb) 0 # derived from col 8sensor: sci_bb2flsV5_b532_sig(nodim) 0 # col 4sensor: sci_bb2flsV5_b660_sig(nodim) 0 # col 6sensor: sci_bb2flsV5_cdom_sig(nodim) 0 # col 8sensor: sci_bb2flsV5_b532_ref(nodim) 0 # col 3sensor: sci_bb2flsV5_b660_ref(nodim) 0 # col 5sensor: sci_bb2flsV5_cdom_ref(nodim) 0 # col 7sensor: sci_bb2flsV5_therm(nodim) 0 # col 9sensor: sci_bb2flsV5_timestamp(timestamp) 0 # secs since 1970# proglet bb2flsV6: wet labs bb2flslk scatter meter and fluorometer sensor, 3rd configurationsensor: c_bb2flsV6_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2flsV6_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb2flsV6_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_bb2flsV6_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB2FLSLK-687)sensor: u_bb2flsV6_b532_cwo(nodim) 53 # clean water offset, nodim == countssensor: u_bb2flsV6_b880_cwo(nodim) 51 # clean water offset, nodim == countssensor: u_bb2flsV6_cdom_cwo(nodim) 42 # clean water offset, nodim == countssensor: u_bb2flsV6_b532_sf(Mnodim) 7.689 # scale factor (0.00001167)sensor: u_bb2flsV6_b880_sf(Mnodim) 2.471 # scale factor (0.000003079)sensor: u_bb2flsV6_cdom_sf(ppb/nodim) 0.0905 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_bb2flsV6_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_bb2flsV6_b532_scaled(nodim) 0 # derived from col 4sensor: sci_bb2flsV6_b880_scaled(nodim) 0 # derived from col 6sensor: sci_bb2flsV6_cdom_scaled(ppb) 0 # derived from col 8sensor: sci_bb2flsV6_b532_sig(nodim) 0 # col 4sensor: sci_bb2flsV6_b880_sig(nodim) 0 # col 6sensor: sci_bb2flsV6_cdom_sig(nodim) 0 # col 8sensor: sci_bb2flsV6_b532_ref(nodim) 0 # col 3sensor: sci_bb2flsV6_b880_ref(nodim) 0 # col 5sensor: sci_bb2flsV6_cdom_ref(nodim) 0 # col 7sensor: sci_bb2flsV6_therm(nodim) 0 # col 9sensor: sci_bb2flsV6_timestamp(timestamp) 0 # secs since 1970# proglet FIRe: Satlantic Fluorescence Induction and Relaxation electronics# input sensorssensor: c_FIRe_on(sec) 0 #in, >=0 turns it on, <0 stops itsensor: c_FIRe_num_fields_to_send(nodim) 10 #in, number of columns to sendsensor: u_FIRe_num_errors_before_restart(nodim) 5 # number of errors before # cycling power, # <0 = never cycle powersensor: sci_FIRe_is_installed(bool) 0 # in, t--> installed on science# output sensorssensor: sci_FIRe_timestamp(timestamp) 0 # measurement timestampsensor: sci_FIRe_Fo(nodim) 0 # Calculated initial fluorescencesensor: sci_FIRe_Fm(nodim) 0 # Calculated maximum fluorescencesensor: sci_FIRe_FvFm(nodim) 0 # Calculated maximum quantum yield of # photochemistry in PSIIsensor: sci_FIRe_s(nodim) 0 # Calculated Sigma-PSIIsensor: sci_FIRe_p(nodim) 0 # Calculated connectivity factorsensor: sci_FIRe_par(nodim) 0 # Calculated PARsensor: sci_FIRe_battery(volts) 0 # Battery volts measured by FIResensor: sci_FIRe_temp(degC) 0 # FIRe PCB tempsensor: sci_FIRe_frame_count(nodim) 0 # what it sayssensor: sci_FIRe_error(nodim) 0 # unique number to indicate error type# proglet ohf: Oasis High Frequency hydrophonesensor: c_ohf_on(sec) 0 # in, 0 = on, -1 = offsensor: sci_ohf_is_installed(bool) 0 # in, t--> installed on sciencesensor: sci_ohf_status(enum) 0 # out# proglet logger: generic data logger on/off controlsensor: c_logger_on(sec) 0 # in, 0 = on, -1 = offsensor: sci_logger_is_installed(bool) 0 # in, t--> installed on sciencesensor: sci_logger_status(enum) 0 # outsensor: c_logger_ctrl_timeout(sec) -1 # in, -1 --> disable, i.e. logger ctrl bit is never lowered. # >=0 --> num of seconds to pull logger ctrl bit low # before shutting power to instrument.# simulator proglet bbam_sim: Wet Labs BAM beam attenuation meter simulatorsensor: sci_bbam_sim_is_installed(bool) 0 # in, t--> bbam is being simulated on science computer# proglet bbam: Wetlabs BAM beam attenuation metersensor: c_bbam_on(sec) 0 # in, 0 = on, -1 = offsensor: c_bbam_num_fields_to_send(nodim) 6 # in, number of columns to send on eachsensor: sci_bbam_is_installed(bool) 0 # in, t--> installed on sciencesensor: sci_bbam_beam_c(1/m) 0 # out, beam Csensor: sci_bbam_corr_sig(nodim) 0 # out, corrected signal valuesensor: sci_bbam_raw_sig(nodim) 0 # out, raw signal valuesensor: sci_bbam_raw_ref(nodim) 0 # out, raw reference valuesensor: sci_bbam_therm(nodim) 0 # out, thermistorsensor: sci_bbam_timestamp(timestamp) 0 # secs since 1970# proglet uModem: W.H.O.I acoustic micro-modem#inputs:sensor: c_uModem_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secs #sensor: u_uModem_hes_secs(sec) 300.0 # how often to transmit HES messages # <0 => don't transmit HES messagessensor: u_uModem_num_errors_before_restart(nodim) 5 # number of errors before cycling # power, <0 = never cycle power # 0 = restart on any errorsensor: u_uModem_SRC(nodim) 1 # SRC: [0-15] address of uModem on glidersensor: u_uModem_BND(enum) 1 # BND: Frequency Bank (1, 2, or 3 for band A, B, # or C, 0 for user-defined PSK only band) # DON'T CHANGE THIS TO ANYTHING OTHER THAN THE BAND # THAT THE HARDWARE IS CONFIGURED FOR AS THIS MAY DAMAGE # THE POWER AMPLIFIER (BND should be 1 according to # Lee Freitag email