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Slocum masterdata 7.16

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#if 0# Copyright (C) 1994-1998, Massachusetts Institute of Technology.# Modifications Copyright (C) 1999-2012 Teledyne Webb Research# Proprietary to Sea Grant AUV Laboratory.  All rights reserved.# -- deleted history up to 02-Feb-10, release 7.0# 2010-02-09 SN#3427 Added b_arg: end_action(enum) to goto_list behavior.# 2010-02-01 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 SN#3429 Removed MTHR_AWAITING_AIR from the legal values#                                            of m_thermal_pump(enum)# 2010-02-22   SN#3430 Added C/M_AVBOT_POWER/ENABLE to masterdata.# 2010-02-25 SN#3431 Removed u_allowable_devsched_msecs.# 2010-03-12 SN#3432 Added sensors m_gps_uncertainty(nodim) and m_gps_num_satellites(nodim)# 2010-03-12 SN#3433 added b_arg: strobe_on and m_strobe_ctrl# 2010-03-15 SN#3434 Added/removed args to/from drift_at_depth behavior.# 2010-03-22 SN#3435 Added u_sound_speed(m/s) and u_angle_of_attack(rad).# 2010-03-19 SN#3436 Added xs_fluid_pumped(cc).# 2010-04-08 SN#3437 Changed initialization of m_iridium_attempt_num to 1# 2010-04-08 SN#3438 Added simulation sensors for do_thermal_oil().# 2010-04-23 SN#3439 Added sensors for flbbrh pnd flur proglets.# 2010-05-24 SN#3440 Added sensors for bb2flsV7 and flbbcd proglets.# 2010-06-17 SN#3441 Added sensors for dmon proglet.# 2010-07-01  SN#3442 Added sensors for c3sfl proglet.# 2010-08-12  SN#3443 Updated/added/removed some drift_at_depth#                                         arguments and sensors.# 2010-08-10 SN#3444 Added sensors for suna proglet.# 2010-08-23  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 SN#3446 Added f_coulomb_battery_capacity for mantis #722# 2010-09-07  SN#3447 Updated drift_at_depth argument defaults.# 2010-09-14  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 SN#3451 Added C_LOGGER_CTRL_TIMEOUT (Mantis #793)# 2010-10-01  SN#3452 Added u_dvl_pd_data_stream_select(enum) and#                                         sci_dvl_ensemble_offset(nodim).# 2010-10-06  SN#3453 Added u_dvl_wd_data_out(nodim).# 2010-10-14 SN#3454 Added f_device_reinit_timeout(min).# 2010-11-09  SN#3455 Updated f_coulomb_calibration_factor(%)#                                         from 0.68 to 0.068# 2010-11-16 SN#3456 Changed units of the sci_suna_* sensors# 2010-12-02 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 SN#3458  Added comatose  b_arg: start_sci_wants_quiet(bool)#                                         and sci_wants_quiet(bool).# 2010-12-28 SN#3459 Added u_suna_bootup_time# 2010-01-31 SN#3460 Bug#874, changed value for u_max_water_depth_lifetime#                                         from 3 to 1# 2010-02-01 SN#3461 Bug#866, changed value for f_coulomb_calibration_factor#                                         from .068 to .05# 2011-02-02 SN#3462  Added sci_bbam_sim_is_installed().# 2011-02-07 SN#3463  Added sci_auvb_sim_is_installed().# 2011-02-09 SN#3464  Added sensors for satpar proglet.# 2011-02-24  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  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 SN#3467  Increased b_arg: vacuum_max(inHg) from 11.0 to 12.0# 2011-04-07 SN#3468  Added sensors for vsf proglet.# 2011-04-12 SN#3469 Added u_calc_angle_of_attack# 2011-04-13 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 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 SN#3473 Added s_coulomb_relative_charge# 2011-04-08 SN#3474	Changed defauly values for lots of b_args to make glider#                                           fly OK with defaults# 2011-06-02 SN#3475  Added sensors for gamma_rad5 proglet.# 2011-06-14 SN#3476  Added sensors for bsipar proglet.# 2011-06-29 SN#3477  Added x_hover_active(bool) and x_deactivate_hover(bool)# 2011-07-15 SN#3478 Changed f_clock_source default to 1# 2011-07-19 SN#3479 Added m_bpump_fault_bit(bool) and#                                        m_de_pump_fault_count(nodim) (Mantis #945).#                                        Changed f_de_oil_vol_safety_max(cc) from#                                        300 to 290 (Mantis #974)# 2011-09-08 SN#3480 Changed units for bsipar scale factor.# 2011-09-12 SN#3481 Added energy monitoring for pitch and fin# 2011-09-12 SN#3482 Added the following sensors for heading cntrl: m_hdg_derror, u_hd_fin_ap_dgain,#                                        u_low_power_hd_fin_ap_dgain, x_hd_fin_ap_dgain#                                        x_heading_deadband, x_heading_rate_deadband, u_fly_deep_in_shallow,x_heading_reversal.#                                        Added the following sensors for pitch servo memory:#                                        x_battpos_achieved, u_use_pitch_servo_memory, c_dive_battpos, c_climb_battpos#                                        u_battpos_avg_num_min, u_battpos_ap_deadband#                                        Added when_secs to set_heading behavior#                                        Updated comments for x_hd_fin_ap_ran# 2011-09-14 SN#3483 Changed u_pitch_ap_gain from -2.86 to -5.0#                                         Changed u_pitch_max_delta_battpos from 0.020 to 0.2#                                         Removed U_BATTPOS_AP_DEADBAND# 2011-09-14 SN#3484 For yo/climb-to behavior, removed use_sc_model b_arg.#                                        For yo/dive-to behavior, added wait_for_ballast b_arg.#                                        Added sensor c_wait_for_ballast# 2011-09-19 SN#3485 Changed f_min_ballast from 150.0 to 250.0# 2011-09-28 SN#3486 Added x_last_commanded_fin_pos(rad)# 2011-10-13 SN#3487 Changed u_pitch_ap_gain from -5.0 to -3.0,#                                        [u/x]_hd_fin_ap_gain from 1.0 to 1.5,#                                        [u/x]_hd_fin_ap_igain from 0.03 to 0.02,#                                        [u/x]_hd_fin_ap_dgain from -1.0 to -4.0# 2011-10-14 SN#3488 Changed x_heading_rate_deadband to u_heading_rate_deadband,#                                        x_heading_deadband to u_heading_deadband# 2011-11-18 SN#3489 Added x_clothesline_state(enum) and changed c_de_oil_vol(cc)#                                        from 270 to 260.# 2011-12-12 SN#3490 Added sensor: x_surface_active(nodim) (Mantis #1113).# 2011-12-21 SN#3491 Added sensors for flbb proglet.# 2011-12-22 SN#3492 Added comments for Control Center b_arg metadata# 2012-01-03 SN#3493 Added comments for Control Center sensor metadata# 2012-01-03 SN#3494 Added u_dvl_ensemble_timeout(sec)# 2012-12-07 / thruster_devel: 2012-01-04 SN#3495 Minor syntax fixes to Control Center metadata,#                                          added c_thruster_on# 2012-01-06 SN#3504 Added sensors u_vr2c_serial_num_0, u_vr2c_serial_num_1 and#                                            sci_vr2c_state# 2012-12-07 / thruster_devel: 2012-01-13 SN#3496 Thruster support: Added [dive/climb]_use_thruster/thruster_value to yo,#											drift_at_depth, dive and climb behaviors.  Added cc_[final]_thruster_[mode/value],#											dc_c_thruster_on# 2012-12-07 / thruster_devel: 2012-01-18 SN#3497  Added drift_at_depth b_arg: enable_steering(bool) and#                                         sensor x_enable_steering_during_hover (set by enable_steering)# 2012-01-25 SN#3495 Added CTD41CP2 sensors.# 2012-02-08 SN#3496 Fixed default value of yo:d_pitch_value# 2012-12-07 / thruster_devel: 2012-02-09 SN#3505 Added u_vr2c_status_interval_0 and _1 and u_vr2c_profile_0 and _1# 2012-12-07 / thruster_devel: 2012-02-16 SN#3498 Added u_thruster_inflection_holdoff, x_thruster_state, and c_hover_battpos# 2012-03-15 SN#3497 Added sci_badd_mmp_is_installed# 2012-12-07 / thruster_devel: 2012-Mar-19 SN#3499 Added sensors for get_est_horz_speed_thruster():#                                        m_thruster_est_speed, f_thruster_v[0,1], f_thruster_i[0-2]#                                        x_thruster_has_current_sense and m_thruster_current#                                        f_thruster_min_v and f_thruster_max_v# 2012-12-07 / thruster_devel: 2012-Mar-26 SN#3500 Added drift_at_depth b_arg wait_for_pitch,#                                        X_PITCH_AP_GAIN, U_PITCH_AP_GAIN_THRUSTER, X_PITCH_AP_DEADBAND, U_PITCH_AP_DEADBAND_THRUSTER#                                        U_THRUSTER_HD_FIN_AP_GAIN(IGAIN,DGAIN)## 2012-12-07 / thruster_devel: 2012-03-30 SN#3501 Added m_thruster_current# 2012-12-07 / thruster_devel: 2012-03-30 SN#3502 Added m_thruster_report# 2012-04-12 SN#3498 Added behavior arguments to badd_b behavior:#                                            c_badd_autobaud(bool), c_baud_attemp_min(enum),#                                            c_baud_attempt_max(enum) and c_autobaud_max_BER(nodim)# 2012-04-18 SN#3499 Added sensors to supporting behavior aguments for badd# 2012-04-23 SN#3500 Replaced oxy4330f with oxy4 proglet# 2012-04-27 SN#3501 Added c_badd_transaction_num and associated b_arg# 2012-05-03 SN#3502 Changed the default values of#                                        u_dvl_pd_data_stream_select from 6 to  0#                                        u_dvl_num_errors_before_restart from 5 to 1#                                        u_dvl_ensemble_timeout from 60 to 20# 2012-05-07 SN#3502 Added b_arg: when_wpt_dist to badd_b behavior.# 2012-05-09 SN#3503 Added b_arg: c_badd_channel_probe_test and sensor.# 2012-01-06 SN#3504 Added sensors u_vr2c_serial_num_0, u_vr2c_serial_num_1 and#                                            sci_vr2c_state# 2012-02-09 SN#3505 Added u_vr2c_status_interval_0 and _1 and u_vr2c_profile_0 and _1# 2012-06-11 SN#3506 Added sensor: u_dvl_bl_min_layer_size(dm)#                                              sensor: u_dvl_bl_near_layer_boundary(dm)#                                              sensor: u_dvl_bl_far_layer_boundary(dm)#                                              sensor: u_dvl_bk_water_mass_layer_mode(enum)#                                        Removed sensor: u_dvl_bottom_track_mode(enum)# 2012-06-27 SN#3507 Changed c_ctd41cp_num_fields_to_send from 3 to 4 (Mantis#1339)# 2012-12-07 / thruster_devel: 2012-07-05 SN#3505 Added drift_at_depth b_args start_dist_from_target, use_bpump_servo#                                        Added drift_at_depth servo sensors u_depth_ap_[d]gain_[deep/shallow]#                                        Added yo/climb b_arg stop_when_air_pump#                                        Added airpump sensors m_vacuum_change_since_air_pump_on, m_vacuum_air_bag_inflated, m_vacuum_air_pump_on,#											u_vacuum_air_bag_inflated, u_max_depth_for_air_pump_est#                                        Added thruster sensors u_ap_thruster_delta_cmd and u_ap_thruster_depth_rate_deadband#                                         u_ap_thruster_depth_rate_period, x_ap_thruster_depth_rate_period#										 Added m_surface_depth_reached and u_pitch_surface#										 Added thruster-assisted abort parameters: abend b_arg use_thruster_for_ascent,  u_thruster_abort_inflection_holdoff,#                                         x_use_thruster_for_abort_ascent# 2012-07-09(for) SN#3508 Replaced references to obsolete#                                        proglet MoteBB with new proglet MoteOPD. Added#                                        c_moteopd_debug(bool) and c_moteopd_data_overtime(sec).#                                        Chg default sensor: c_moteopd_on(sec) to -1# 2012-08-24 SN#3509 Removed hs2 proglet to make supersci.app smaller.#                                        Added c_obsolete_on as a place holder for removed proglets#                                        in science_super.c and sample.c# 2012-09-04 SN#3510 Removed whpar proglet# 2012-09-05 SN#3511 Removed ohf proglet# 2012-09-06 SN#3512 Removed avbot proglet# 2012-09-07 SN#3513 Removed whgpbm proglet# 2012-09-18 SN#3514 Added f_suna_firmware_cfg sensor.