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# 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 pfurey@webbresearch.com SN#3427 Added b_arg: end_action(enum) to goto_list behavior.
# 2010-02-01 pfurey@webbresearch.com SN#3428 Changed values for f_pitch_fluid_pumped_cal_m
# and f_pitch_fluid_pumped_cal_b.
# Added f_thermal_reqd_acc_pres(bar) and updated values
# for some engpres.c sensors, thr_reqd_pres_mul(nodim),
# and max_pumping_charge_time(sec). Changed definition
# and value of eng_pressure_mul(nodim).
# 2010-02-12 pfurey@webbresearch.com SN#3429 Removed MTHR_AWAITING_AIR from the legal values
# of m_thermal_pump(enum)
# 2010-02-22 tc@DinkumSoftware.com SN#3430 Added C/M_AVBOT_POWER/ENABLE to masterdata.
# 2010-02-25 pfurey@webbresearch.com SN#3431 Removed u_allowable_devsched_msecs.
# 2010-03-12 fmarcelino@teledyne.com SN#3432 Added sensors m_gps_uncertainty(nodim) and m_gps_num_satellites(nodim)
# 2010-03-12 fmarcelino@teledyne.com SN#3433 added b_arg: strobe_on and m_strobe_ctrl
# 2010-03-15 pfurey@webbresearch.com SN#3434 Added/removed args to/from drift_at_depth behavior.
# 2010-03-22 pfurey@webbresearch.com SN#3435 Added u_sound_speed(m/s) and u_angle_of_attack(rad).
# 2010-03-19 pfurey@webbresearch.com SN#3436 Added xs_fluid_pumped(cc).
# 2010-04-08 fmarcelino@teledyne.com SN#3437 Changed initialization of m_iridium_attempt_num to 1
# 2010-04-08 pfurey@webbresearch.com SN#3438 Added simulation sensors for do_thermal_oil().
# 2010-04-23 pfurey@webbresearch.com SN#3439 Added sensors for flbbrh pnd flur proglets.
# 2010-05-24 pfurey@webbresearch.com SN#3440 Added sensors for bb2flsV7 and flbbcd proglets.
# 2010-06-17 pfurey@webbresearch.com SN#3441 Added sensors for dmon proglet.
# 2010-07-01 pfurey@teledyne.com SN#3442 Added sensors for c3sfl proglet.
# 2010-08-12 pfurey@teledyne.com SN#3443 Updated/added/removed some drift_at_depth
# arguments and sensors.
# 2010-08-10 fmarcelino@teledyne.com SN#3444 Added sensors for suna proglet.
# 2010-08-23 pfurey@teledyne.com SN#3445 Added target_altitude, alt_time, and bpump_delay
# to drift_at_depth. Added x_target_hover_depth
# and x_avg_hover_depth.
# 2010-08-24 fmarcelino@teledyne.com SN#3446 Added f_coulomb_battery_capacity for mantis #722
# 2010-09-07 pfurey@teledyne.com SN#3447 Updated drift_at_depth argument defaults.
# 2010-09-14 pfurey@teledyne.com SN#3448 Changed the default for the abend b_arg:
# max_allowable_busy_cpu_cycles(cycles)
# from -1 to 75 (see Mantis issue #767).
# 2010-09-21 www.DinkumSoftware.com/tc SN#3449 X_AVBOT_DISABLED
# 2010-09-22 www.DinkumSoftware.com/tc SN#3450 SCI_AVBOT_PROGLET_IS_INSTALLED
# 2010-09-30 fmarcelino@teledyne.com SN#3451 Added C_LOGGER_CTRL_TIMEOUT (Mantis #793)
# 2010-10-01 pfurey@teledyne.com SN#3452 Added u_dvl_pd_data_stream_select(enum) and
# sci_dvl_ensemble_offset(nodim).
# 2010-10-06 pfurey@teledyne.com SN#3453 Added u_dvl_wd_data_out(nodim).
# 2010-10-14 fmarcelino@teledyne.com SN#3454 Added f_device_reinit_timeout(min).