May 11, 2009).sensor: u_uModem_FML(nodim) 200 # PSK FM probe length, symbolssensor: u_uModem_CST(bool) 1 # Cycle statistics message 0 = off, 1 = onsensor: u_uModem_DTO(sec) 8 # Data request timeout in seconds#outputs:sensor: sci_uModem_is_installed(bool) 0 # in, t--> installed on sciencesensor: sci_uModem_error(nodim) 0 # unique number to indicate error type# proglet rinkoII: JFE ALEC RINKO-II disolved oxygen and temperature sensorsensor: sci_rinkoII_is_installed(bool) 0 # t--> installed on science#inputs:sensor: c_rinkoII_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: c_rinkoII_num_fields_to_send(nodim) 3 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list above#outputs:sensor: sci_rinkoII_temp(degC) 0 # col 3, temperaturesensor: sci_rinkoII_DO(%) 0 # col 4, disolved oxygensensor: sci_rinkoII_voltage(volts) 0 # col 5, voltage output of oxygen sensorsensor: sci_rinkoII_timestamp(timestamp) 0 # secs since 1970 of data arrival# proglet dvl for the TRDI ExplorerDVL#inputs:sensor: c_dvl_on(sec) 0 # how often start ensembles in seconds # <0 stops, 0 fast as possible, 0> that many secssensor: u_dvl_pd_data_stream_select(enum) 6 # (0 or 6) Supports formats PD0 and PD6sensor: u_dvl_wd_data_out(nodim) 15 # (0-15) Bitmap that selects the data # types collected: # Bit definitions abcd # a = Velocity # b = Correlation # c = Echo Intensity # d = Percent good # Examples: (decimal to binary conversions) # 15 = 1111 (default) collects all 4 data types # 10 = 1010 collects Velocity and Echo Intensity onlysensor: u_dvl_es_expected_salinity(ppt) 35 # (0 - 40) Expected salinity # of water in parts per thousand.sensor: u_dvl_wb_water_profile_bandwidth(enum) 0 # 0 = wide, 1 = narrowsensor: u_dvl_wn_number_of_depth_cells(nodim) 30 # (1 - 255) Number of # depth cells to collect.sensor: u_dvl_wp_pings_per_ensemble(nodim) 10 # (0 - 16384) Number of water-profile pings # to average in each ensemble before # sending/recording.sensor: u_dvl_ws_depth_cell_size(cm) 200 # (10 - 800) Depth cell size # to use.sensor: u_dvl_bp_pings_per_ensemble(nodim) 5 # (0 - 999) Number of bottom-profile pings # to average each ensemble before # sending/recording.sensor: u_dvl_tp_time_between_pings(sec) 0 # secs between pings 0 = fast as possiblesensor: u_dvl_bottom_track_mode(enum) 1 # 0 = Disables the # bottom-track ping. # 1 = (Default) Enables # the bottom-track ping when # altitude < 65m.sensor: u_dvl_num_errors_before_restart(nodim) -1 # number of errors before cycling power # <0 = never cycle power#PD6 outputs:sensor: sci_dvl_is_installed(bool) 0 # in, t--> installed on sciencesensor: sci_dvl_error(nodim) 0 # unique number to indicate error type # system attitude datasensor: sci_dvl_sa_pitch(deg) 0 # pitch in degreessensor: sci_dvl_sa_roll(deg) 0 # roll in degreessensor: sci_dvl_sa_heading(deg) 0 # heading in degrees # timing and scaling datasensor: sci_dvl_ts_timestamp(timestamp) 0 # secs since 1970sensor: sci_dvl_ts_sal(ppt) 0 # salinity in parts per thousandsensor: sci_dvl_ts_temp(degC) 0 # temp in degCsensor: sci_dvl_ts_depth(m) 0 # depth of transducer face in meterssensor: sci_dvl_ts_sound_speed(m/s) 0 # speed of sound in m/ssensor: sci_dvl_ts_bit(nodim) 0 # Built-in Test (BIT) result code # water-mass, instrument-referenced velocity datasensor: sci_dvl_wi_x_vel(mm/s) 0 # X-axis vel. data in mm/ssensor: sci_dvl_wi_y_vel(mm/s) 0 # Y-axis vel. data in mm/ssensor: sci_dvl_wi_z_vel(mm/s) 0 # Z-axis vel. data in mm/ssensor: sci_dvl_wi_err_vel(mm/s) 0 # Error velocity data in mm/ssensor: sci_dvl_wi_vel_good(bool) 0 # Velocity data status 0=bad, 1=good # bottom-track, instrument-referenced velocity datasensor: sci_dvl_bi_x_vel(mm/s) 0 # X-axis vel. data in mm/ssensor: sci_dvl_bi_y_vel(mm/s) 0 # Y-axis vel. data in mm/ssensor: sci_dvl_bi_z_vel(mm/s) 0 # Z-axis vel. data in mm/ssensor: sci_dvl_bi_err_vel(mm/s) 0 # Error velocity data in mm/ssensor: sci_dvl_bi_vel_good(bool) 0 # Velocity data status 0=bad, 1=good # water-mass, ship-referenced velocity datasensor: sci_dvl_ws_transverse_vel(mm/s) 0 # Transverse vel. data in mm/ssensor: sci_dvl_ws_longitudinal_vel(mm/s) 0 # Longitudinal vel. data in mm/ssensor: sci_dvl_ws_normal_vel(mm/s) 0 # Normal vel. data in mm/ssensor: sci_dvl_ws_vel_good(bool) 0 # Vel. data status 0=bad, 1=good # bottom-track, ship-referenced velocity datasensor: sci_dvl_bs_transverse_vel(mm/s) 0 # Transverse vel. data in mm/ssensor: sci_dvl_bs_longitudinal_vel(mm/s) 0 # Longitudinal vel. data in mm/ssensor: sci_dvl_bs_normal_vel(mm/s) 0 # Normal vel. data in mm/ssensor: sci_dvl_bs_vel_good(bool) 0 # Vel. data status 0=bad, 1=good # water-mass, earth-referenced velocity datasensor: sci_dvl_we_u_vel(mm/s) 0 # East (u-axis) vel. data in mm/ssensor: sci_dvl_we_v_vel(mm/s) 0 # North (v-axis) vel. data in mm/ssensor: sci_dvl_we_w_vel(mm/s) 0 # Upward(w-axis) vel. data in mm/ssensor: sci_dvl_we_vel_good(bool) 0 # Vel. data status 0=bad, 1=good # bottom-track, earth-referenced velocity datasensor: sci_dvl_be_u_vel(mm/s) 0 # East (u-axis) vel. data in mm/ssensor: sci_dvl_be_v_vel(mm/s) 0 # North (v-axis) vel. data in mm/ssensor: sci_dvl_be_w_vel(mm/s) 0 # Upward(w-axis) vel. data in mm/ssensor: sci_dvl_be_vel_good(bool) 0 # Vel. data status 0=bad, 1=good # water-mass, earth-referenced distance datasensor: sci_dvl_wd_u_dist(m) 0 # East (u-axis) distance data in meterssensor: sci_dvl_wd_v_dist(m) 0 # North (v-axis) distance data in meterssensor: sci_dvl_wd_w_dist(m) 0 # Upward (w-axis) distance data in meterssensor: sci_dvl_wd_range_to_water_mass_center(m) 0 # Range to water-mass center in meterssensor: sci_dvl_wd_time_since_last_good_vel(sec) 0 # Time since last good-velocity estimate in seconds # bottom-track, earth-referenced distance datasensor: sci_dvl_bd_u_dist(m) 0 # East (u-axis) distance data in meterssensor: sci_dvl_bd_v_dist(m) 0 # North (v-axis) distance data in meterssensor: sci_dvl_bd_w_dist(m) 0 # Upward (w-axis) distance data in meterssensor: sci_dvl_bd_range_to_bottom(m) 0 # Range to bottom in meterssensor: sci_dvl_bd_time_since_last_good_vel(sec) 0 # Time since last good-velocity estimate in seconds#PD0 outputs:sensor: sci_dvl_ensemble_offset(nodim) 0 # Byte offset for each ensemble in the # PD0 binary data file.# proglet flbbrh: Wet Labs flbbrh fluorometer, scattering meter, and rhodamine sensorsensor: c_flbbrh_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_flbbrh_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_flbbrh_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_flbbrh_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for FLBBRHSLK-1766)sensor: u_flbbrh_chlor_cwo(nodim) 48 # clean water offset, nodim == countssensor: u_flbbrh_bb_cwo(nodim) 48 # clean water offset, nodim == countssensor: u_flbbrh_rhod_cwo(nodim) 58 # clean water offset, nodim == countssensor: u_flbbrh_chlor_sf(ug/l/nodim) 0.0123 # scale factor to get unitssensor: u_flbbrh_bb_sf(Mnodim) 3.653 # (0.000003653) scale factor to get unitssensor: u_flbbrh_rhod_sf(ppb/nodim) 0.0430 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_flbbrh_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_flbbrh_chlor_units(ug/l) 0 # derived from col 4sensor: sci_flbbrh_bb_units(nodim) 0 # derived from col 6sensor: sci_flbbrh_rhod_units(ppb) 0 # derived from col 8sensor: sci_flbbrh_chlor_sig(nodim) 0 # col 4sensor: sci_flbbrh_bb_sig(nodim) 0 # col 6sensor: sci_flbbrh_rhod_sig(nodim) 0 # col 8sensor: sci_flbbrh_chlor_ref(nodim) 0 # col 3sensor: sci_flbbrh_bb_ref(nodim) 0 # col 5sensor: sci_flbbrh_rhod_ref(nodim) 0 # col 7sensor: sci_flbbrh_temp(nodim) 0 # col 9sensor: sci_flbbrh_timestamp(timestamp) 0 # secs since 1970# proglet flur: Wet Labs flur uranine sensorsensor: c_flur_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_flur_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_flur_num_fields_to_send(nodim) 4 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list belowsensor: u_flur_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for FLURSLK-1733)sensor: u_flur_cwo(nodim) 50 # clean water offset, nodim == countssensor: u_flur_sf(ppb/nodim) 0.0281 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_flur_num_fields_to_send is 3, cols derived # from 4,3,5 sentsensor: sci_flur_units(ppb) 0 # derived from col 4sensor: sci_flur_sig(nodim) 0 # col 4sensor: sci_flur_ref(nodim) 0 # col 3sensor: sci_flur_temp(nodim) 0 # col 5sensor: sci_flur_timestamp(timestamp) 0 # secs since 1970# proglet bb2flsV7: wet labs bb2flslk scatter meter and fluorometer sensor, 7th configurationsensor: c_bb2flsV7_on(sec) 2 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2flsV7_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb2flsV7_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_bb2flsV7_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB2FLSLK-760)sensor: u_bb2flsV7_b532_cwo(nodim) 46 # clean water offset, nodim == countssensor: u_bb2flsV7_b650_cwo(nodim) 46 # clean water offset, nodim == countssensor: u_bb2flsV7_chl_cwo(nodim) 40 # clean water offset, nodim == countssensor: u_bb2flsV7_b532_sf(Mnodim) 7.683 # scale factor (0.000007683)sensor: u_bb2flsV7_b650_sf(Mnodim) 3.893 # scale factor (0.000003893)sensor: u_bb2flsV7_chl_sf(ug/l/nodim) 0.0121 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_bb2flsV7_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_bb2flsV7_b532_scaled(nodim) 0 # derived from col 4sensor: sci_bb2flsV7_b650_scaled(nodim) 0 # derived from col 6sensor: sci_bb2flsV7_chl_scaled(ug/l) 0 # derived from col 8sensor: sci_bb2flsV7_b532_sig(nodim) 0 # col 4sensor: sci_bb2flsV7_b650_sig(nodim) 0 # col 6sensor: sci_bb2flsV7_chl_sig(nodim) 0 # col 8sensor: sci_bb2flsV7_b532_ref(nodim) 0 # col 3sensor: sci_bb2flsV7_b650_ref(nodim) 0 # col 5sensor: sci_bb2flsV7_chl_ref(nodim) 0 # col 7sensor: sci_bb2flsV7_therm(nodim) 0 # col 9sensor: sci_bb2flsV7_timestamp(timestamp) 0 # secs since 1970# proglet flbbcd: Wet Labs flbbcd fluorometer, scattering meter, and cdom sensorsensor: c_flbbcd_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_flbbcd_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_flbbcd_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_flbbcd_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for