# 2012-10-17 SN#3515 Changed c_badd_target_id to -1# 2012-11-07 SN#3515 Mantis #1392# 2012-11-19  SN#3516 Added PID steering sensors: u_hd_fin_ap_scale_by_max,  u_hd_fin_ap_deadband_reset# 2012-12-03  SN#3517 Added u_autoballast_end_on_converge# 2012-12-03 SN#3518 Mantis 1453 - Removed dvl setup sensors# 2012-12-05 SN#3519 Added u_dvl_single_pd0_file# 2012-12-07 / thruster_devel: 2012-09-14 SN #3506  Renamed drift_at_depth b_arg bpump_servo to depth_ctrl (now offer several options for depth control#                                        Added pitching depth servo control from: and sensors:#                                         u_hover_depth_pitch_limit, u_hover_depth_p_gain, u_hover_depth_d_gain, u_hover_depth_pitch_deadband,#                                         u_hover_depth_pitch_offset, x_avg_depth_pitch_battpos_offset, u_avg_depth_pitch_battpos_alpha,#                                         u_avg_depth_pitch_battpos_deadband, u_hover_depth_pitch_max_time#                                        Renamed u_depth_ap_[d]gain_[deep/shallow] to u_hover_bpump_ap_[d]gain_[deep/shallow]#											Renamed [u/x]_ap_thruster_depth_rate_period to [u/x]_thruster_ap_period#                                        Added pitch servo d gain: x_pitch_ap_dgain, u_pitch_ap_dgain, u_pitch_ap_dgain_thruster and m_pitch_derror#                                         thruster gain scale: u_pitch_ap_scale_thruster_gain and u_max_thruster_speed#                                        Added u_autoballast_end_on_converge#                                        Added u_depth_rate_thr_avg_num and m_depth_rate_thr_avg_final, m_depth_error#                                        Updated x_thruster_state to include more information#                                        Added u_hd_fin_ap_deadband_reset#                                        u_hd_broll_ap_deadband_reset, u_hd_broll_ap_scale_by_max, u_hd_broll_ap_dgain# 2012-12-07 / thruster_devel: 2012-10-25   SN#3507 Added x_hover_depth_p_gain, u_hover_depth_gain_scale_[m,b], dad b_arg depth_gain_scale#										 Removed u_pitch_ap_scale_thruster_gain#										 Changed many drift_at_depth sensors to b_args: depth_pitch_limit, depth_p_gain, depth_d_gain,#										  depth_pitch_deadband, depth_pitch_offset, depth_pitch_max_time# 2012-12-07 / thruster_devel: 2012-11-02   SN#3515 Merged thruster_devel into main branch# 2012-12-07 / thruster_devel: 2012-11-05   SN#3516 Couple new experimental DVL settings# 2012-12-07 / thruster_devel: 2012-11-08  SN#3508 Added drift_at_depth sensors:#                                        m_depth_ierror, m_depth_derror, x_hover_depth_i_gain, x_hover_depth_d_gain, u_hover_depth_p_gain_min#                                        x_hover_depth_pitch_limit, x_hover_depth_ap_ran, x_hover_depth_pitch_is_maxed#                                        u_hover_depth_[run_time, deadband, rate_deadband, inflection_holdoff, hardover_holdoff,#                                        scale_by_max, deadband_reset, limit_gain_x_error, absolute, abort_after_y_misses]#                                        Changed x_hover_depth_p_gain and from 0.15 to -0.15 (sign of m_depth_error changed)#                                        Added drift_at_depth b_arg depth_i_gain and removed b_arg depth_pitch_offset#                                        Added u_hd_fin_ap_scale_by_max,  u_hd_broll_ap_deadband_reset, u_hd_broll_ap_scale_by_max, u_hd_broll_ap_dgain#                                        Added thruster sensors: u_avg_thruster_current_num, m_avg_thruster_current, u_max_thruster_current, m_thruster_current_spike#                                        Added u_avg_thruster_speed_num and m_avg_thruster_speed# 2012-12-07 / thruster_devel: 2012-11-26  SN#3517 Added m_avg_thruster_depth# 2012-12-07 SN#3520 Merged thruster branch into tip# 2012-12-07  SN#3521 Added u_secs_surface_depth_reached,#                                        m_thruster_power, m_thruster_voltage, m_thruster_amphr, m_thruster_watthr#										 Added additional use_thruster/thruster_value parameter (2: percent max)# 2012-12-11 SN#3522 Changed u_dvl_single_pd0_file default to 0# 2012-12-14 SN#3523 Changed values of following (M#0001460): u_pitch_ap_gain_thruster -3 to -2, c_thruster_current_cal 0.037 to 0.0593#										 f_thruster_i0 0.1506 to 0.04352, f_thruster_i1 2.8022 to 1.289, f_thruster_i2 -2.4233 to -0.5438#										 u_thruster_hd_fin_ap_gain 1.0 to 0.5, u_thruster_hd_fin_ap_dgain 0 to -4.0# 2012-12-14 SN#3523 Update to comment for c_stop_when_air_pump, use_thruster_for_ascent# 2012-12-28 SN#3524 Removed all VR2C input sensors as they're no longer used (Mantis #1448)# 2013-02-07 SN#3525 Added echosndr853 sensors.# 2013-02-22 SN#3526 Added m_thruster_raw# 2013-03-01 SN#3527  Added use_thruster = 4 mode for dive, climb, yo, and drift_at_depth behaviors,#										   and sensors u_ap_thruster_power_deadband, u_ap_thruster_power_p_gain, m_thruster_power_error#										 Added m_avg_thruster_power_drift#										 Added [x,u]_increase_vacuum_time#										 Modified the following: M_AVG_THRUSTER_CURRENT ==> M_AVG_THRUSTER_POWER, U_AVG_THRUSTER_CURRENT_NUM ==> U_AVG_THRUSTER_POWER_NUM#										  M_THRUSTER_CURRENT_SPIKE ==> M_THRUSTER_POWER_SPIKE. U_MAX_THRUSTER_CURRENT ==> F_THRUSTER_POWER_MAX#										 Modified comments for x_thruster_state to include use_thruster=4#										 c_autoballast_state now includes more information on failed convergence#										 Changed u_low_power_hd_fin_ap_[i]gain: _gain from 1.0 to 0.5, igain from 0.004 to 0.0001  M#1507# 2013-04-05 SN#3528 Passive retraction changes: added#                                         x_ballast_passive_retraction_count, f_ballast_passive_retraction_delay,#                                         changed default f_ballast_pumped_battery_spike_trigger to 3.0## 2013-04-23 SN#3529  Added surface behavior b_arg: thruster_burst,#                                         Added sensors: u_thruster_burst_volts, u_thruster_burst_secs,#                                         u_thruster_delta_max, c_thruster_surface_[secs,depth], c_thruster_depth_rate_[secs,depth], x_why_lens_completed#                                         u_thruster_power_limit_cmd, u_thruster_power_delta_max#                                         Changed value of u_increase_vacuum_time from 30 to 0, c_thruster_current_cal from 0.0593 to 0.038# 2013-04-30 SN#3530 Updated values of drift_at_depth b_args depth_gain_scale (0 -> 1),#                                         depth_i_gain (0 -> -0.0001), depth_d_gain (0 -> 0.1)#                                         f_thruster_max_v (9 -> 9.7), u_thruster_power_limit_cmd (70 -> 80), u_thruster_power_delta_max (7 -> 3)#                                         u_vacuum_air_bag_inflating (0.5 -> 0.3)#                                         f_thruster_i0 (0.04352->0.1473), f_thruster_i1(1.289-> 0.9018), f_thruster_i2(-0.5438->-0.2083)#                                         u_hover_depth_gain_scale_m (0.270->0.429), u_hover_depth_gain_scale_b (-0.189->-0.430)#                                         f_thruster_power_max (10.0->14.5), f_thruster_power_min(1.0->0.5)# 2013-05-07 SN#3531 Removed c_thruster_report# 2013-05-20	SN#3525 Added sci_m_coulomb_current and sci_m_coulomb_amphr# 2013-12-04 SN#3532 Added x_science_on, changed default c_iridium_phone_num, c_badd_operation#                                         c_badd_initial_wait_secs, c_badd_retry_wait_secs, c_badd_debug,#                                         c_badd_datacol_status_secs, c_badd_autobaud, sci_badd_state# 2014-01-09 SN#3533 Added u_sequence_start_delay# 2014-01-12 SN#3534 Added air_pump b_arg to badd_b# 2014-03-19 SN#3535 Added support for flrh proglet (WetLabs FLRHSLC)# 2014-03-24 SN#3536#                                         Updated thruster voltage-to-estimated speed coefficients (M#1630):#                                         f_thruster_v1 (0.0631-> 0.0994), f_thruster_v0 (0.0288->-0.0164)#                                         Added u_hd_fin_ap_pause_hardover, u_hover_depth_pause_hardover (M#1615)#                                         Replaced u_secs_surface_depth_reached with u_secs_surface_from_airpump, x_secs_surface_depth_reached (M#1628)#                                         x_reset_depth_rate_thr#                                         Fixed units on m_depth_[i,d]error#                                         Replaced u_thruster_inflection_holdoff with x_thruster_inflection_holdoff,#                                         u_thruster_inflection_holdoff_deep, u_thruster_inflection_holdoff_shal (M#1629)# 2014-03-30 SN#3537 Added u_science_logging_error# 2014-04-07 SN#3538 RinkoII, added support for data selection,Physical 0 and Engineering 1 (Mantis #1863)# 2014-04-22 SN#3539 Added support for bb2flsV8 proglet (WetLabs)# 2014-04-29 SN#3540 Added m_tot_num_thermal_valve_cmd M#1882#                                         Changed default value of surface b_arg thruster_burst from 1->0, and#                                         added U_THRUSTER_BURST_FREQ and M_THRUSTER_BURST. Default is to rely on U_THRUSTER_BURST_FREQ, unless#                                         surface b_arg thruster_burst is enabled M#1844# 2014-04-30 SN#3541 Added u_iridium_idle_on_time, u_iridium_idle_off_time, m_iridium_rcv_chars#                                         m_weight_drop# 2014-06-05  SN#3542 Mantis(1939), Remove all coulomb code from science, SCI_M_COULOMB..., post SBMB2, all#                                     power consumption will be monitored on the main board.  Removed sensors: sci_m_coulomb_amphr_raw,#                                     sci_m_coulomb_current_raw, sci_m_coulomb_amphr, and sci_m_coulomb_current# 2014-06-23 SN#3543 Added critical abort sensors M#1936#                                         u_critical_abort_response, x_critical_abort_active, m_last_abort, m_critical_abort, x_critical_mission_fail,#                                         x_critical_abort_update_status, u_critical_message_period, u_sequence_critical_max_time_in_gliderdos, u_critical_abort_[1,2,3,4]#                                         Added b_arg air_pump to yo, dive_to and climb_to behaviors, for use in surface drift missions (nofly.mi)#                                         Changed unit for m_tot_num_thermal_valve_cmd from enum to nodim M#1882# 2014-06-25 SN#3544 Mantis #1933: LowPwr science issue# 2014-04-30 SN#3545	Added m_dip_angle, m_magnetic_field (Mantis 1956)# 2014-08-21 SN#3546 Mantis #2007, Turner sensor proglet C3SFL modification to work with newest sensor# 2014-09-30 SN#3547 Removed air_pump from yo, dive_to, climb_to and added nop_air_pump to nop_cmds# 2014-10-07 SN#3548 Added comments for use_thruster# 2014-10-16 SN#3549 Added u_update_gps_with_invalid# 2014-10-30 SN#3550 Added uviluxPAH proglet, Mantis 2116## 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    3550#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  #! visible = True; min = 2.0; max = 1000.0                                       # 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           #! visible = True                                                     # 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_sequence_start_delay(s)               120   # in, how long to wait for control-C at sequence startsensor: 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## Critical abort handler sensors# Critical aborts are those which it is undesirable for the glider to automatcially sequence into the next# mission or lastgasp (ex. leak). If u_critical_abort_response is enabled (=1 or 2), and we trigger an abort matching one of the# following codes defined in u_critical_abort_[1,2,3,4], then the response is different than the normal abort response# See 'Critical Aborts' section in /doco/how-it-works/abort-sequuences.txt for more detailssensor: u_critical_abort_response(int) 0 # If an abort code matches u_critical_abort_[1,2,3,4], we set x_critical_abort_active									   # to the value of u_critical_abort_response at time of abortsensor: x_critical_abort_active(int) 0 # Out, set by u_critical_abort_response									   # < 1: disabled									   # = 1: Abort Future Missions. Aborts for MS_ABORT_CRITICAL_ABORT_ACTIVE									   # = 2: Sequence Drift Mission. cancel existing mission sequence, and sequence mission nofly.misensor: m_last_abort(int) 0 # Most recent abortsensor: m_critical_abort(int) 0 # Out, records an abort code if it matches one of the u_critical_abort_[1,2,3,4] and u_critical_abort_response > true# Outputs that need to be reset in the case of a critical abortsensor: x_critical_mission_fail(bool) 0 # Out, if we failed to sequence the critical mission nofly.misensor: x_critical_abort_update_status(int) 0 # Out, 1=need to update CRITICAL ABORT WHY?, 2=updated.sensor: u_critical_message_period(s) 180 # In, how often we print the '~!~ X_CRITICAL_ABORT_ACTIVE!...' message to GliderDossensor: u_sequence_critical_max_time_in_gliderdos(s) 3600 # In, how long to stay in Gliderdos after x_critical_abort_active = 1.# numbering associated with various aborts. See 'Abort Codes' in /doco/how-it-works/abort-sequuences.txtsensor: u_critical_abort_1(int) 24 # In, 24=MS_ABORT_LEAKsensor: u_critical_abort_2(int) 32 # In, 32=MS_ABORT_LOW_REL_CHARGEsensor: u_critical_abort_3(int) -100 # In, -100: undefined. Assign abort code from mission_status.hsensor: u_critical_abort_4(int) -100 # In, -100: undefined. Assign abort code from mission_status.h# --- 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 processorsensor: u_science_low_power(sec) -1.0      # -1 = disabled, science always on                                           #  0 = power down science when not sampling                                           #  x = power down science when not sampling and                                           #      power up science x seconds prior to inflection# 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    # 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_thruster_mode(enum)   -1 # out, cmd->thruster_modesensor: cc_thruster_value(X)      0 #      argument for thruster_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_thruster_mode(enum)   -1 # out, cmd->thruster_modesensor: cc_final_thruster_value(X)      0 #      argument for thruster_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    #! visible = True; min = 1.0; max = 60.0                                                     # 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.sensor: x_surface_active(nodim)               0      # (>0 means active) set to the surface behavior id that is active.                                                     # Only one surface behavior can be active at a given time. The first                                                     # surface behavior that goes active blocks other surface behaviors                                                     # until it leaves the active state.# Lens penetration sensors (c_stop_when_air_pump)# diveclimb.csensor: m_surface_depth_reached(bool)			0    #  True if we've reached u_reqd_depth_at_surface.sensor: u_pitch_surface(rad)			0.087 # In, expected pitch if we are at the surface/air bag is inflated. 