# 2010-11-09 pfurey@teledyne.com SN#3455 Updated f_coulomb_calibration_factor(%)
# from 0.68 to 0.068
# 2010-11-16 fmarcelino@teledynec.om SN#3456 Changed units of the sci_suna_* sensors
# 2010-12-02 pfurey@teledyne.com SN#3457 Added m_est_time_to_surface(sec),
# when_utc_on_surface(bool),
# m_avg_upward_inflection_time(sec),
# m_avg_downward_inflection_time(sec),
# m_avg_climb_rate(m/s), and
# m_avg_dive_rate(m/s).
# Changed u_avg_depth_rate_alpha(nodim) from 0.96 to 0.5
# 2010-12-15 pfurey@teledyne.com SN#3458 Added comatose b_arg: start_sci_wants_quiet(bool)
# and sci_wants_quiet(bool).
# 2010-12-28 fmarcelino@teledyne.com SN#3459 Added u_suna_bootup_time
# 2010-01-31 dpingal@teledyne.com SN#3460 Bug#874, changed value for u_max_water_depth_lifetime
# from 3 to 1
# 2010-02-01 dpingal@teledyne.com SN#3461 Bug#866, changed value for f_coulomb_calibration_factor
# from .068 to .05
# 2011-02-02 pfurey@teledyne.com SN#3462 Added sci_bbam_sim_is_installed().
# 2011-02-07 pfurey@teledyne.com SN#3463 Added sci_auvb_sim_is_installed().
# 2011-02-09 pfurey@teledyne.com SN#3464 Added sensors for satpar proglet.
# 2011-02-24 lcooney@teledyne.com SN#3465 Added sensors for autoballast control and
# b_args for yo, dive_to, climb_to. See /doco/how-it-works/autoballast.txt
# 2011-03-02 lcooney@teledyne.com SN#3466 Changed value of c_delta_bpump_ballast(X) from 25 to -1
# and added sensor m_delta_bpump_ballast_adj
# 2011-03-14 pfurey@teledyne.com SN#3467 Increased b_arg: vacuum_max(inHg) from 11.0 to 12.0
# 2011-04-07 pfurey@teledyne.com SN#3468 Added sensors for vsf proglet.
# 2011-04-12 lcooney@teledyne.com SN#3469 Added u_calc_angle_of_attack
# 2011-04-13 pfurey@teledyne.com SN#3470 Added sensors for oxy4330f proglet.
# 2011-05-03 www.DinkumSoftware.com/tc SN#3471 added u_avbot_debug for avbot 485 usage
# 2011-05-05 lcooney@teledyne.com SN#3472 Added c_autoballast_state which replaces c_autoballast_converged and
# c_autoballast_init. Added u_autoballast_abort to choose whether or not to
# abort on convergence error. Removed m_delta_bpump_ballast_adj
# 2011-05-04 fmarcelino@teledyne.com SN#3473 Added s_coulomb_relative_charge
# 2011-04-08 dpingal@teledyne.com SN#3474 Changed defauly values for lots of b_args to make glider
# fly OK with defaults
# 2011-06-02 pfurey@teledyne.com SN#3475 Added sensors for gamma_rad5 proglet.
# 2011-06-14 pfurey@teledyne.com SN#3476 Added sensors for bsipar proglet.
# 2011-06-29 pfurey@teledyne.com SN#3477 Added x_hover_active(bool) and x_deactivate_hover(bool)
# 2011-07-15 fmarcelino@teledyne.com SN#3478 Changed f_clock_source default to 1
# 2011-07-19 pfurey@teledyne.com 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 pfurey@teledyne.com SN#3480 Changed units for bsipar scale factor.
# 2011-09-12 dpingal@teledyne.com SN#3481 Added energy monitoring for pitch and fin
# 2011-09-12 lcooney@teledyne.com 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 lcooney@teledyne.com 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 lcooney@teledyne.com 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 lcooney@teledyne.com SN#3485 Changed f_min_ballast from 150.0 to 250.0
# 2011-09-28 fmarcelino@teledyne.com SN#3486 Added x_last_commanded_fin_pos(rad)
# 2011-10-13 lcooney@teledyne.com 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 lcooney@teledyne.com SN#3488 Changed x_heading_rate_deadband to u_heading_rate_deadband,