FLBBCDSLK-1845)sensor: u_flbbcd_chlor_cwo(nodim) 35 # clean water offset, nodim == countssensor: u_flbbcd_bb_cwo(nodim) 49 # clean water offset, nodim == countssensor: u_flbbcd_cdom_cwo(nodim) 47 # clean water offset, nodim == countssensor: u_flbbcd_chlor_sf(ug/l/nodim) 0.0119 # scale factor to get unitssensor: u_flbbcd_bb_sf(Mnodim) 3.522 # (0.000003522) scale factor to get unitssensor: u_flbbcd_cdom_sf(ppb/nodim) 0.0919 # scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_flbbcd_num_fields_to_send is 3, cols derived # from 4,6,8 sentsensor: sci_flbbcd_chlor_units(ug/l) 0 # derived from col 4sensor: sci_flbbcd_bb_units(nodim) 0 # derived from col 6sensor: sci_flbbcd_cdom_units(ppb) 0 # derived from col 8sensor: sci_flbbcd_chlor_sig(nodim) 0 # col 4sensor: sci_flbbcd_bb_sig(nodim) 0 # col 6sensor: sci_flbbcd_cdom_sig(nodim) 0 # col 8sensor: sci_flbbcd_chlor_ref(nodim) 0 # col 3sensor: sci_flbbcd_bb_ref(nodim) 0 # col 5sensor: sci_flbbcd_cdom_ref(nodim) 0 # col 7sensor: sci_flbbcd_therm(nodim) 0 # col 9sensor: sci_flbbcd_timestamp(timestamp) 0 # secs since 1970# proglet dmon: W.H.O.I DMON, Digital Monitor, a passive acoustic monitorsensor: sci_dmon_is_installed(bool) 0 # t--> installed on science#inputs:sensor: c_dmon_on(sec) 0 # >= 0 enables the devicesensor: u_dmon_ctd_msg_period(sec) 0 # How often to send ctd data to the DMON, this # assumes that the user has configured the CTD # to be sampling whenever the DMON is enabled.#outputs:sensor: sci_dmon_msg_byte_count(nodim) 0 # message byte count for open disk file# proglet suna: Submersible Ultraviolet Nitrate Analyzer from Satlanticsensor: sci_suna_is_installed(bool) 0 # t--> installed on science#inputs:sensor: c_suna_on(sec) 0 # >= 0 enables the device # (must take into account u_suna_bootup_time)sensor: u_suna_num_errors_before_restart(nodim) 5 # number of errors before cycling # power, <0 = never cycle power # 0 = restart on any errorsensor: u_suna_bootup_time(sec) 10 # bootup time of the SUNA sensor#outputssensor: sci_suna_record_offset(bytes) 0 # message byte count for open disk filesensor: sci_suna_nitrate_um(uMol/L) 0 # Nitrate concentration in uMol/Lsensor: sci_suna_nitrate_mg(mg/L) 0 # Nitrate concentration in mg/Lsensor: sci_suna_timestamp(sec) 0 # Timestamp of sample# proglet c3sfl: Turner Designs C3 Submersible Fluorometer#inputs:sensor: c_c3sfl_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: c_c3sfl_num_fields_to_send(nodim) 4 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list below # A negative value signifies # to use this value as a bitmap. # The user may specify any # outputs regardless of order by # by using this sensor as a bitmap. # -1 * (2^(f1-1)+2^(f2-1)+...) # where fn is the field number. # For example, if the user wished # to just record temperature # they would use: # -1 * 2^(6-1) = -32sensor: sci_c3sfl_is_installed(bool) 0 # in, t--> installed on science#outputs: sensor: sci_c3sfl_chlorophyll(rfu) 0 # col 3 Relative Fluorescence Units sensor: sci_c3sfl_phycoerythrin(rfu) 0 # col 4 sensor: sci_c3sfl_turbidity(rfu) 0 # col 5 sensor: sci_c3sfl_cdom(rfu) 0 # col 6 sensor: sci_c3sfl_depth(m) 0 # col 7 sensor: sci_c3sfl_temp(degC) 0 # col 8 sensor: sci_c3sfl_timestamp(timestamp) 0 # secs since 1970 # proglet satpar: Satlantic PAR sensorsensor: sci_satpar_is_installed(bool) 0 # in, t--> installed on science#inputs:sensor: c_satpar_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, # >0 that many secssensor: c_satpar_num_fields_to_send(nodim) 3 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list above # A negative value signifies # to use this value as a bitmap. # The user may specify any # outputs regardless of order by # by using this sensor as a bitmap. # -1 * (2^(f1-1)+2^(f2-1)+...) # where fn is the field number. # For example, if the user wished # to just record raw counts # they would use: # -1 * 2^(3-1) = -4sensor: u_satpar_is_calibrated(bool) 0 # needs to be set in autoexec.mi# sensor specific input calibration constants (defaults for S/N 0171)sensor: u_satpar_immersion_coeff(nodim) 1.3589 # calibration coeffientssensor: u_satpar_dark_offset(nodim) 2156930000 # " "sensor: u_satpar_slope(Mnodim) 2.44356 # (0.00000244356)#outputs:sensor: sci_satpar_par(umol-photons/m^2/s) 0 # derived from col 3sensor: sci_satpar_raw_counts(nodim) 0 # col 3sensor: sci_satpar_timer(sec) 0 # col 2sensor: sci_satpar_timestamp(timestamp) 0 # secs since 1970# proglet vsf: Wet Labs Volume Scattering Function metersensor: c_vsf_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_vsf_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_vsf_num_fields_to_send(nodim) 7 # in, number of columns to send on each # measurement, fields to send chosen # by order in the list belowsensor: u_vsf_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for VSFSLK-147)sensor: u_vsf_100_dc(nodim) 49 # dark counts, nodim == countssensor: u_vsf_125_dc(nodim) 50 # dark counts, nodim == countssensor: u_vsf_150_dc(nodim) 40 # dark counts, nodim == countssensor: u_vsf_100_sf(Mnodim) 4.820 # (0.000004820) scale factor to get unitssensor: u_vsf_125_sf(Mnodim) 3.527 # (0.000003527) scale factor to get unitssensor: u_vsf_150_sf(Mnodim) 3.006 # (0.000003006) scale factor to get units # output sensors, listed in PRIORITY order # e.g. if c_vsf_num_fields_to_send is 3, cols derived # from 4,5,6 sentsensor: sci_vsf_100_scaled(nodim) 0 # derived from col 4sensor: sci_vsf_125_scaled(nodim) 0 # derived from col 5sensor: sci_vsf_150_scaled(nodim) 0 # derived from col 6sensor: sci_vsf_100_sig(nodim) 0 # col 4sensor: sci_vsf_125_sig(nodim) 0 # col 5sensor: sci_vsf_150_sig(nodim) 0 # col 6sensor: sci_vsf_therm(nodim) 0 # col 7sensor: sci_vsf_timestamp(timestamp) 0 # secs since 1970# proglet oxy4330f: Aanderaa Oxygen Optode 4330Fsensor: c_oxy4330f_on(sec) 0 # in, sets secs between measurements # <0 stops, 0 fast as possible, >0 that many secssensor: sci_oxy4330f_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_oxy4330f_num_fields_to_send(nodim) 10 # 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_oxy4330f_num_fields_to_send is 3, cols 3,4,5 sentsensor: sci_oxy4330f_oxygen(uM) 0 # col 3, O2 Concentrationsensor: sci_oxy4330f_saturation(%) 0 # col 4, air saturationsensor: sci_oxy4330f_temp(degC) 0 # col 5, temperaturesensor: sci_oxy4330f_calphase(deg) 0 # col 6, CalPhasesensor: sci_oxy4330f_tcphase(deg) 0 # col 7, TCPhasesensor: sci_oxy4330f_c1rph(deg) 0 # col 8, C1RPhsensor: sci_oxy4330f_c2rph(deg) 0 # col 9, C2RPhsensor: sci_oxy4330f_c1amp(mV) 0 # col 10, C1Ampsensor: sci_oxy4330f_c2amp(mV) 0 # col 11, C2Ampsensor: sci_oxy4330f_rawtemp(mV) 0 # col 12, RawTempsensor: sci_oxy4330f_timestamp(timestamp) 0 # secs since 1970# <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#========================================================# Gliderbus (gbus) devices# gb_devdrvr paradigm devices use:# where <X> is the device driver name (as listed in "use")## C_<X>_ON ; How often to measure# ; <0 => never(off)# ; 0 => fast as possible# ; >0 => every this many seconds## U_GLIDERBUS_DEBUG ; controls whole bus# U_<X>_DEBUG ; controls device <X># ; or'ed together for each device# ; bit-mapped debug fields# ; add desired on bit values (2^N) together# ; the composite value# ; SEE top of gb_devdrvr.c for meaning## each device is free to define it's on M_<X>_whatever## Bus widesensor: u_gliderbus_debug(nodim) 0.0# coulomb countersensor: c_coulomb_on(sec) 0 # required by gb_devdrvr paradigmsensor: u_coulomb_debug(nodim) 0sensor: f_coulomb_calibration_factor(%) .05 # calibration factor for the # onboard coulomb countersensor: m_coulomb_amphr(amp-hrs) 0.0 # integrated current, i.e. energysensor: m_coulomb_current(amp) 0.0 # instantaneous currentsensor: m_coulomb_amphr_raw(nodim) 0.0sensor: m_coulomb_current_raw(nodim) 0.0sensor: m_coulomb_amphr_total(amp-hrs) 0.0 # persistant amp-hours totalsensor: f_coulomb_battery_capacity(amp-hrs) 720.0 # nominal battery capacitysensor: s_coulomb_relative_charge(%) 50.0 # Simulated relative charge (wall_power provided in simul.sim)# digifin_v2 (a gbus version of digifin)sensor: f_fin_safety_max(rad) 0.47 # in, damage to glider# sensor: u_digifin_v2_debug(nodim) 0sensor: c_fin(rad) 0 # in, >0 vehicle turns right# sensor: m_digifin_rawposition(nodim) 0 # raw position in A/D countssensor: m_fin(rad) # out#========================================================# Clock Sourcesensor: f_clock_source(enum) 0 # in, defines the real time clock source. # 0 - Use the RTC provided by the persistor # 1 - Use DS3234 RTC (new hardware only) # # - Any other value will default to RTC provided # by the persistor.#========================================================# 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# do_thermal_oilsensor: xs_thermal_aft_oil_vol(cc) # simulated oil volume in the aft bladdersensor: xs_thermal_int_oil_vol(cc) # simulated oil volume in the interior reservoirsensor: xs_thermal_tube_oil_vol(cc) # simulated oil volume in the external tubesensor: xs_thermal_acc_oil_vol(cc) # simulated oil volume in the accumulator # 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) 0.0031 # 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_fluid_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_pressure_noise(bar) 0 # simulated random noise to be added to simulated pressure readingsensor: 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 spikesensor: s_corrupted_pressure_noise(bool) 0 # we generated ocean pressure noise# sensor: s_corrupted_oil_volume(bool) 0 # we generated an oil volume out-of-deadband # 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# The same for science side data logging; default is more conservative# because headers are not that large on science sidesensor: u_sci_dbd_sensor_list_xmit_control(enum) 0 # -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# Science data logging state as known by glider# KEEP THIS IN SYNC WITH THE enum IN science_super.c !!!!!sensor: x_science_logging_state(enum) 99 # 0 = pending turn on # 1 = turning on # 2 = turned on # 3 = pending turn off # 4 = turning off # 5 = turned off # 99 = in limbo# 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 used on glidersensor: sci_m_disk_usage(Mbytes) 0.0 # How much disk space is currently used on sciencesensor: m_disk_free(Mbytes) 0.0 # How much disk space is currently free on glidersensor: sci_m_disk_free(Mbytes) 0.0 # How much disk space is currently free on sciencesensor: x_disk_files_removed(nodim) 0 # Count of how many files pruned last time on glidersensor: sci_x_disk_files_removed(nodim) 0 # Count of how many files pruned last time on science# 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) 15.0 # how often to check # MS_ABORT_OVERTIME b_arg: overtime(sec) -1.0 # < 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) 30.0 # 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_NO_TICKLE b_arg: no_cop_tickle_for(sec) 48600.0 # secs, abort mission if watchdog # not tickled this often, <0 disables b_arg: no_cop_tickle_percent(%) -1.0 # 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) 0.90 # abort if M_THERMAL_ACC_PRES < # (eng_pressure_mul * F_THERMAL_REQD_ACC_PRES) b_arg: eng_pressure_sample_time(sec) 15.0 # how often to measure, <0 disables b_arg: max_wpt_distance(m) -1.0 # 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) 50000 # 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) 12.0 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) 75 # aborts if M_DEVICE_DRIVERS_CALLED_ABNORMALLY # is true for this many cycles in a row # <= 0 disables the abort, 75 = ~5min assuming # a 4 second cycle time. b_arg: remaining_charge_min(%) 10.0 # MS_ABORT_CHARGE_MIN out of limits b_arg: remaining_charge_sample_time(sec) 60.0behavior: surface b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/surfac<N>.ma b_arg: start_when(enum) 12 # See doco above b_arg: when_secs(sec) 1200 # 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) 300 # how long to wait for gps b_arg: keystroke_wait_time(sec) 300 # 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) 60.0 # 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. # For when_utc b_arg: when_utc_min(min) -1 # 0-59, -1 any minute b_arg: when_utc_hour(hour) -1 # 0-23, -1 any hour b_arg: when_utc_day(day) -1 # 1-31, -1 any day b_arg: when_utc_month(month) -1 # 1-12, -1 any month b_arg: when_utc_on_surface(bool) 0 # If true, adjust when_utc_month/day/hour/min # to get glider on surface by this time. b_arg: strobe_on(bool) 0 # Behavior arguement to control the strobe lightbehavior: 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) -1 # 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) -2 # 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 # When behavior is complete, either quit or stay active waiting for new mafile b_arg: end_action(enum) 0 # 0-quit, 6-wait for ^F (re-read mafiles) # 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) 2 # See doco above b_arg: start_diving(bool) 1 # T-> dive first, F->climb first b_arg: num_half_cycles_to_do(nodim) -1 # Number of dive/climbs to perform # <0 is infinite, i.e. never finishes # arguments for dive_to b_arg: d_target_depth(m) 12 b_arg: d_target_altitude(m) 5 b_arg: d_use_bpump(enum) 2 b_arg: d_bpump_value(X) -1000.0 b_arg: d_use_pitch(enum) 3 b_arg: d_pitch_value(X) -0.4528 b_arg: d_stop_when_hover_for(sec) 180.0 b_arg: d_stop_when_stalled_for(sec) 240.0 b_arg: d_use_sc_model(bool) 0 b_arg: d_speed_min(m/s) -100.0 b_arg: d_speed_max(m/s) 100.0 b_arg: d_depth_rate_method(enum) 3 b_arg: d_wait_for_pitch(bool) 1 b_arg: d_delta_bpump_speed(X) 50.0 b_arg: d_delta_bpump_ballast(X) 25.0 b_arg: d_time_ratio(X) 1.1 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) 1.50 # arguments for climb_to b_arg: c_target_depth(m) 3 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) 3 b_arg: c_pitch_value(X) 0.4538 b_arg: c_stop_when_hover_for(sec) 180.0 b_arg: c_stop_when_stalled_for(sec) 240.0 b_arg: c_use_sc_model(bool) 0 b_arg: c_speed_min(m/s) 100.0 b_arg: c_speed_max(m/s) -100.0 b_arg: end_action(enum) 2 # 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) 1000 # 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# Glider sensors 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_leakdetect_time(sec) -1.0 b_arg: c_gps_on(bool) 0.0 # Special, 1 is on, 0 is off# Science sensors start here b_arg: c_science_all_on(sec) -1.0 b_arg: c_profile_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_whgpbm_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 # c_badd_on removed b_arg: c_flntu_on(sec) -1.0 b_arg: c_fl3slov2_on(sec) -1.0 b_arg: c_bb3slov2_on(sec) -1.0 b_arg: c_ocr507R_on(sec) -1.0 b_arg: c_ocr507I_on(sec) -1.0 b_arg: c_bb3slov3_on(sec) -1.0 b_arg: c_bb2fls_on(sec) -1.0 b_arg: c_bb2flsV2_on(sec) -1.0 b_arg: c_oxy3835_wphase_on(sec) -1.0 b_arg: c_auvb_on(sec) -1.0 b_arg: c_bb2fV2_on(sec) -1.0 b_arg: c_tarr_on(sec) -1.0 b_arg: c_bbfl2sV2_on(sec) -1.0 b_arg: c_glbps_on(sec) -1.0 b_arg: c_sscsd_on(sec) -1.0 b_arg: c_bb2flsV3_on(sec) -1.0 b_arg: c_fire_on(sec) -1.0 b_arg: c_ohf_on(sec) -1.0 b_arg: c_bb2flsV4_on(sec) -1.0 b_arg: c_bb2flsV5_on(sec) -1.0 b_arg: c_logger_on(sec) -1.0 b_arg: c_bbam_on(sec) -1.0 b_arg: c_uModem_on(sec) -1.0 b_arg: c_rinkoII_on(sec) -1.0 b_arg: c_dvl_on(sec) -1.0 b_arg: c_bb2flsV6_on(sec) -1.0 b_arg: c_flbbrh_on(sec) -1.0 b_arg: c_flur_on(sec) -1.0 b_arg: c_bb2flsV7_on(sec) -1.0 b_arg: c_flbbcd_on(sec) -1.0 b_arg: c_dmon_on(sec) -1.0 b_arg: c_c3sfl_on(sec) -1.0 b_arg: c_suna_on(sec) -1.0 b_arg: c_satpar_on(sec) -1.0 b_arg: c_vsf_on(sec) -1.0 b_arg: c_oxy4330f_on(sec) -1.0# <PROTO> Add additional science proglets here# ----- 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 Autoballast/Speed control. See doco/how-it-works/autoballast.txt # 1 Reserved - do not use (relative to neutral) # 2 Buoyancy Pump absolute b_arg: bpump_value(X) -1000.0 # use_bpump == 0 Total amt of ballast # 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 or fluid fore/aft control b_arg: use_pitch(enum) 1 # 4 Fluid Pumped absolute # 3 Servo on Pitch # 2 Pitch, set once from curve # 1 BattPos b_arg: pitch_value(X) 0.0 # use_pitch == 4 cc, clips to max legal, >0 to nose down # 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 # Autoballast only (use_bpump == 0). Ignored for other bpump modes. b_arg: use_sc_model(bool) 0 #if using model of veh for SM_SPEED. Always set to 0 for now until the model is designed b_arg: speed_min(m/s) -100.0 #vertical minimum dive speed for speed control SM_SPEED #User should set this to a positive value (dive rate > 0), otherwise, it gets set to default f_speed_min b_arg: speed_max(m/s) 100.0 #vertical maximum dive speed for speed control SM_SPEED b_arg: depth_rate_method(enum) 3 #method of filtered depth rate to use for speed control # 0= raw m_depth_rate # 1= m_depth_rate_subsample # 2 = tbd. # 3 = running average. (see description of m_depth_rate_avg_final) b_arg: wait_for_pitch(bool) 1 #if true, wait for pitch/batt pos dynamics to settle before enabling speed control. b_arg: delta_bpump_speed(X) 50.0 #amount of ballast to add to bpump in order to reach desired speed. Should always be positive. SM_SPEED takes care of the sign b_arg: delta_bpump_ballast(X) 25.0 #amount of ballast to add to bpump in order to converge on ballast. If < deadband, diveclimb.c will set it to deadband b_arg: time_ratio(X) 1.1 #ratio of climb/dive times that must be maintained for speed control. # 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) 1.50 # 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 Autoballast/Speed control. See doco/how-it-works/autoballast.txt # 1 Buoyancy Pump relative to neutral # 2 Buoyancy Pump absolute b_arg: bpump_value(X) 1000.0 # use_bpump == 0 Total amt of ballast # 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 for fluid fore/aft control b_arg: use_pitch(enum) 1 # 4 Fluid Pumped absolute # 3 Servo on Pitch # 2 Pitch, set once from curve # 1 BattPos b_arg: pitch_value(X) 0.0 # use_pitch == 4 cc, clips to max legal, >0 to nose down # 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 # Autoballast only (use_bpump == 0). Ignored for other bpump modes. b_arg: use_sc_model(bool) 0 # if using model of veh for SM_SPEED. Always set to 0 for now until the model is designed b_arg: speed_min(m/s) 100.0 #vertical minimum dive speed for speed control SM_SPEED. #User should set this to a negative value (climb rate < 0), otherwise, it gets set to -f_speed_min b_arg: speed_max(m/s) -100.0 #vertical maximum dive speed for speed control SM_SPEEDbehavior: drift_at_depth b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/drift_<N>.ma b_arg: start_when(enum) 4 # See doco above, allowable=0,1,2,3,4,6,7,8,9,10,13 b_arg: when_secs(sec) 180 # For start_when = 6, 9, or 10 b_arg: when_wpt_dist(m) 10 # For start_when = 7 b_arg: when_utc_min(min) -1 # 0-59, -1 any minute b_arg: when_utc_hour(hour) -1 # 0-23, -1 any hour b_arg: when_utc_day(day) -1 # 1-31, -1 any day b_arg: when_utc_month(month) -1 # 1-12, -1 any month b_arg: end_action(enum) 0 # 0-quit, 2-resume b_arg: stop_when_hover_for(sec) 3600.0 # terminate hover when depth does not change for # this many secs, <0 to disable b_arg: est_time_to_settle(s) 360.0 # Used to force invalid cc_time_til_inflect for this # This many seconds at the beginning of the behavior. b_arg: target_depth(m) 100.0 # depth to drift at b_arg: target_altitude(m) 20.0 # altitude to drift at, <=0 disables b_arg: alt_time(s) 120.0 # time spacing for altimeter pings # <0 is off, =0 as fast as possible # >0 that many seconds betweens measurements b_arg: target_deadband(m) 5.0 # +/- around target depth or altitude b_arg: bpump_delta_value(cc) 1.0 # Increments to adjust x_hover_ballast(cc) to obtain # neutral buoyancy (>= 1 cc) b_arg: bpump_delay(s) 0.0 # Minimum time between making buoyancy adjustments b_arg: bpump_deadz_width(cc) 30.0 # For temporarily adjusting the buoyancy pump b_arg: bpump_db_frac_dz(nodim) 0.1 # deadband during the drift_at_depth behavior # pitch_mode_t values - battery or fluid fore/aft control b_arg: use_pitch(enum) 1 # 4 Fluid Pumped absolute # 3 Servo on Pitch # 2 Pitch, set once from curve # 1 BattPos b_arg: pitch_value(X) 0.0 # use_pitch == 4 cc, clips to max legal, >0 to nose down # 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 # Arguments for dive_to when diving to hover zone b_arg: d_use_bpump(enum) 2 b_arg: d_bpump_value(X) -1000.0 b_arg: d_use_pitch(enum) 3 # servo on pitch b_arg: d_pitch_value(X) -0.4538 # ~-26 degrees # Arguments for climb_to when climbing to hover zone 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) 0.4538 # ~26 degrees# 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(min) -1 # 0-59, -1 any minute b_arg: when_utc_hour(hr) -1 # 0-23, -1 any hour b_arg: when_utc_day(day) -1 # 1-31, -1 any day b_arg: when_utc_month(mon) -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 b_arg: min_reqd_quiet_time(s) 480 # must be < cc_final_time_to_inflect before start. Set <0 to disable b_arg: post_inflection_holdoff(s) 60 # must be this long since inflection, < 0 disables b_arg: allow_sample_at_surface(bool) 0 # non-zero allows sample at surface # 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 # ALL 0 C_SCIENCE_ALL_ON # PROFILE 1 C_PROFILE_ON # HS2 2 C_HS2_ON # BB2F 3 C_BB2F_ON # BB2C 4 C_BB2C_ON # BB2LSS 5 C_BB2LSS_ON # SAM 6 C_SAM_ON # WHPAR 7 C_WHPAR_ON # WHGPBM 8 C_WHGPBM_ON # MOTEBB 9 C_MOTEBB_ON # BBFL2S 10 C_BBFL2S_ON # FL3SLO 11 C_FL3SLO_ON # BB3SLO 12 C_BB3SLO_ON # OXY3835 13 C_OXY3835_ON # WHFCTD 14 C_WHFCTD_ON # BAM 15 C_BAM_ON # OCR504R 16 C_OCR504R_ON # OCR504I 17 C_OCR504I_ON # BADD 18 C_BADD_ON # FLNTU 19 C_FLNTU_ON # FL3SLOV2 20 C_FL3SLOV2_ON # BB3SLOV2 21 C_BB3SLOV2_ON # OCR507R 22 C_OCR507R_ON # OCR507I 23 C_OCR507I_ON # BB3SLOV3 24 C_BB3SLOV3_ON # BB2FLS 25 C_BB2FLS_ON # BB2FLSV2 26 C_BB2FLSV2_ON # OXY3835_WPHASE 27 C_OXY3835_WPHASE_ON # AUVB 28 C_AUVB_ON # BB2FV2 29 C_BB2FV2_ON # TARR 30 C_TARR_ON # BBFL2SV2 31 C_BBFL2SV2_ON # GLBPS 32 C_GLBPS_ON # SSCSD 33 C_SSCSD_ON # BB2FLSV3 34 C_BB2FLSV3_ON # FIRE 35 C_FIRE_ON # OHF 36 C_OHF_ON # BB2FLSV4 37 C_BB2FLSV4_ON # BB2FLSV5 38 C_BB2FLSV5_ON # LOGGER 39 C_LOGGER_ON # BBAM 40 C_BBAM_ON # UMODEM 41 C_UMODEM_ON # RINKOII 42 C_RINKOII_ON # DVL 43 C_DVL_ON # BB2FLSV6 44 C_BB2FLSV6_ON # FLBBRH 45 C_FLBBRH_ON # FLUR 46 C_FLUR_ON # BB2FLSV7 47 C_BB2FLSV7_ON # FLBBCD 48 C_FLBBCD_ON # DMON 49 C_DMON_ON # C3SFL 50 C_C3SFL_ON # SUNA 51 C_SUNA_ON # SATPAR 52 C_SATPAR_ON # VSF 53 C_VSF_ON # OXY4330F 54 C_OXY4330F_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) 0 # if < 0 then off, if = 0 then # as fast as possible, and if # > 0 then that many seconds # between measurements b_arg: nth_yo_to_sample(nodim) 1 # After the first yo, sample only # on every nth yo. If argument is # negative then exclude first yo. b_arg: intersample_depth(m) -1 # supersedes intersample_time # by dynamically estimating # and setting intersample_time # to sample at the specified # depth interval. If <=0 then # then sample uses # intersample_time, if > 0 then # that many meters between # measurements b_arg: min_depth(m) -5 # minimum depth to collect data, default # is negative to leave on at surface in # spite of noise in depth reading b_arg: max_depth(m) 2000 # maximum depth to collect databehavior: badd_b b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/bhydro<N>.ma b_arg: start_when(enum) 1 # See doco above: 0, 1, 2 b_arg: stop_when(enum) 12 # BAW_NOCOMM_SECS b_arg: max_collection_time(sec) 1800 # timeout for data collect mode b_arg: max_search_time(sec) 1800 # timeout for search mode b_arg: min_download_range(m) 2000 # minimum range to start collecting data b_arg: max_tries_to_connect(nodim) 15 # max number of connection attempts b_arg: max_badd_errors(nodim) 30 # abort after this many errors b_arg: run_on_surface(bool) 0 # 1 -> allow running on surface # 0 -> don't allow to run on surface b_arg: collect_data_after_range(bool) 1 # 1 -> collect data after range mode # 0 -> don't collect data after range mode # Collection parameters b_arg: c_badd_mode(enum) 0 # 0: search, 1: collect data b_arg: c_badd_target_id(enum) 0 # address of remote host modem being called b_arg: c_badd_range_secs(sec) 60 # how often to request range to remote modem # <0 => don't request range, # min value = c_badd_input_parse_secs(sec) * 2 b_arg: c_badd_input_parse_secs(sec) 30 # How long to check command response input buffer b_arg: c_badd_datacol_status_secs(sec) 30 # How long to check command response input buffer b_arg: c_badd_clear_remote_data(bool) 0 # 0: do NOT clear remote data after successful # download, 1: clear remote data after download# 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: start_sci_wants_quiet(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: 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 off # Turn the pinger on during a test missionbehavior: pinger_on b_arg: c_pinger_on(bool) 1 b_arg: u_ping_n_enabled(bool) 1 b_arg: u_pinger_rep_rate(sec) 8 b_arg: u_pinger_max_depth(m) 1000END#endif