5 degsensor: u_secs_surface_from_airpump(sec)  60 # In, if it has been this many seconds since m_surface_depth_reached, based upon 2m u_reqd_depth_at_surfacesensor: x_secs_surface_depth_reached(sec)  60 # Out, what is actually use, scales u_secs_surface_from_airpump based upon u_reqd_depth_at_surface#			  									# x_secs_surface_depth_reached = (u_reqd_depth_at_surface/2.0)*u_secs_surface_from_airpumpsensor: x_why_lens_completed(nodim) 0 # Out, Why the 'c_stop_when_air_pump' surface behavior is complete#			  							1: Reached depth and saw vacuum change (M_VACUUM_AIR_BAG_INFLATED > 0.0)#			  							2: Reached depth and saw vacuum change (M_VACUUM_CHANGE_SINCE_AIR_PUMP_ON >= U_VACUUM_AIR_BAG_INFLATING)#			  							    and M_PITCH <= U_PITCH_SURFACE#			  							3: Reached depth and time since the surface depth was reached (M_SURFACE_DEPTH_REACHED) > U_SECS_SURFACE_DEPTH_REACHED# vacuum.csensor: m_vacuum_change_since_air_pump_on(inHg) 0 # Change in vacuum (m_vacuum - m_vacuum_air_pump_on)sensor: m_vacuum_air_bag_inflated(inHg) 0 # If m_vacuum_change_since_air_pump_on > u_vacuum_air_bag_inflated.  Indicates that air bag is likely inflatedsensor: m_vacuum_air_pump_on(inHg) -1.0 # Initial value of m_vacuum when air pump is turned on AND depth < u_max_depth_for_air_pump_estsensor: u_vacuum_air_bag_inflated(inHg) 1.5 # For m_vacuum_change_since_air_pump_on greater than this value, it is very likely that the air bag has inflatedsensor: u_vacuum_air_bag_inflating(inHg) 0.3 # For m_vacuum_change_since_air_pump_on greater than this value, it is very likely that the air bag has started to inflatesensor: u_max_depth_for_air_pump_est(m) 8.0 # The maximum depth that we check if the air pump will inflate (padded to accomodate for bad pressure ducer).#			  							Used only for determining m_vacuum_air_pump_on.    # 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: m_avg_thruster_depth(m) 0.0 # out, if thruster is commanded, the average thruster depth for this segment.sensor: m_avg_thruster_power_drift(watt) 0.0 # out, if thruster is commanded, the average thruster power for this segment.sensor: 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 depthsensor: x_hover_active(bool)     0  # drift_at_depth is in BS_HOVER substatesensor: x_deactivate_hover(bool) 0  # a way to stop drift_at_depthsensor: x_enable_steering_during_hover(bool) 0 # If true, allow steering when commanded to hover.											   # Set by drift_at_depth b_arg enable_steering# The bpump servo mode and pitching depth control mode specify two types of depth control methods,# as defined in drift_at_depth b_arg depth_ctrl.# They both use m_depth_error:sensor: m_depth_error(m) 0.0 # Out, m_depth - commanded depthsensor: m_depth_ierror(m-s) 0.0 # Out, integrated errorsensor: m_depth_derror(m/s) 0.0 # Out, time derivate of error# bpump servo mode (b_arg depth_ctrl = 1)# delta bpump = -Kp*(target_depth - glider_depth) + Kd*depth_ratesensor: u_hover_bpump_ap_gain_shallow(cc/m) 1.0 #proportional gain, shallow bpumpsensor: u_hover_bpump_ap_dgain_shallow(cc-s/m) 1.0 #derivative gain, shallow bpumpsensor: u_hover_bpump_ap_gain_deep(cc/m) 1.0 #proportional gain, deep bpumpsensor: u_hover_bpump_ap_dgain_deep(cc-s/m) 1.0 #derivative gain, deep bpump# pitching depth control mode (b_arg depth_ctrl = 2)# pitch cmd = -(Kp*m_depth_error + Ki*m_depth_ierror + Kd*m_depth_derror)sensor: x_hover_depth_p_gain(X) -0.15   # proportional gain Kp: should always be < 0.  Set based upon DEPTH_GAIN_SCALE:									# If b_arg DEPTH_GAIN_SCALE is true,									#   X_HOVER_DEPTH_P_GAIN = U_HOVER_DEPTH_GAIN_SCALE_M * M_THRUSTER_EST_SPEED + U_HOVER_DEPTH_GAIN_SCALE_B									# If b_arg DEPTH_GAIN_SCALE is false,									#   X_HOVER_DEPTH_P_GAIN = b_arg DEPTH_P_GAINsensor: u_hover_depth_gain_scale_m(X) 0.429sensor: u_hover_depth_gain_scale_b(X) -0.430sensor: u_hover_depth_p_gain_min(X) -0.01 # In, limits the minimum value of X_HOVER_DEPTH_P_GAIN if scale is usedsensor: x_hover_depth_i_gain(X) 0 # Out, set by b_arg DEPTH_I_GAINsensor: x_hover_depth_d_gain(X) 0 # Out, set by b_arg DEPTH_D_GAINsensor: x_hover_depth_pitch_limit(rad) 0.174 # Out, x_hover_depth_pitch_limit = b_arg DEPTH_PITCH_LIMIT - X_PITCH_AP_DEADBANDsensor: u_hover_depth_run_time(sec) -1 # How often to "run" the loop										# <= 0, every cycle										#  > 0, this many secondssensor: u_hover_depth_pitch_deadband(X) -1sensor: u_hover_depth_pitch_rate_deadband(X) -1sensor: u_hover_depth_inflection_holdoff(sec) -1.0 # do not set.  Required for PID controller structure,                                                   # but not used for pitching depth controlsensor: u_hover_depth_pause_hardover(bool)  0		# in, If true, then pause the integrator if hardover. Otherwise, reset# How long to not integrate after pitched at limitsensor: u_hover_depth_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.sensor: u_hover_depth_scale_by_max(bool) 0 # Whether or not we scale the command by x_hover_depth_pitch_limitsensor: u_hover_depth_deadband_reset(bool)  0  # in, If true, then reset the integrator if we are not changing pitch due to being in the deadband        		                           # If false, then hold the integral term constant while in deadband.# various clipping limitssensor: u_hover_depth_limit_gain_x_error(rad) 1000.0 # Limits the gain*error term, (flattens gain curve)                                           # Set it large to disable it.sensor: u_hover_depth_limit_absolute(rad) 1000 # limits final C_PITCH value to beween +/- this value.                                     # Set it large to disable it.                                     # Note: this is also limited to the                                     #       pitch limit X_HOVER_DEPTH_PITCH_LIMITsensor: u_hover_depth_abort_after_y_misses(nodim) -1 # in, how many missed depth measurements                                                #     before we aborting the mission                                                # <= 0   never abort                                                #    1   abort on first miss                                                # >= 2   abort when miss this many times in a rowsensor: x_hover_depth_ap_ran(bool)      -10 # Updated on a cycle where pitching depth control executed                                       #  -1     First time initialization                                       #   0 ;   called, but chose not to command motor                                       #   1 ;   did not run cause no fresh input                                       #   2 ;   did not run cause too close to inflection                                       #   3 ;   did not run cause not time to run yet                                       #   4 ;   "ran", controlled motor                                       #   5 ;   did not run cause within deadbandsensor: x_hover_depth_pitch_is_maxed(bool) 0 # true implies pitch is maxed# used for estimating trim offsetsensor: x_avg_depth_pitch_battpos_offset(in)        0.0  # exponential mean of calculated trim offsetsensor: u_avg_depth_pitch_battpos_alpha(nodim) 		0.05  # more weight for longterm meansensor: u_avg_depth_pitch_battpos_deadband(m)   0.1  # depth error deadband													#must be above this to compute avg# --- 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 inflectionsensor: u_fly_deep_in_shallow(bool) 0    #! visible = True					 # in, flying a deep glider in shallow water, so we want pitch control									  # to not wait for m_is_de_pump_moving. Adapt dynamic_control.c accordingly.# --- 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_end_on_converge(bool) 0 #in.  If true, end autoballast adjustments to c_[climb/dive] once converged.  If false, keep running autoballast.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 unsuccessfully: abs(c_dive_bpump) or c_climb_bpump > X_BALLAST_PUMPED_MAX/X_DE_OIL_VOL_MAX									# 4=converged unsuccessfully: c_climb_bpump - c_dive_bpump < c_autoballast_volume (d_bpump_value)									# 5=converged unsuccessfully: may be a bit more complicated. Consider examining .mlgsensor: 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) 250.0 # in, the minimum amt of total ballast, limits c_autoballast_volume.  Provided as a safety against unreasonably low b_arg							   # This value is the smallest total drive that we've historically used, however, if the user is comfortable you could be set							   # this value to be smaller.sensor: 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_arg							   # If using a deep engine capable of larger displacement, it's conceivable that you might want to use a larger value.							   # If so, feel free to set this value higher.sensor: 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, Gets set to true by software 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: c_wait_for_ballast(sec) 100.0 #in, wait this many seconds after ballast pump has stopped moving (after inflection only)					#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_errorsensor: m_hdg_derror(rad/sec) 0 # out, rate of change of m_hdg_error  # Waypoint controlsensor: u_use_current_correction(nodim) 1   #! visible = True                                            #  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)      1.50 # The "gain" of controller: 57 deg proportional band                                          # 1/57 degsensor: u_hd_fin_ap_igain(1/rad-sec) 0.02sensor: u_hd_fin_ap_dgain(sec/rad) -4.00                                      # percent C_FIN = (-U_HD_FIN_AP_GAIN  * M_HDG_ERROR) +                                      #                 (-U_HD_FIN_AP_IGAIN * M_HDG_IERROR)+                                      #                 (-U_HD_FIN_AP_DGAIN * M_HDG_DERROR)# For u_low_power_cycle_time(s) = 30sensor: u_low_power_hd_fin_ap_gain(1/rad)      0.5  #sensor: u_low_power_hd_fin_ap_igain(1/rad-sec) 0.0001 #sensor: u_low_power_hd_fin_ap_dgain(sec/rad) 0.0 ## For thruster installed.sensor: u_thruster_hd_fin_ap_gain(1/rad)      0.5   #sensor: u_thruster_hd_fin_ap_igain(1/rad-sec) 0.004 #sensor: u_thruster_hd_fin_ap_dgain(sec/rad) -4.0 ## These get set to either u_hd_fin_ap_gain(igain,dgain) or# u_thruster_hd_fin_ap_gain(igain,dgain) if thruster installed or# u_low_power_hd_fin_ap_gain(igain,dgain) depending on the value of x_cycle_time.# Initially set to the default values of u_hd_fin_ap_gain(igain,dgain).sensor: x_hd_fin_ap_gain(1/rad)       1.50sensor: x_hd_fin_ap_igain(1/rad-sec)  0.03sensor: x_hd_fin_ap_dgain(sec/rad) -4.00sensor: u_hd_fin_ap_run_time(secs)  -1  # How often to "run" the loop                                        # <= 0, every cycle                                        #  > 0, this many secondssensor: u_hd_fin_ap_scale_by_max(bool) 1 # Whether or not we scale the command by X_FIN_MAX        # 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        # Deadbands on heading error and rate error.  If heading error and rate error are both within these deadbands, don't move the fin.        # To disable completely (i.e. ignore if in deadband or not), set either value to -1.        # To turn off one deadband but not the other, set the one you want to turn off to a very high value,        # i.e. want to turn off deadband on rate error: set u_heading_rate_deadband 1000.0sensor: u_heading_deadband(rad) 0.087 #in, deadband for heading error M_HDG_ERRORsensor: u_heading_rate_deadband(rad/s) 0.0087 #in, deadband for heading rate error M_HDG_DERRORsensor: u_hd_fin_ap_deadband_reset(bool)  0  # in, If true, then reset the integrator if we are not moving the fin due to being in the deadband                                                   # If false, then hold the integral term constant while in deadband.        # 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.sensor: u_hd_fin_ap_pause_hardover(bool)  0		# in, If true, then pause the integrator if hardover. Otherwise, reset        # 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 ;   did not run cause too close to inflection                                       #   3 ;   did not run cause not time to run yet                                       #   4 ;   "ran", controlled motor                                       #   5 ;   did not run cause within deadbandsensor: x_hd_fin_ap_is_hardover(bool) 0 # true implies fin is "hardover"sensor: x_heading_reversal(rad) 2.96 # in, if x_heading_reversal <= heading error <= (2*pi-x_heading_reversal), then									  # we are trying to reverse directions    # 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_dgain(1/rad-sec)              0.00 #Never testedsensor: 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_deadband_reset(bool)       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: u_hd_broll_ap_scale_by_max(bool) 1 # Whether or not we scale the command by X_BATTROLL_MAXsensor: 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 servo  # 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 executed# Pitch servo control consists of a Proportional(P) - Derivative(D) controller# percent delta C_BATTPOS =#							-X_PITCH_AP_GAIN * M_PITCH_ERROR#							+X_PITCH_AP_DGAIN * M_PITCH_DERROR# Proportional gain for pitch servo control (value should always be < 0):sensor: x_pitch_ap_gain(1/rad) -3.0   # Set based upon operating conditions:									# If thruster is not commanded,									#   X_PITCH_AP_GAIN = U_PITCH_AP_GAIN                                    # If thruster is commanded                                    #   X_PITCH_AP_GAIN = U_PITCH_AP_GAIN_THRUSTERsensor: u_pitch_ap_gain(1/rad)  -3.0  # Proportional gain of controller for no thrustersensor: u_pitch_ap_gain_thruster(1/rad)  -2.0  # The "gain" of controller if thruster is commanded# Derivative gain for pitch servo control (value should always be > 0):sensor: x_pitch_ap_dgain(s/rad) 1.0   # Set based upon operating conditions:									# If thruster is not commanded, X_PITCH_AP_DGAIN = U_PITCH_AP_DGAIN                                    # If thruster is commanded, X_PITCH_AP_GAIN = U_PITCH_AP_DGAIN_THRUSTERsensor: u_pitch_ap_dgain(s/rad)  1.0  # X_PITCH_AP_DGAIN = U_PITCH_AP_DGAIN if thruster is not commandedsensor: u_pitch_ap_dgain_thruster(s/rad)  1.0  # X_PITCH_AP_GAIN = U_PITCH_AP_DGAIN_THRUSTER if thruster is commandedsensor: x_pitch_ap_deadband(rad) 0.0524 # set to u_pitch_ap_deadband_thruster if thruster is commanded,                                        # otherwise set to u_pitch_ap_deadband                                        # The deadband + or - from C_PITCH,                                        # We do not make corrections if                                        #  abs(M_PITCH_ERROR) < X_PITCH_AP_DEADBANDsensor: u_pitch_ap_deadband(rad) 0.0524 # 3 deg.  