# x_heading_deadband to u_heading_deadband
# 2011-11-18 pfurey@teledyne.com SN#3489 Added x_clothesline_state(enum) and changed c_de_oil_vol(cc)
# from 270 to 260.
# 2011-12-12 pfurey@teledyne.com SN#3490 Added sensor: x_surface_active(nodim) (Mantis #1113).
# 2011-12-21 pfurey@teledyne.com SN#3491 Added sensors for flbb proglet.
# 2011-12-22 dpingal@teledyne.com SN#3492 Added comments for Control Center b_arg metadata
# 2012-01-03 dpingal@teledyne.com SN#3493 Added comments for Control Center sensor metadata
# 2012-01-03 pfurey@teledyne.com SN#3494 Added u_dvl_ensemble_timeout(sec)
# 2012-12-07 / thruster_devel: 2012-01-04 dpingal@teledyne.com SN#3495 Minor syntax fixes to Control Center metadata,
# added c_thruster_on
# 2012-01-06 fmarcelino@teledyne.com 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 lcooney@teledyne.com 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 lcooney@teledyne.com 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 fmarcelino@teledyne.com SN#3495 Added CTD41CP2 sensors.
# 2012-02-08 dpingal@teledyne.com SN#3496 Fixed default value of yo:d_pitch_value
# 2012-12-07 / thruster_devel: 2012-02-09 fmarcelino@teledyne.com 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 lcooney@teledyne.com SN#3498 Added u_thruster_inflection_holdoff, x_thruster_state, and c_hover_battpos
# 2012-03-15 fmarcelino@teledyne.com SN#3497 Added sci_badd_mmp_is_installed
# 2012-12-07 / thruster_devel: 2012-Mar-19 lcooney@teledyne.com 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 lcooney@teledyne.com 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 dpingal@teledyne.com SN#3501 Added m_thruster_current
# 2012-12-07 / thruster_devel: 2012-03-30 dpingal@teledyne.com SN#3502 Added m_thruster_report
# 2012-04-12 fmarcelino@teledyne.com 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 fmarcelino@teledyne.com SN#3499 Added sensors to supporting behavior aguments for badd
# 2012-04-23 pfurey@teledyne.com SN#3500 Replaced oxy4330f with oxy4 proglet
# 2012-04-27 fmarcelino@teledyne.com SN#3501 Added c_badd_transaction_num and associated b_arg
# 2012-05-03 pfurey@teledyne.com 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 fmarcelino@teledyne.com SN#3502 Added b_arg: when_wpt_dist to badd_b behavior.
# 2012-05-09 fmarcelino@teledyne.com SN#3503 Added b_arg: c_badd_channel_probe_test and sensor.
# 2012-01-06 fmarcelino@teledyne.com SN#3504 Added sensors u_vr2c_serial_num_0, u_vr2c_serial_num_1 and
# sci_vr2c_state
# 2012-02-09 fmarcelino@teledyne.com SN#3505 Added u_vr2c_status_interval_0 and _1 and u_vr2c_profile_0 and _1
# 2012-06-11 pfurey@teledyne.com 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 pfurey@teledyne.com SN#3507 Changed c_ctd41cp_num_fields_to_send from 3 to 4 (Mantis#1339)
# 2012-12-07 / thruster_devel: 2012-07-05 lcooney@teledyne.com 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 pfurey@teledyne.com(for ahails@mote.org) 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 pfurey@teledyne.com 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 pfurey@teledyne.com SN#3510 Removed whpar proglet
# 2012-09-05 pfurey@teledyne.com SN#3511 Removed ohf proglet
# 2012-09-06 pfurey@teledyne.com SN#3512 Removed avbot proglet
# 2012-09-07 pfurey@teledyne.com SN#3513 Removed whgpbm proglet
# 2012-09-18 fmarcelino@teledyne.com SN#3514 Added f_suna_firmware_cfg sensor.
# 2012-10-17 fmarcelino@teledyne.com SN#3515 Changed c_badd_target_id to -1
# 2012-11-07 fmarcelino@teledyne.com SN#3515 Mantis #1392
# 2012-11-19 lacooney@alum.mit.edu SN#3516 Added PID steering sensors: u_hd_fin_ap_scale_by_max, u_hd_fin_ap_deadband_reset
# 2012-12-03 lacooney@alum.mit.edu SN#3517 Added u_autoballast_end_on_converge
# 2012-12-03 dpingal@teledyne.com SN#3518 Mantis 1453 - Removed dvl setup sensors
# 2012-12-05 dpingal@teledyne.com SN#3519 Added u_dvl_single_pd0_file
# 2012-12-07 / thruster_devel: 2012-09-14 lacooney@alum.mit.edu 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 bclaus@mun.ca: 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 lacooney@alum.mit.edu 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 dpingal@teledyne.com SN#3515 Merged thruster_devel into main branch
# 2012-12-07 / thruster_devel: 2012-11-05 dpingal@teledyne.com SN#3516 Couple new experimental DVL settings
# 2012-12-07 / thruster_devel: 2012-11-08 lacooney@alum.mit.edu 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 lacooney@alum.mit.edu SN#3517 Added m_avg_thruster_depth
# 2012-12-07 dpingal@teledyne.com SN#3520 Merged thruster branch into tip
# 2012-12-07 lacooney@alum.mit.edu 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 fmarcelino@teledyne.com SN#3522 Changed u_dvl_single_pd0_file default to 0
# 2012-12-14 lacooney@alum.mit.edu 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 lacooney@alum.mit.edu SN#3523 Update to comment for c_stop_when_air_pump, use_thruster_for_ascent
# 2012-12-28 fmarcelino@teledyne.com SN#3524 Removed all VR2C input sensors as they're no longer used (Mantis #1448)
# 2013-02-07 fmarcelino@teledyne.com SN#3525 Added echosndr853 sensors.
# 2013-02-22 dpingal@teledyne.com SN#3526 Added m_thruster_raw
# 2013-03-01 lacooney@alum.mit.edu 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 dpingal@teledyne.com 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 lacooney@alum.mit.edu 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 lacooney@alum.mit.edu 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 dpingal@teledyne.com SN#3531 Removed c_thruster_report
# 2013-05-20 wwalton@teledyne.com SN#3525 Added sci_m_coulomb_current and sci_m_coulomb_amphr
# 2013-12-04 dpingal@teledyne.com 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 dpingal@teledyne.com SN#3533 Added u_sequence_start_delay
# 2014-01-12 dpingal@teledyne.com SN#3534 Added air_pump b_arg to badd_b
# 2014-03-19 mbrissette@teledyne.com SN#3535 Added support for flrh proglet (WetLabs FLRHSLC)
# 2014-03-24 lacooney@alum.mit.edu 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 dpingal@teledyne.com SN#3537 Added u_science_logging_error
# 2014-04-07 mbrissette@teledyne.com SN#3538 RinkoII, added support for data selection,Physical 0 and Engineering 1 (Mantis #1863)
# 2014-04-22 mbrissette@teledyne.com SN#3539 Added support for bb2flsV8 proglet (WetLabs)
# 2014-04-29 lacooney@alum.mit.edu 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 dpingal@teledyne.com SN#3541 Added u_iridium_idle_on_time, u_iridium_idle_off_time, m_iridium_rcv_chars
# m_weight_drop
# 2014-06-05 mbrissette@teledyne.com 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 lacooney@alum.mit.edu 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 mbrissette@teledyne.com SN#3544 Mantis #1933: LowPwr science issue
# 2014-04-30 dpingal@teledyne.com SN#3545 Added m_dip_angle, m_magnetic_field (Mantis 1956)
# 2014-08-21 mbrissette@teledyne.com SN#3546 Mantis #2007, Turner sensor proglet C3SFL modification to work with newest sensor
# 2014-09-30 lacooney@alum.mit.edu SN#3547 Removed air_pump from yo, dive_to, climb_to and added nop_air_pump to nop_cmds