Deadband for thruster not commandedsensor: u_pitch_ap_deadband_thruster(rad) 0.0524 # 3 deg.  Deadband for thruster commandedsensor: u_pitch_max_delta_battpos(in)    0.20  # 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_pitchsensor: m_pitch_derror(rad/s) 0 # out, time derivative of m_pitch_errorsensor: x_battpos_achieved(enum) 0 #out, Describes the state of the initial battpos searching for pitch servo mode.									# 0=Haven't gotten to desired starting position C_CLIMB/DIVE_BATTPOS.									# 1=Gotten to desired starting position, but haven't collected enough samples within pitch db									# 2=Achieved state 1, and collected enough samples. Calc a running average of battpos									#   and store this in C_DIVE/CLIMB_BATTPOSsensor: u_use_pitch_servo_memory(bool) 1 #in, if true, enable pitch servo memory# --- 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 #! visible = True; min = 1.0; max = 10.0                                     # 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 #! visible = True					 # 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 #! visible = True                                            # 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 and M_PITCH -or-                                  # estimated. If M_PITCH is too small, estimate is                                  # from M_MISSION_AVG_SPEED_DIVING/CLIMBING.                                  # If thruster is installed and M_PITCH or M_DEPTH_RATE                                  # are too small, estimate comes from input voltage/current.sensor: 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 #! visible = True				       # 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# get_est_horz_speed_thruster()sensor: m_thruster_est_speed(m/s) 0.0 #Out, estimated forward speed (in body-frame) due to thrustersensor: u_max_thruster_speed(m/s) 1.5 # Max estimated thruster speed.  Limits M_THRUSTER_EST_SPEED and scales U_PITCH_AP_GAIN_THRUSTERsensor: u_avg_thruster_speed_num(enum) 10 # In, number of samples to use for m_avg_thruster_speedsensor: m_avg_thruster_speed(m/s) 0.0 #Out, average horizontal speed due to thruster# There are two set of coefficients used to estimate forward speed due to the thruster.# The coefficients are determined off-line, based upon a 52kg glider,# 12V 4W Re-Max17 with 29:1 gearbox and 9x7 off the shelf prop.# Eventually we'll have a program that calculates the coefficients based upon vehicle drag estimates and motor/propeller set.# f_thruster_v[0,1] relate estimated input voltage to forward speed,# for thruster motor controller without current sensing (x_thruster_has_current_sense = 0)# 		m_thruster_est_speed = f_thruster_v1*input_voltage + f_thruster_v0sensor: f_thruster_v1(m/s-volts) 0.0994 # In, 1st-order coefficientsensor: f_thruster_v0(m/s) -0.0164 # In, 0th-order coefficient# f_thruster_i[0,1,2] relate measured motor current to forward speed,# for thruster motor controller with current sensing (x_thruster_has_current_sense = 1)# 	m_thruster_est_speed = i2*current^2  + i1*current + i0sensor: f_thruster_i0(m-s) 0.1473sensor: f_thruster_i1(m/s-amp) 0.9018sensor: f_thruster_i2(m/s-amp-amp) -0.2083# 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   #! visible = True                                             # 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: x_ballast_passive_retraction_count(int) 0     # How many times we hit the brakessensor: f_ballast_passive_retraction_delay(ms) 10         # How long forsensor: 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) 3.0  # 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: c_dive_battpos(in) 0   # out, battpos to immediately move to at start of dive.  Set by either DM_PITCH_SERVO or in diveclimb.csensor: c_climb_battpos(in) 0   # out, battpos to immediately move to at start of climb.  Set by either DM_PITCH_SERVO or in diveclimb.csensor: c_hover_battpos(in) 0   # out, battpos to immediately move to at start of hover/drift_at_depth.  Set by DM_PITCH_SERVOsensor: u_battpos_avg_num_min(enum) 5 #in, pitch servo keeps track of a running avg of battpos that result in									  # pitch angle within db.  This sensor defines the minimum number of samples									  # required to transition to x_battpos_achieved=2 and record the avg battpos									  # to c_climb/dive_battpossensor: 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  sensor: u_battpos_ap_deadband(inches) 0.068 # deadband of battpos driver, used to immediately  											  # go to a battpos in pitch servo mode.  # 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  sensor: u_pitch_energy_cal_m(nodim)    1.0  sensor: u_pitch_energy_cal_b(volts)    0.0  sensor: m_pitch_energy(joules)         0.0# 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  sensor: m_digifin_motorstep_counter(nodim)        0 # total count of steps moved  # 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)                         260.0  # >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)              290.0  # 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: m_de_pump_fault_count(nodim)         0   # incremented when bit_BPUMP_FAULT                                                 # is set on start-up and gets cleared                                                 # after a successful re-start or                                                 # after an abort (3 tries).sensor: 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: m_tot_num_thermal_valve_cmd(nodim) # out, running count of total number of times the valve command is changedsensor: 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 # outsensor: m_dip_angle(rad) 0     # outsensor: m_magnetic_field(nodim) 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  #! visible = True                                            # 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  #! visible = True                                    # 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 #! visible = True                                           # 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: m_weight_drop(bool)          0 # out what happened to drop weight                                       # 0 it's still there                                       # 1 dropped by glider abort                                       # 2 dropped by hardware timersensor: 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 onsensor: m_bpump_fault_bit(bool)      0 # out, reflects state of bit_BPUMP_FAULT# 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: x_increase_vacuum_time(bool) 0 # Whether or not to temporarily increase the vacuum sampling frequency to u_increase_vacuum_timesensor: u_increase_vacuum_time(sec) 0 # If we want to temporarily increase the vacuum sampling frequency, then set it to this valuesensor: 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: u_update_gps_with_invalid(bool) 1 # In, we will update m_gps_lat/lon with m_gps_invalid_lat/lon if no valid are availablesensor: 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 cpu#sensor: c_avbot_power(bool)    0        # in, power supplied to linux cpu#sensor: m_avbot_power(bool)    0        # out, ditto#sensor: c_avbot_enable(bool)   0        # in,  linux cpu enabled to control#sensor: m_avbot_enable(bool)   0        # out, ditto#sensor: x_avbot_disabled(bool) 0        # out, true => hardware bit (currently persistor bit 29)                                        #      shorted to ground.                                        #      clears c_avbot_enable#sensor: 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) 17818711051 #  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) 17818711051 # WRC phone number !no spaces!        # Used to manage which phone number to usesensor: u_iridium_failover_retries(nodim) 5 #! visible = True                                            # 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_CALLBACK# If no commands received from shore, cycle iridium on/offsensor: u_iridium_idle_on_time(sec) 600.0sensor: u_iridium_idle_off_time(sec) 600.0sensor: m_iridium_rcv_chars(int) 0sensor: 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# thruster.c/thruster_g1.csensor: c_thruster_on(%) 0     # In, zero = off, 100 = all it's gotsensor: m_thruster_raw(int) 0  # out, pwm settingsensor: x_thruster_has_current_sense(bool) 1 #Out.  If thruster motor controller has current sensing.  Set by thruster.c or thruster_g1.csensor: m_thruster_current(amp) 0 # Out, measured current.sensor: c_thruster_current_cal(nodim) 0.038 # A / count cal for thruster currentsensor: u_thruster_cmd_change_min(%) 1 # In, minimum change between thruster commands to be considered  a new set of cmdssensor: u_thruster_delta_max(%) 2.5 #In, limit the change in command to be less than this for use_thruster = TM_PERCENT/TM_PERCENT_MAX to avoid spikessensor: u_avg_thruster_power_num(nodim) 10 # Number of samples to use for m_avg_thruster_powersensor: m_avg_thruster_power(watt) 0 # Out, average measured powersensor: f_thruster_power_max(watt) 14.5 # In, maximum allowable average thruster powersensor: f_thruster_power_min(watt) 0.5 # In, minimum allowable average thruster power, for use_thruster=4sensor: m_thruster_power_spike(enum) 0 # Running tally of power spikes above f_thruster_power_maxsensor: m_thruster_voltage(volts) 0 #Out, estimated input voltage to thruster. = C_THRUSTER_ON*M_BATTERY_INST/100sensor: m_thruster_power(watt) 0 #Out m_thruster_voltage * m_thruster_currentsensor: m_thruster_amphr(amp-hrs) 0 #Out, integrated currentsensor: m_thruster_watthr(watt-hrs) 0 #Out, integrated powersensor: x_use_thruster_for_abort_ascent(bool) 0 # Set by abend b_arg use_thruster_for_ascent.  Whether or not to use the thruster in case of an abort to avoid hoveringsensor: u_min_thruster_abort_ascent_rate(m/s) -0.05 # In, minimum ascent rate before thruster kicks in.  Must be < 0# surface.c thruster parameters# sensors to specify thruster burst behavior (b_arg: thruster_burst)sensor: u_thruster_burst_volts(volts) 6 # In, command voltage for thrustersensor: u_thruster_burst_secs(sec) 15 # In, turn on thruster for this longsensor: m_thruster_burst(bool) 0 # Out, when we turn on the thruster for surface burstsensor: u_thruster_burst_freq(hours) 12 # In, how often we need to run the surface burst behavior# dynamic_control.c thruster parameterssensor: dc_c_thruster_on(%) 0     # In/out, What dynamic control wants c_thruster_on to besensor: x_thruster_inflection_holdoff(sec)  -1 #Out, how long to wait after inflection/commanded depth state change. Set by u_thruster_inflection_holdoff_[deep,shal]sensor: u_thruster_inflection_holdoff_deep(sec)  120.0 # In, deep gliderssensor: u_thruster_inflection_holdoff_shal(sec)  60.0 # In, shallow gliderssensor: u_thruster_abort_inflection_holdoff(sec)  200.0 #In, how long to wait after the abort occured before using thruster (if x_use_thruster_for_abort_ascent is true).sensor: x_thruster_state(enum) -1 # Out, why dc_c_thruster_on was commanded. Describes the state of the thruster controller                                 			#  0: Thruster mode not enabled                                 			#  1: Constant thruster command, use_thruster = 1 (command % of glider voltage) and use_thruster = 2 (command % of max voltage)                                 			# The following states apply to use_thruster=3 (command depth rate) and use_thruster=4 (command power)                                 			#  2: Increased thruster:  (M_DEPTH_RATE_THR_AVG_FINAL < command) (use_thruster=3)                                 			#   or (M_AVG_THRUSTER_POWER < command) (use_thruster=4)                                 			#  3: Decreased thruster:  (M_DEPTH_RATE_THR_AVG_FINAL > command) (use_thruster=3)                                 			#   or                                 			#  4: Did not adjust thruster: (M_DEPTH_RATE_THR_AVG_FINAL within command and U_AP_THRUSTER_DEPTH_RATE_DEADBAND limits) (use_thruster=3)                                 			#   or (M_AVG_THRUSTER_POWER within command and U_AP_THRUSTER_POWER_DEADBAND limits) (use_thruster=4)                                 			#  5: Did not adjust thruster, not enough time has elapsed since last command (X_THRUSTER_AP_PERIOD) (use_thruster=3)                                 			#  6: Did not adjust thruster: (not enough depth rate samples U_DEPTH_RATE_THR_AVG_NUM) (use_thruster=3)                                 			#   or (not enough power samples U_AVG_THRUSTER_POWER_NUM) (use_thruster=4)                                 			# The following states apply to all thruster modes                                 			#  7: Off, because inflecting or within the x_thruster_inflection_holdoff time period.                                 			