# 2014-10-07 lacooney@alum.mit.edu SN#3548 Added comments for use_thruster
# 2014-10-16 lacooney@alum.mit.edu SN#3549 Added u_update_gps_with_invalid
# 2014-10-30 mbrissette@teledyne.com SN#3550 Added uviluxPAH proglet, Mantis 2116
# 2014-12-17 dpingal@teledyne.com SN#3551 Changed default u_secs_for_oil_vol_stabilization to 15
# (Mantis 2165)
# 2014-12-17 dpingal@teledyne.com SN#3552 Added ballvalve sensors
# 2015-07-13 mbrissette@teledyne.com SN#3553 Added ad2cp proglet(Mantis 2460) and Mantis 2329
# 2015-07-22 mbrissette@teledyne.com SN#3554 Added miniProCO2 proglet (Mantis 2482)
# 2015-07-27 mbrissette@teledyne.com SN#3555 Added pCO2 proglet (Mantis 2480)
# 2015-08-21 lacooney@alum.mit.edu SN#3556 Changed values of u_hover_depth_gain_scale_b, u_ap_thruster_power_p_gain
# u_ap_thruster_power_deadband, u_ap_thruster_delta_cmd
# 2015-09-09 mbrissette@teledyne.com SN#3557 Mantis 1974: SUNA sensor sci_suna_timestamp(sec)
# 2016-01-23 dpingal@teledyne.com SN#3558 Replaced surface at UTC logic: added u_surface_time_offset,
# u_mission_year_base, changed surface::when_utc_* (M#1935)
# Added set_heading::args_from_file (M#1086)
# 2016-02-04 lcooney@teledyne.com Add drift_at_depth b_args pressure_median and battpos_db (M#1532, M#2626)
# Changed value of s_de_oil_pot_volt_flux from 0.0031 to 0.01 (M#1159)
# Added gps_is_valid and x_invalid_gps sensors Mantis 2113
# Added sensors to track pump stress, m_pump_stress etc (M#1462)
# 2016-02-08 dpingal@teledyne.com SN#3559 Added c_att_debug (M#1499), merged dp/lc changes
# 2016-02-09 mbrissette@teledyne.com Mantis 2875: ProOceanus Mini-Pro CO2 sensor, output data format change to CSV
# 2016-02-16 mbrissette@teledyne.com SN#3560 Added seaOWL proglet (Mantis 2848)
# dpingal@teledyne.com Added f_digifin_leakdetect_threshold, u_digifin_leakdetect_n, m_leak_digifin
# u_digifin_leakdetect_count, m_digifin_leakdetect_count (M#2897)
# 2016-03-28 dpingal@teledyne.com SN#3561 Increased u_digifin_leakdetect_count to 5
# 2016-03-29 lcooney@teledyne.com SN#3562 Added comments for when_utc_timestamp and m_tot_num_inflections
# 2016-05-23 mbrissette@teledyne.com Mantis 3085: Need a way to query the Science Bay Mother Board hardware version
# New sensor: sci_sbmb_hw_ver(enum)
# 2016-05-31 mbrissette@teledyne.com SN#3563 Added azfp proglet, Mantis 2761
# 2016-06-23 mbrissette@teledyne.com SN#3564 Mantis 2353, SUNA polled mode
# 2016-06-23 mbrissette@teledyne.com SN#3565 Mantis 3126\3127, DVL banner retry and multiple header fix
# 2016-07-20 mbrissette@teledyne.com SN#3566 Mantis 3163: The miniProCO2 proglet is timing out waiting for data.
# 2016-08-23 mbrissette@teledyne.com SN#3567 Added ubat proglet, Mantis 3225
# 2017-01-13 dpingal@teledyne.com SN#3568 Added support for hd_pump, f_valve_*
# 2017-01-15 lcooney@teledyne.com SN#3569 Added abend b_arg no_comms_tickle_for, m_comms_tickle_timestamp, x_reset_no_comms,
# u_no_comms_max_time_in_gliderdos, u_check_secs_comms_tickle
# f_iridium_lead_zeros_factory, f_iridium_phone_num_factory (M#3336)
# Removed m_comms_tickle. Added m_cop_tickle_timestamp (M#3453)
# 2017-01-16 mbrissette@teledyne.com SN#3570 Mantis 3436: UBAT sensor 'sci_ubat_file_offset' shows duplicate values in '*.EBA'
# 2017-01-17 lcooney@teledyne.com SN#3571 Increased timeout for u_check_secs_comms_tickle from 300 to 600
# 2017-01-24 mbrissette@teledyne.com SN#3572 Added lisst proglet, Mantis 3379
# 2017-02-22 mbrissette@teledyne.com SN#3573 Mantis 3488: LISST, incorrectly modifying (div by 10) input data
#
# 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 3573
#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 characteristics
sensor: 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 200m
sensor: f_nominal_dive_rate(m/s) 0.19 # clips 0-1
sensor: f_nominal_pitch(rad) 0.4363 # 25 degs, clips 0-90 degs
sensor: 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 time