#  8: Off, because measured pitch is in the wrong direction (i.e. m_pitch < 0 on a climb)                                 			#  9: On, Thruster burst mode (surface behavior: b_arg: thruster_burstsensor: f_thruster_min_v(volts) 3.0 # In, minimum voltage to run the thrustersensor: f_thruster_max_v(volts) 9.7 # In, maximum voltage to run the thrustersensor: u_ap_thruster_delta_cmd(%) 10       # how much to increment thruster command to maintain depth rate/power# Parameters specific to use_thruster = power.# We use the thruster to maintain a desired input powersensor: u_ap_thruster_power_deadband(watt) 0.5 # In, allow power between +/- this amountsensor: m_thruster_power_error(watt) 0 # Out, cmd - meassensor: u_ap_thruster_power_p_gain(nodim) 2.5 # In, if > 0, then delta_thruster command = u_ap_thruster_power_p_gain * m_thruster_power_error                                 			# Otherwise, = u_ap_thruster_delta_cmd# If the new power feedback command is to be increased above u_thruster_power_limit_cmd, then# we limit the delta command by u_thruster_power_delta_max to avoid spikes for large commandssensor: u_thruster_power_limit_cmd(%) 80 #In,sensor: u_thruster_power_delta_max(%) 3 #In,# Parameters specific to use_thruster = depthrate.# We use the thruster to maintain a desired depth ratesensor: u_ap_thruster_depth_rate_deadband(m/s) 0.02 # Allow depth rate between +/- this amountsensor: u_thruster_ap_period(s) 30 # How often to run immediately after each commandsensor: x_thruster_ap_period(s) -1 # How often to check depth rate:                                 			#  Immediately following a new command, we wait u_ap_thruster_depth_rate_period seconds                                 			#  Any time after that, we run as fast as possible (-1)sensor: u_depth_rate_thr_avg_num(enum) 3 # the number of data samples to collect for the m_depth_rate_thr_avg calculation.sensor: m_depth_rate_thr_avg_final(m/s) 0.0 # Final value of the calculationsensor: x_reset_depth_rate_thr(bool) 0 #Out, set at start of dive/climb/surface, to reset the running average calculationsensor: c_thruster_surface_secs(s) 0 # out, How long the thruster has been on in depth rate mode for this surfacingsensor: c_thruster_depth_rate_secs(s) 0 # out, How long the thruster has been on in depth rate mode for the entire segmentsensor: c_thruster_surface_depth(m) 0 # out, What depth the thruster first turned on (in depth rate mode) for this surfacingsensor: c_thruster_depth_rate_depth(m) 0 # out, What depth the thruster first turned on (in depth rate mode) for the entire segment# 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: x_science_on(bool) 1  # internal copy of above, conditioned by samplingsensor: c_science_send_all(bool) 0  #! visible = True                                    # 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_clothesline_state(enum)   0      # out, state of the clothesline                                           #      0 = stopped                                           #      1 = running                                           #      2 = waiting for suspend acknowledgement                                           #      3 = suspended                                           #      4 = waiting for resume acknowledgementsensor: 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. #! visible = True                                                                  # 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 behaviorsensor: u_science_logging_error(bool) 1  # In, does science logging error produce glider error?# PLACE HOLDER FOR OBSOLETED PROGLETS used in science_super.c and sample.csensor: c_obsolete_on(bool)             -1sensor: sci_obsolete_is_installed(bool)  0sensor: sci_obsolete_var(nodim)          0             # 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)   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^(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 sensors#sensor: 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 science#sensor: sci_hs2_1bb(nodim)   0 # out, "bb"  backscatter for hs2 channel 1#sensor: sci_hs2_1bbu(nodim)  0 #      "bbu" backscatter for hs2 channel 1#sensor: sci_hs2_2bb(nodim)   0 #      "bb"  backscatter for hs2 channel 2#sensor: sci_hs2_2bbu(nodim)  0 #      "bbu" backscatter for hs2 channel 2#sensor: sci_hs2_3bb(nodim)   0 #      "bb"  backscatter for hs2 channel 3#sensor: 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 Radiation#sensor: c_whpar_on(sec)       0 # in, sets secs between measurements                               # <0 stops, 0 fast as possible, >0 that many secs#sensor: sci_whpar_is_installed(bool) 0 # in, t--> installed on science#sensor: 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 sent#sensor: sci_whpar_par(nodim)           0 # col 2, Primary PAR#sensor: sci_whpar_ref(nodim)           0 # col 3, Second PAR or reference#sensor: sci_whpar_therm(nodim)         0 # col 4, Temperature#sensor: sci_whpar_volt(nodim)          0 # col 5, Voltage#sensor: sci_whpar_counter(nodim)       0 # col 1, Frame counter#sensor: sci_whpar_spare(nodim)         0 # col 6, Spare#sensor: sci_whpar_timestamp(timestamp) 0 # secs since 1970    # proglet whgpbm: WHOI Glider  Bathy-PhotoMeter#sensor: c_whgpbm_on(sec)       0 # in, sets secs between measurements                               # <0 stops, 0 fast as possible, >0 that many secs#sensor: sci_whgpbm_is_installed(bool) 0 # in, t--> installed on science#sensor: 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 sent#sensor: sci_whgpbm_par(nodim)           0 # col 3, PPPPP#sensor: sci_whgpbm_biolumin(nodim)      0 # col 2, BBBBB#sensor: sci_whgpbm_interval(nodim)      0 # col 7, RR#sensor: sci_whgpbm_volt_excite(nodim)   0 # col 4, LLLL#sensor: sci_whgpbm_volt_left(nodim)     0 # col 5, QQQQ#sensor: sci_whgpbm_volt_bat(nodim)      0 # col 6, VVVV#sensor: sci_whgpbm_counter(nodim)       0 # col 1, CCCC#sensor: 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# proglet MoteOPD# Mote Marine Laboratory Optical Phytoplankton Discriminator (OPD)# last modified: 29 August 2011sensor: c_moteopd_on(sec)                -1 #  >=0 turns it on, <0 stops itsensor: c_moteopd_debug(bool)			  0 # 1 for verbose loggingsensor: c_moteopd_data_overtime(sec)    600 # Max. time to allow before OPD data flagged as overduesensor: sci_moteopd_is_installed(bool)    0 #  installed on sciencesensor: sci_moteopd_sn(nodim)        	  0 #  OPD unit serial numbersensor: sci_moteopd_status(nodim)         0 #  OPD's binary cumulative error codesensor: sci_moteopd_volt(nodim)           0 #  its measured supply voltage, VDCsensor: sci_moteopd_press(nodim)          0 #  filter backpressure, psisensor: sci_moteopd_cdomref(nodim)        0 #  remaining cdom reference fluid supply, mLsensor: sci_moteopd_int_time(nodim)       0 #  spectrometer integration time, msecsensor: sci_moteopd_start_time(timestamp) 0 #  timestamp, unixsensor: sci_moteopd_stop_time(timestamp)  0 #  timestamp, unixsensor: sci_moteopd_absorb_a(nodim)       0 #  slope of best-fit line of CDOM absorbancesensor: sci_moteopd_absorb_b(nodim)       0 #  intercept of best-fit line of CDOM absorbancesensor: sci_moteopd_corr0(nodim)          0 #  similarity index for the 0th species filesensor: sci_moteopd_corr1(nodim)          0 #  similarity index for the 1st species filesensor: sci_moteopd_corr2(nodim)          0 #  similarity index for the 2nd species filesensor: sci_moteopd_corr3(nodim)          0 #  etc. these vary with OPD setup, may be all or just 0thsensor: sci_moteopd_corr4(nodim)          0 #sensor: sci_moteopd_corr5(nodim)          0 #sensor: sci_moteopd_corr6(nodim)          0 #sensor: sci_moteopd_corr7(nodim)          0 #sensor: sci_moteopd_corr8(nodim)          0 #sensor: sci_moteopd_corr9(nodim)          0 #sensor: sci_moteopd_corr10(nodim)         0 #sensor: sci_moteopd_corr11(nodim)         0 #sensor: sci_moteopd_logout(nodim)         0 #  0=no logout, 1=successfully logged out before power down.# 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)                 57 # bit mapped operating steps:                                             # range      1 ON                                             # autobaud   2                                             # probe      4                                             # testlink   8 ON                                             # send       16 ON                                             # receive    32 ONsensor: c_badd_target_id(enum)            -1 # 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_range_tries(int)           15 # how many times to request range to remote modesensor: c_badd_input_parse_secs(sec)      60 # Timeout for all modem messages except data receivesensor: c_badd_datacol_status_secs(sec)  300 # Timeout for data receivesensor: c_badd_data_min_rate(%)           50 # Minimum success rate to maintain data collectionsensor: c_badd_data_min_tries(int)         5 # Minimum # tries to do data collectionsensor: c_badd_session_secs(sec)        3600 # Max time for sessionsensor: c_badd_clear_remote_data(bool)     0 # 0: do NOT clear remote data after successfulsensor: c_badd_initial_wait_secs(sec)     30 # Initial wait after starting before operationsensor: c_badd_retry_wait_secs(sec)      300 # Wait after unsuccessful attempt before retrysensor: c_baud_attempt_min(enum)           3 # minimum badd baud attemptsensor: c_baud_attempt_max(enum)           8 # maximum badd baud attempt                                             # Enum for min/max baud                                             #    0: MODSPEC_NULL                                             #    1: MODSPEC_80_MFSK                                             #    2: MODSPEC_140_MFSK                                             #    3: MODSPEC_300_MFSK                                             #    4: MODSPEC_600_MFSK                                             #    5: MODSPEC_800_MFSK                                             #    6: MODSPEC_1066_MFSK                                             #    7: MODSPEC_1200_MFSK                                             #    8: MODSPEC_2400_MFSK                                             #    9: MODSPEC_2560_PSK                                             #   10: MODSPEC_5120_PSK                                             #   11: MODSPEC_7680_PSK                                             #   12: MODSPEC_10240_PSK                                             #   13: MODSPEC_15360_PSK                                             #   64: MODSPEC_80_FHsensor: c_autobaud_max_ber(nodim)          0 # max BER allowedsensor: c_badd_transaction_num(nodim)      0 # ID of the transaction to perform at the mooring.(8 digit max)sensor: c_badd_debug(enum)                 0 # bit mask for madd_mmp message traces:sensor: c_badd_download_range(m)	      -1 # max range to attempt download, or -1 to always download#Outputs:sensor: sci_badd_mmp_is_installed(bool)      0 # true -> MMP version of proglet is installed.sensor: sci_badd_is_installed(bool)          0 # true -> proglet is installedsensor: sci_badd_power_on(bool)              0 # power state of modem (true -> on)sensor: sci_badd_error(nodim)                0 # unique number for each error typesensor: sci_badd_remote_stored_bytes(nodim)  0 # number of stored bytes on remote modemsensor: sci_badd_retrieved_bytes(nodim)      0 # number of bytes collected from remote modemsensor: sci_badd_n_tries_to_connect(nodim)   0 # number of attempts to connect with target modemsensor: sci_badd_target_range(m)             0 # response to range commandsensor: sci_badd_finished(bool)              0 # the proglet has finishedsensor: sci_badd_state(enum)              	 0 # operating state of modemsensor: sci_badd_error_rate(%)               0 # receive data error rate# 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 hydrophone#sensor: c_ohf_on(sec)                     0 # in, 0 = on, -1 = off#sensor: sci_ohf_is_installed(bool)        0 # in, t--> installed on science#sensor: 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 abovesensor: u_rinkoII_output_engineering_data(bool) 0   # 0- output physical data                              						# 1- output engineer data (Real-time)#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)  0 # (0 or 6) Supports formats PD0 and PD6sensor: u_dvl_es_expected_salinity(ppt)        35 # (0 - 40) Expected salinity                                                  # of water in parts per thousand.sensor: u_dvl_bk_water_mass_layer_mode(enum)    2 # 0 = Disables the water-mass layer ping                                                  # 1 = Sends a water-mass layer ping after                                                  #     every bottom-track ping                                                  # 2 = Sends a water-mass layer ping after                                                  #     every bottom-track ping that is                                                  #     unable to find the bottom.                                                  # 3 = Disables the bottom-track ping and                                                  #     enables the water-mass ping.                                                  #                                                  # The far boundary must be greater than the near plus the min                                                  # layer size. The minimum layer and the difference between the                                                  # near and the far layers cannot be larger than the maximum                                                  # profile bin size (800cm for 600 kHz).sensor: u_dvl_num_errors_before_restart(nodim)  1 # number of errors before cycling power                                                  # <0 = never cycle powersensor: u_dvl_ensemble_timeout(sec)            20 # generate error and retry if no data                                                  # after this many secondssensor: u_dvl_single_pd0_file(bool)             0 # Select multiple (0) or single (1) pd0 file per segment#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 sensorsensor: f_suna_firmware_cfg(enum)                 0 # SUNA Firmware configuration.                                                    #  0 - SUNA Firmware version 1 (Unit 110)                                                    #  1 - SUNA Firmware version 2 (Unit 219)#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 1 Relative Fluorescence Units  sensor: sci_c3sfl_turbidity(rfu)       0 # col 2  sensor: sci_c3sfl_cdom(rfu)            0 # col 3  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 : Aanderaa Oxygen Optode 4330F or 4831sensor: c_oxy4_on(sec)              0 # in, sets secs between measurements                                          # <0 stops, 0 fast as possible, >0 that many secssensor: sci_oxy4_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_oxy4_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_oxy4_slow_surface_mode(bool) 1 # default for 4330f, make false for 4831 model.	# output sensors, listed in PRIORITY order    # e.g. if c_oxy4_num_fields_to_send is 3, cols 3,4,5 sentsensor: sci_oxy4_oxygen(uM)           0 # col 3, O2 Concentrationsensor: sci_oxy4_saturation(%)        0 # col 4, air saturationsensor: sci_oxy4_temp(degC)           0 # col 5, temperaturesensor: sci_oxy4_calphase(deg)        0 # col 6, CalPhasesensor: sci_oxy4_tcphase(deg)         0 # col 7, TCPhasesensor: sci_oxy4_c1rph(deg)           0 # col 8, C1RPhsensor: sci_oxy4_c2rph(deg)           0 # col 9, C2RPhsensor: sci_oxy4_c1amp(mV)            0 # col 10, C1Ampsensor: sci_oxy4_c2amp(mV)            0 # col 11, C2Ampsensor: sci_oxy4_rawtemp(mV)          0 # col 12, RawTempsensor: sci_oxy4_timestamp(timestamp) 0 # secs since 1970# proglet gamma_rad5: Amptek Gamma-Ray Detection System (GAMMA_RAD5).# Inputs:sensor: c_gamma_rad5_on(sec)                        0 # >= 0 enables the devicesensor: u_gamma_rad5_status_period(sec)            60 # how often to request status packetssensor: u_gamma_rad5_files_before_surfacing(nodim)  5 # number of files to collect before                                                      # requesting to surface. <= 0 means never                                                      # request to surface.# Outputs:sensor: sci_gamma_rad5_is_installed(bool)  0  # in, t--> installed on sciencesensor: sci_gamma_rad5_file_count(nodim)      # number of spectrum packets acquiredsensor: sci_gamma_rad5_error(enum)            # unique number to indicate error type# proglet bsipar: BioSpherical Instruments PAR sensor# Inputs:sensor: c_bsipar_on(sec)  0          # in, sets secs between measurements                                     # <0 stops, 0 fast as possible,                                     # >0 that many secssensor: c_bsipar_num_fields_to_send(nodim)  4                                       # 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_bsipar_is_calibrated(bool) 0 # needs to be set in autoexec.mi# sensor specific calibration coefficients (defaults for Model:QSP2155 S/N:50136)sensor: u_bsipar_dark_offset(volts)   0.0101 # 10.1 mVsensor: u_bsipar_scale_factor(Mnodim) 589.7  # (0.0005897 volts/uE/m^2sec)# Outputs:sensor: sci_bsipar_is_installed(bool)  0   # in, t--> installed on sciencesensor: sci_bsipar_par(uE/m^2sec)          # derived from col 1sensor: sci_bsipar_sensor_volts(volts)     # col 1sensor: sci_bsipar_temp(degC)              # col 2sensor: sci_bsipar_supply_volts(volts)     # col 3sensor: sci_bsipar_timestamp(timestamp)    # secs since 1970# proglet flbb: wet labs flbb fluorometer and scattering metersensor: c_flbb_on(sec)                    0 # in, sets secs between measurements                                            # <0 stops, 0 fast as possible, >0 that many secssensor: sci_flbb_is_installed(bool)       0 # in, t--> installed on sciencesensor: c_flbb_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                                            # in, number of columns to send on each                                            # 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 derived units and                                            # the timestamp they would use:                                            # -1 * (2^(1-1)+2^(2-1)+2^(8-1)) = -131sensor: u_flbb_is_calibrated(bool)        0 # false, assume not calibrated# sensor specific input calibration constants (defaults for FLBBSLK-2414)sensor: u_flbb_chlor_do(nodim)      51     # dark water offset, nodim == countssensor: u_flbb_bb_do(nodim)         52     # dark water offset, nodim == countssensor: u_flbb_chlor_sf(ug/l/nodim) 0.0072 # scale factor to get unitssensor: u_flbb_bb_sf(Mnodim)        1.921  # really 0.000001921 (see Mnodim doco above)                     # output sensors, listed in PRIORITY order                     # e.g. if c_flbb_num_fields_to_send is 2, cols derived                     # from 4,6 sentsensor: sci_flbb_chlor_units(ug/l)    0 # derived from col 4sensor: sci_flbb_bb_units(nodim)      0 # derived from col 6sensor: sci_flbb_chlor_sig(nodim)     0 # col 4sensor: sci_flbb_bb_sig(nodim)        0 # col 6sensor: sci_flbb_chlor_ref(nodim)     0 # col 3sensor: sci_flbb_bb_ref(nodim)        0 # col 5sensor: sci_flbb_therm(nodim)         0 # col 7sensor: sci_flbb_timestamp(timestamp) 0 # secs since 1970# Vemco VR2C Proglet specific sensors.sensor: c_vr2c_on(sec)                    -1 # in, sets secs between measurements                                             # <0 stops, 0 real-time, >0 polling intervalsensor: sci_vr2c_is_installed(bool)        0 # in, 1-->installed on sciencesensor: c_vr2c_num_fields_to_send(nodim)   2 # number of fields to send to science.#outputssensor: sci_vr2c_state(nodim)            -1 # current state of the VR2C proglet# Imagenex#input sensorssensor: c_echosndr853_on(sec)               -1sensor: sci_echosndr853_is_installed(bool)   0#output sensorssensor: sci_echosndr853_ping_count(nodim)    0# Used if there are two CTD's installed.  ctd41cp2 will output to these# sensors.# Inputs:sensor: c_ctd41cp2_on(sec)  0          # in, sets secs between measurements                                       # <0 stops, 0 fast as possible,                                       # >0 that many secssensor: sci_ctd41cp2_is_installed(bool) 0 # in, t--> ctd installed on sciencesensor: c_ctd41cp2_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_cond2(S/m) 3              # out, conductivity    f#=1sensor: sci_water_temp2(degC) 10            # out                  f#=2sensor: sci_water_pressure2(bar) 0          # out                  f#=3sensor: sci_ctd41cp2_timestamp(timestamp) 0 # out, secs since 1970 f#=4# proglet flrh: Wet Labs flrh Rhodamine Fluorometer (FLRHSLC)sensor: c_flrh_on(sec)       0 # in, sets secs between measurements                                   # <0 stops, 0 fast as possible, >0 that many secssensor: sci_flrh_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_flrh_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_flrh_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for FLRHSLC-3504)sensor: u_flrh_cwo(nodim)         48 # clean water offset, nodim == countssensor: u_flrh_sf(ppb/nodim)  0.0141 # scale factor to get units                     # output sensors, listed in PRIORITY order                     # e.g. if c_flrh_num_fields_to_send is 3, cols derived                     # from 4,3,5 sentsensor: sci_flrh_units(ppb)     0 # derived from col 4sensor: sci_flrh_sig(nodim)     0 # col 4sensor: sci_flrh_ref(nodim)     0 # col 3sensor: sci_flrh_temp(nodim)    0 # col 5sensor: sci_flrh_timestamp(timestamp) 0 # secs since 1970# proglet bb2flsV8: wet labs bb2flslk scatter meter and fluorometer sensor, 8th configurationsensor: c_bb2flsV8_on(sec)   2 # in, sets secs between measurements                               # <0 stops, 0 fast as possible, >0 that many secssensor: sci_bb2flsV8_is_installed(bool) 0 # in, t--> installed on sciencesensor: c_bb2flsV8_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_bb2flsV8_is_calibrated(bool) 0 # false, assume not calibrated# sensor specific input calibration constants (defaults for BB2FLSLC-1193)sensor: u_bb2flsV8_b470_cwo(nodim)     45      # clean water offset, nodim == countssensor: u_bb2flsV8_b700_cwo(nodim)     46      # clean water offset, nodim == countssensor: u_bb2flsV8_chl_cwo(nodim)      46      # clean water offset, nodim == countssensor: u_bb2flsV8_b470_sf(Mnodim)      11.05  # scale factor (0.00001105)sensor: u_bb2flsV8_b700_sf(Mnodim)      3.893  # scale factor (0.000003893)sensor: u_bb2flsV8_chl_sf(ug/l/nodim)   0.0121 # scale factor to get units                     # output sensors, listed in PRIORITY order                     # e.g. if c_bb2flsV8_num_fields_to_send is 3, cols derived                     # from 4,6,8 sentsensor: sci_bb2flsV8_b470_scaled(nodim)   0 # derived from col 4sensor: sci_bb2flsV8_b700_scaled(nodim)   0 # derived from col 6sensor: sci_bb2flsV8_chl_scaled(ug/l)     0 # derived from col 8sensor: sci_bb2flsV8_b470_sig(nodim)      0 # col 4sensor: sci_bb2flsV8_b700_sig(nodim)      0 # col 6sensor: sci_bb2flsV8_chl_sig(nodim)       0 # col 8sensor: sci_bb2flsV8_b470_ref(nodim)      0 # col 3sensor: sci_bb2flsV8_b700_ref(nodim)      0 # col 5sensor: sci_bb2flsV8_chl_ref(nodim)       0 # col 7sensor: sci_bb2flsV8_therm(nodim)         0 # col 9sensor: sci_bb2flsV8_timestamp(timestamp) 0 # secs since 1970# proglet uviluxPAH: Chelsea Technologies Uvilux PAH sensorsensor: c_uviluxPAH_on(sec) 					-1	# in, sets secs between measurements                                					# <0 stops, 0 fast as possible, >0 that many secssensor: sci_uviluxPAH_is_installed(bool)		0 	# in, t--> installed on sciencesensor: c_uviluxPAH_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_uviluxPAH_is_calibrated(bool)			0	# false, assume not calibrated# output sensors, listed in PRIORITY order# e.g. if c_uviluxPAH_num_fields_to_send is 4, colssensor: sci_uviluxPAH_sig(ug/l)   				0 # col 1sensor: sci_uviluxPAH_eht_volt(nodim)			0 # col 2sensor: sci_uviluxPAH_data_quality(nodim)		0 # col 3sensor: sci_uviluxPAH_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 #! visible = True                                             # 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 rightsensor: x_last_commanded_fin_pos(rad)  0 # stores the last commanded fin position.# sensor: m_digifin_rawposition(nodim) 0 # raw position in A/D countssensor: m_fin(rad)        # out#========================================================# Clock Sourcesensor: f_clock_source(enum)   1    # 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#    BAW_HOVER_ACTIVE   14  // Drifting at depth (hovering)## 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     #! simple=False                                                   # 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     #! simple=False                                                   # how often to check                                               # MS_ABORT_SAMEDEPTH    b_arg: samedepth_for(sec)             1800.0   #! simple=False                                                   # <0 disables    b_arg: samedepth_for_sample_time(sec)   30.0   #! simple=False                                                   # how often to check                                               # MS_ABORT_STALLED    b_arg: stalled_for(sec)             1800.0     #! simple=False                                                   # <0 disables    b_arg: stalled_for_sample_time(sec) 1800.0     #! simple=False                                                   # how often to check                                               # MS_ABORT_NO_TICKLE    b_arg: no_cop_tickle_for(sec)      48600.0     #! simple=False                                                   # secs, abort mission if watchdog                                               # not tickled this often, <0 disables    b_arg: no_cop_tickle_percent(%)       -1.0     #! simple=False                                                   # 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_percent 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       #! simple=False                                                   # abort if M_THERMAL_ACC_PRES <                                             #   (eng_pressure_mul * F_THERMAL_REQD_ACC_PRES)    b_arg: eng_pressure_sample_time(sec)  15.0     #! simple=False                                                   # 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       #! simple=False                                                   # MS_ABORT_UNREASONABLE_SETTINGS                                             # 0 disables check    b_arg: reqd_spare_heap(bytes)      50000       #! simple=False                                                   # 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       #! simple=False                                                   # 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       #! simple=False                                                   # how often to measure, <0 disables check    b_arg: max_allowable_busy_cpu_cycles(cycles) 75 #! simple=False                                                   # 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) 60.0  #! simple=False    b_arg: use_thruster_for_ascent(bool) 0.0               #! simple=False                                                     # If True, then use the thruster to maintain an emergency ascent depth rate u_min_thruster_abort_ascent_ratebehavior: surface    b_arg: args_from_file(enum) -1                 #! ignore=True                                                   # >= 0 enables reading from mafiles/surfac<N>.ma    b_arg: start_when(enum)     12                 #! choices=start_when([0, 1, 2, 3, 6, 7, 8, 9, 10, 11, 12, 13])    b_arg: when_secs(sec)     1200                 #! min = 120.0                                                   # How long between surfacing, only if start_when==6,9, or 12    b_arg: when_wpt_dist(m)  10                    #! min = 5.0                                                   # how close to waypoint before surface, only if start_when==7    b_arg: end_action(enum) 1                      #! choices=end_action([0, 1, 2, 3, 4, 5])            # 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                      #! simple=False                                                   # T->report all sensors once, F->just gps    b_arg: gps_wait_time(sec) 300                  #! min = 120.0                                                   # how long to wait for gps    b_arg: keystroke_wait_time(sec) 300            #! min = 0.0; max = 900.0                                                   # how long to wait for control-C    b_arg: end_wpt_dist(m) 0                       #! min = 0.0                                                   # 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             #! choices=use_bpump    b_arg: c_bpump_value(X)  1000.0             #! min = 0.0; max = 1000.0    b_arg: c_use_pitch(enum)      3             #! choices=use_pitch    b_arg: c_pitch_value(X)  0.4363             #! min = minPitch; max = maxPitch    b_arg: c_stop_when_air_pump(bool)  0        # Terminate climb once air pump has been inflated. For use with thruster only.    b_arg: c_use_thruster(enum)   0             # 0  Not in use    											# 1  Command input voltage (as % of glider voltage)    											# 2  Command input voltage (as % of max thruster input voltage)    											# 3  Command depth rate.  See sensors for use_thruster = depthrate    											# 4  Command input power. See sensors for use_thruster = power    b_arg: c_thruster_value(X)   0.0              # use_thruster == 0  None    											# use_thruster == 1  %, desired % of glider voltage, between [0, 100] (will be clipped to F_THRUSTER_MAX_V)    											# use_thruster == 2  %, desired % of F_THRUSTER_MAX_V, between [0, 100]    											# use_thruster == 3  m/s, desired depth rate. <0 for climb    											# use_thruster == 4  watt, desired input power, between [1, 9]    b_arg: printout_cycle_time(sec) 60.0           #! simple=False                                                   # How often to print dialog                                   # iridium related stuff    b_arg: gps_postfix_wait_time(sec) 60.0         #! simple=False                                                   # 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           #! simple=False                                                   #  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  #! simple=False                                                   # 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       #! simple=False                                                   # Time limit to wait for input sensors at surface.                                       # For when_utc    b_arg: when_utc_min(min)        -1             #! simple=False; min = -1; max = 59                                                   # 0-59, otherwise any minute    b_arg: when_utc_hour(hour)      -1             #! simple=False; min = -1; max = 23                                                   # 0-23, otherwise any hour    b_arg: when_utc_day(day)        -1             #! simple=False; min = -1; max = 31                                                   # 1-31, otherwise any day    b_arg: when_utc_month(month)    -1             #! simple=False; min = -1; max = 12                                                   # 1-12, otherwise any month    b_arg: when_utc_on_surface(bool) 0             #! simple=False                                                   # If true (>0), adjust when_utc_month/day/hour/min                                       # to get glider on surface by this time.    b_arg: strobe_on(bool)         0               # Behavior argument to control the strobe light    b_arg: thruster_burst(bool)         0          # Behavior argument to turn thruster on prior to resuming dive after surfacing to remove buildup                                       # Normally we rely on sensor U_THRUSTER_BURST_FREQ to specify the timing                                       # but you can also enable this behavior for specific surface behaviors.                                       #See 'u_thruster_burst_' sensorsbehavior: goto_wpt                                 #! visible = False    b_arg: start_when(enum) 0                      #! choices=start_when([0, 1, 2, 4])    b_arg: stop_when(enum)  2                      #! choices=stop_when([1, 2, 5, 7])    b_arg: when_wpt_dist(m) 0                      #! min = 5.0                                                   # stop_when == 7   ==> stop when m_dist_to_wpt < this arg    b_arg: wpt_units(enum)  0                      #! choices=wpt_units    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                      #! choices=end_action([0, 1, 2, 3, 4, 5])behavior: goto_list    b_arg: args_from_file(enum) -1                 #! ignore=True                                                   # >= 0 enables reading from mafiles/goto_l<N>.ma    b_arg: start_when(enum)      0   # See doco above    b_arg: num_waypoints(nodim)  0                 #! min = 1; max = 8                                                   # Number of valid waypoints in list                                     # maximum of 8 (this can be increased at compile-time)    b_arg: num_legs_to_run(nodim) -1               #! min = -2                                                   # 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               #! min = -2; max = 7                                                   # 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                 #! choices = stop_when([1, 2, 5, 7])                                                   # See doco above    b_arg: list_when_wpt_dist(m) 10.               #! min = 10.0                                                   # 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                     #! choices = end_action([0, 6])                                                   # 0-quit, 6-wait for ^F (re-read mafiles)    # The waypoints: Control center does not edit coordinates in UTM or LMC    b_arg: wpt_units_0(enum) 0                     #! ignore=True    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                     #! ignore=True    b_arg: wpt_x_1(X)        0    b_arg: wpt_y_1(X)        0    b_arg: wpt_units_2(enum) 0                     #! ignore=True    b_arg: wpt_x_2(X)        0    b_arg: wpt_y_2(X)        0    b_arg: wpt_units_3(enum) 0                     #! ignore=True    b_arg: wpt_x_3(X)        0    b_arg: wpt_y_3(X)        0    b_arg: wpt_units_4(enum) 0                     #! ignore=True    b_arg: wpt_x_4(X)        0    b_arg: wpt_y_4(X)        0    b_arg: wpt_units_5(enum) 0                     #! ignore=True    b_arg: wpt_x_5(X)        0    b_arg: wpt_y_5(X)        0    b_arg: wpt_units_6(enum) 0                     #! ignore=True    b_arg: wpt_x_6(X)        0    b_arg: wpt_y_6(X)        0    b_arg: wpt_units_7(enum) 0                     #! ignore=True    b_arg: wpt_x_7(X)        0    b_arg: wpt_y_7(X)        0behavior: yo    b_arg: args_from_file(enum) -1                 #! ignore=True                                                   # >= 0 enables reading from mafiles/yo<N>.ma    b_arg: start_when(enum)      2                 #! choices=start_when([0, 1, 2, 4])    b_arg: start_diving(bool)    1   # T-> dive first, F->climb first    b_arg: num_half_cycles_to_do(nodim) -1         #! min = -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                #! min = 3.0; max = 1000.0    b_arg: d_target_altitude(m)   5                #! min = -1; max = 100.0    b_arg: d_use_bpump(enum)      2                #! choices=use_bpump    b_arg: d_bpump_value(X) -1000.0                #! min = -1000; max = 1000    b_arg: d_use_pitch(enum)      3                #! choices=use_pitch    b_arg: d_pitch_value(X) -0.4538                #! min = -maxPitch; max = -minPitch    b_arg: d_stop_when_hover_for(sec) 180.0        #! simple=False    b_arg: d_stop_when_stalled_for(sec) 240.0      #! simple=False    b_arg: d_speed_min(m/s)	-100.0	               #! simple = False; min = -100.0; max = 0.3    b_arg: d_speed_max(m/s)	100.0                  #! simple = False; min = 0.05; max = 100.0    b_arg: d_use_thruster(enum)   0                #! choices = use_thruster    b_arg: d_thruster_value(X)   0.0               #! min = minThruster; max = maxThruster    b_arg: d_depth_rate_method(enum) 3             #! simple = False; choices = depth_rate_method    b_arg: d_wait_for_pitch(bool) 1                #! simple = False    b_arg: d_wait_for_ballast(sec) 100.0           #! simple = False    b_arg: d_delta_bpump_speed(X) 50.0             #! simple = False; min = 10.0; max = 100.0    b_arg: d_delta_bpump_ballast(X) 25.0           #! simple = False; min = 10.0; max = 100.0    b_arg: d_time_ratio(X) 1.1		               #! simple = False; min = 0.0; max = 2.0    b_arg: d_use_sc_model(bool)	0                  #! simple = False    b_arg: d_max_thermal_charge_time(sec) 1200.0   #! simple = False    b_arg: d_max_pumping_charge_time(sec) 300.0    #! simple = False    b_arg: d_thr_reqd_pres_mul(nodim) 1.50         #! simple = False    # arguments for climb_to    b_arg: c_target_depth(m)      3                #! min = 3.0; max = 1000.0    b_arg: c_target_altitude(m)  -1                #! simple = False    b_arg: c_use_bpump(enum)      2                #! choices = use_bpump    b_arg: c_bpump_value(X)  1000.0                #! min = -1000.0; max = 1000.0    b_arg: c_use_pitch(enum)      3                #! choices = use_pitch    b_arg: c_pitch_value(X)  0.4538                #! min = minPitch; max = maxPitch    b_arg: c_stop_when_hover_for(sec) 180.0        #! simple=False    b_arg: c_stop_when_stalled_for(sec) 240.0      #! simple=False    b_arg: c_speed_min(m/s)	100.0              #! min = -0.3; max = 100.0    b_arg: c_speed_max(m/s)	-100.0             #! min = -100.0; max = 0.05    b_arg: c_use_thruster(enum)   0                #! choices = use_thruster    b_arg: c_thruster_value(X)   0.0             #! min = minPitch; max = maxPitch    b_arg: end_action(enum)       2                #! choices = end_action([0, 2])behavior: prepare_to_dive    b_arg: args_from_file(enum) -1                 #! ignore = True                                                   # >= 0 enables reading from mafiles/prepar<N>.ma    b_arg: start_when(enum) 0                      #! choices = start_when([0, 1, 2])    b_arg: wait_time(sec) 720     # 12minutes, how long to wait for gps    b_arg: max_thermal_charge_time(sec) 120        #! simple = False                                                   # 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       #! simple = False                                                   # 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                               #! visible = False    # <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 removed    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 removed#    b_arg: c_whgpbm_on(sec)         -1.0 removed    b_arg: c_moteopd_on(sec)        -1.0    b_arg: c_bbfl2s_on(sec)         -1.0    b_arg: c_fl3slo_on(sec)         -1.0    b_arg: c_bb3slo_on(sec)         -1.0    b_arg: c_oxy3835_on(sec)        -1.0    b_arg: c_whfctd_on(sec)         -1.0    b_arg: c_bam_on(sec)            -1.0    b_arg: c_ocr504R_on(sec)        -1.0    b_arg: c_ocr504I_on(sec)        -1.0#	b_arg: c_badd_on(sec)			-1.0 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  removed    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_oxy4_on(sec)           -1.0    b_arg: c_gamma_rad5_on(sec)     -1.0    b_arg: c_bsipar_on(sec)         -1.0    b_arg: c_flbb_on(sec)           -1.0    b_arg: c_vr2c_on(sec)           -1.0    b_arg: c_ctd41cp2_on(sec)       -1.0    b_arg: c_echosndr853_on(sec)    -1.0    b_arg: c_flrh_on(sec)           -1.0    b_arg: c_bb2flsV8_on(sec)       -1.0    b_arg: c_uviluxPAH_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                     #! choices=set_heading                                                   # 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 above    b_arg: when_secs(sec)  1200   # only if start_when==6,9, or 12behavior: dive_to                               #! visible = False    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.  Stored as C_AUTOBALLAST_VOLUME                                 # 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: stop_when_air_pump(bool) 0 # Ignored for dives, here as a placeholder    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: 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: use_thruster(enum)   0               # 0  Not in use    											# 1  Command input voltage (as % of glider voltage)    											# 2  Command input voltage (as % of max thruster input voltage)    											# 3  Command depth rate.  See sensors for use_thruster = depthrate												# 4  Command input power. See sensors for use_thruster = power    b_arg: thruster_value(X)   0.0              # use_thruster == 0  None    											# use_thruster == 1  %, desired % of glider voltage, between [0, 100] (will be clipped to F_THRUSTER_MAX_V)    											# use_thruster == 2  %, desired % of F_THRUSTER_MAX_V, between [0, 100]    											# use_thruster == 3  m/s, desired depth rate. >0 for dive    											# use_thruster == 4  watt, desired input power, between [1, 9] Watts    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 value stored as c_wait_for_pitch    b_arg: wait_for_ballast(sec) 100.0 # wait this many seconds after ballast pump has stopped moving (inflection only) before					#enabling speed control. b_arg value stored as c_wait_for_ballast    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.    									# b_arg value stored as c_delta_bpump_ballast.    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 value stored as c_delta_bpump_speed.    b_arg: time_ratio(X)	 1.1		#ratio of climb/dive times that must be maintained for speed control.    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                                  # 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                               #! visible = False    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: c_bpump_value is ignored.  Dive value d_bpump_value stored                                 # as C_AUTOBALLAST_VOLUME                                 # 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: stop_when_air_pump(bool) 0 # terminate climb once air pump has been inflated. See M_VACUUM_CHANGE_SINCE_AIR_PUMP_ON                                            # Only used in surface behaviors.  If set to True for any other behaviors,                                            # argument will be ignored.    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: 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_SPEED    b_arg: use_thruster(enum)   0               # 0  Not in use    											# 1  Command input voltage (as % of glider voltage)    											# 2  Command input voltage (as % of max thruster input voltage)    											# 3  Command depth rate.  See sensors for use_thruster = depthrate    											# 4  Command input power. See sensors for use_thruster = power    b_arg: thruster_value(X)   0.0              # use_thruster == 0  None    											# use_thruster == 1  %, desired % of glider voltage, between [0, 100] (will be clipped to F_THRUSTER_MAX_V)    											# use_thruster == 2  %, desired % of F_THRUSTER_MAX_V, between [0, 100]    											# use_thruster == 3  m/s, desired depth rate. < 0 for climb    											# use_thruster == 4  watt, desired input power, between [1, 9] Wattsbehavior: drift_at_depth    b_arg: args_from_file(enum) -1                 #! ignore = True    b_arg: start_when(enum) 4                      #! choices=start_when([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                     # ! min = 5.0    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: start_dist_from_target(m) -1.0 # start the drift this distance from the target depth/altitude.  -1 means use the target_deadband    b_arg: depth_ctrl(enum)          0 # 0: Default mode for buoyancy drive only drift_at_depth. increment by bpump_delta_value                                       # 1: servo bpump on depth:  see 'bpump servo mode' sensors                                       # 2: Recommended mode for thruster control. pitch-based depth control: see 'pitching depth control mode' sensors    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    b_arg: wait_for_pitch(bool) 0  # if true, we only adjust x_hover_ballast if pitch is within deadband (for use_pitch = 2 or 3)    b_arg: use_thruster(enum)   0               # 0  Not in use    											# 1  Command input voltage (as % of glider voltage)    											# 2  Command input voltage (as % of max thruster input voltage)    											# 3  N/A for this behavior    											# 4  Command input power. See sensors for use_thruster = power    b_arg: thruster_value(X)   0.0              # use_thruster == 0  None    											# use_thruster == 1  %, desired % of glider voltage, between [0, 100] (will be clipped to F_THRUSTER_MAX_V)    											# use_thruster == 2  %, desired % of F_THRUSTER_MAX_V, between [0, 100]    											# 3  N/A for this behavior    											# use_thruster == 4  watt, desired input power, between [1, 9] Watts    b_arg: enable_steering(bool) 0	 # Enable or disable steering while hovering. If True, heading is    								 # controlled as normal (set_heading, goto_list etc) during hovering. If False,    								 # commanded fin position = 0 during hovering.    	# 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    b_arg: d_use_thruster(enum)   0               # 0  Not in use    											# 1  Command input voltage (as % of glider voltage)    											# 2  Command input voltage (as % of max thruster input voltage)    											# 3  Command depth rate.  See sensors for use_thruster = depthrate    											# 4  Command input power. See sensors for use_thruster = power    b_arg: d_thruster_value(X)   0.0              # use_thruster == 0  None    											# use_thruster == 1  %, desired % of glider voltage, between [0, 100] (will be clipped to F_THRUSTER_MAX_V)    											# use_thruster == 2  %, desired % of F_THRUSTER_MAX_V, between [0, 100]    											# use_thruster == 3  m/s, desired depth rate. >0 for dive    											# use_thruster == 4  watt, desired input power, between [1, 9] Watts    	# 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    b_arg: c_use_thruster(enum)   0               # 0  Not in use    											# 1  Command input voltage (as % of glider voltage)    											# 2  Command input voltage (as % of max thruster input voltage)    											# 3  Command depth rate.  See sensors for use_thruster = depthrate    											# 4  Command input power. See sensors for use_thruster = power    b_arg: c_thruster_value(X)   0.0              # use_thruster == 0  None    											# use_thruster == 1  %, desired % of glider voltage, between [0, 100] (will be clipped to F_THRUSTER_MAX_V)    											# use_thruster == 2  %, desired % of F_THRUSTER_MAX_V, between [0, 100]    											# use_thruster == 3  m/s, desired depth rate. <0 for climb    											# use_thruster == 4  watt, desired input power, between [1, 9] Watts    	# Arguments for pitch depth controller (depth_ctrl = 2 )    b_arg: depth_pitch_limit(rad) 0.174	  #limit pitch response to 25 deg    b_arg: depth_gain_scale(bool) 1 # whether or not to use X_HOVER_DEPTH_P_GAIN = m * speed + b    b_arg: depth_p_gain(X) -0.15	  	#proportional gain: should always be < 0.  See X_HOVER_DEPTH_P_GAIN    b_arg: depth_i_gain(X) -0.0001	  			#integral gain: should be < 0    b_arg: depth_d_gain(X) 0.1	  			#derivative gain: should be > 0    b_arg: depth_pitch_deadband(m/s) 0.0349	#don't adjust bouyancy until depth rate is less than this    b_arg: depth_pitch_max_time(s) 60 # Max time at maximum u_hover_depth_pitch_limit before we start to adjust ballast# 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                               #! visible = False    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                               #! visible = False    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                               #! visible = False    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                               #! visible = False    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       #! ignore=True                                                   # >= 0 enables reading from mafiles/sample<N>.ma  b_arg: sensor_type(enum)                 0       #! choices = sensor_type()                                                   # ALL	 0  C_SCIENCE_ALL_ON                                              # PROFILE     1  C_PROFILE_ON                                              # HS2	    2  C_HS2_ON       !!REMOVED!!                                              # 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     !!REMOVED!!                                              # WHGPBM      8  C_WHGPBM_ON    !!REMOVED!!                                              # MOTEOPD     9  C_MOTEOPD_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		!!REMOVED!!                                              # 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                                              # OXY4       54  C_OXY4_ON                                              # GAMMA_RAD5 55  C_GAMMA_RAD5_ON                                              # BSIPAR     56  C_BSIPAR_ON                                              # FLBB       57  C_FLBB_ON                                              # Vemco VR2C 58  C_VR2C_ON                                              # CTD41CP2   59  C_CTD41CP2_ON                                              # echosndr853 60 C_ECHOSNDR853_ON                                              # FLRH       61  C_FLRH_ON                                              # BB2FLSV8   62  C_BB2FLSV8_ON                                              # UVILUXPAH  63  C_UVILUXPAH_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     #! choices = state_to_sample                                                   # 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    #! simple = False; min = 0.0                                                   # 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                                                 # as fast as possible, and if                                                 # > 0 then that many seconds                                                 # between measurements    b_arg: nth_yo_to_sample(nodim)            1    #! min = 1.0                                                   # After the first yo, sample only                                                 # on every nth yo. If argument is                                                 # negative then exclude first yo.    b_arg: intersample_depth(m)              -1    #! min = -1.0                                                   # 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    #! min = -5; max = 1000.0                                                   # 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    #! min = -5.0; max = 2000                                                   # maximum depth to collect databehavior: badd_b                                   #! visible = False    b_arg: args_from_file(enum)            -1      #! ignore = True                                                   # >= 0 enables reading from mafiles/bhydro<N>.ma    b_arg: start_when(enum)                 1 # See doco above: 0, 1, 2    b_arg: when_wpt_dist(m)                 0 #! min = 5.0                                              # start_when == 7   ==> start when m_dist_to_wpt < this arg    b_arg: stop_when(enum)                  0 # Valid [0, 5] 0 stop when complete, 5 never stop    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)               -1 # -1: Off, 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) 300 # 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    b_arg: c_badd_transaction_num(nodim)    0 # Transaction ID to execute for the glider. (8 digit max)    b_arg: air_pump(bool)                   0 # Turn on air pump while running# This behavior provides a mechanism to end a mission other than using the# typical surface behavior method. This was instigated by the need to end# a mission at depth.behavior: mission_ender                       #! visible = False    b_arg: start_when(enum) 1          # See doco above: 1,2,3, or 4behavior: comatose                                    #! visible = False    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                                    #! visible = False    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 forever    b_arg: nop_air_pump(bool) -1     # -1 = do nothing, 0/1 = pump off/onbehavior: oob_abort                       #! visible = False    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                       #! visible = False    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                       #! visible = False    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