sensor: 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 Picozoom
sensor: f_auto_picozoom_heap_reqd(bytes) 100000 # heap required to autoenable picozoom
# --- Set at init time
sensor: 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 gliderdos
sensor: x_software_ver(nodim) 0.0 # current software version
sensor: x_in_gliderdos(bool) 0.0 # true->in glider as opposed to a mission
sensor: x_are_in_lab(bool) 0.0 # true->started with -lab command line switch
sensor: x_are_running_onetime_sequence(bool) 0.0 # true -> onetime.seq active
sensor: 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 used
sensor: 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 sequenced
sensor: u_max_allowed_lastgasp_aborts(nodim) 1 # in, how many lastgasp.mi aborts to allow
# before returning to GliderDos
sensor: u_sequence_max_time_in_gliderdos(s) 900 # in, how long to stay in Gliderdos after
# a lastgasp.mi abort
sensor: u_sequence_start_delay(s) 120 # in, how long to wait for control-C at sequence start
sensor: u_stale_gps_msg_time(s) 600
sensor: 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_PERSISTOR
sensor: u_heap_required_for_1meg_persistor(bytes) 500000 # in, heap required for 1 MB persistor
sensor: 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 -> Uninitialized
sensor: c_heap_measurement_period(mins) -1 # how often to measure the heap, <= 0 disables
sensor: m_min_spare_heap(bytes) -1 # out, minimum spare heap seen
sensor: sci_m_min_spare_heap(bytes) -1 # and for science
sensor: m_min_free_heap(bytes) -1 # out, minimum free heap seen
sensor: 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 details
sensor: 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 abort
sensor: 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.mi
sensor: m_last_abort(int) 0 # Most recent abort
sensor: 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 abort
sensor: x_critical_mission_fail(bool) 0 # Out, if we failed to sequence the critical mission nofly.mi
sensor: 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 GliderDos
sensor: 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.txt
sensor: u_critical_abort_1(int) 24 # In, 24=MS_ABORT_LEAK
sensor: u_critical_abort_2(int) 32 # In, 32=MS_ABORT_LOW_REL_CHARGE
sensor: u_critical_abort_3(int) -100 # In, -100: undefined. Assign abort code from mission_status.h
sensor: u_critical_abort_4(int) -100 # In, -100: undefined. Assign abort code from mission_status.h
# --- Set in outer control loop,
# main_per.c
sensor: u_cycle_time(sec) 4.0 # in, num of secs/cycle on glider processor
sensor: 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 mode
sensor: u_sci_cycle_time(sec) 1.0 # in, num of secs/cycle on science processor
sensor: 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 time
sensor: x_cycle_time(sec) 4.0 # either u_cycle_time or u_low_power_cycle_time
sensor: 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 - 15
sensor: m_present_time(timestamp) 0 # out, secs since 1970 @ start of cycle
sensor: m_mission_start_time(timestamp) 0 # out, secs since 1970 @ start of mission
sensor: m_present_secs_into_mission(sec) 0 # out, secs since mission started
sensor: m_cycle_number(nodim) 0 # out, cycles since mission started
sensor: x_cycle_overrun_in_ms(msec) 0 # out, set every cycle
# the number of milliseconds that the
# cycle actually was compared to
# U_CYCLE_TIME
sensor: u_allowable_cycle_overrun(msec) 1000 # how large x_cycle_overrun_in_ms can
# before saying are_device_drivers_called_normally()
# For reasons that aren't clear to me, we are overrunning
# every cycle by 250ms.. someone should figure out why
# 14-Jun-05 tc@DinkumSoftware.com
# These measure time in ms of various states
sensor: x_lc_time(msec) 0 # layered control
sensor: x_dc_time(msec) 0 # dynamic control
sensor: x_ds_time(msec) 0 # device scheduler
sensor: x_sp_time(msec) 0 # sensor processing
sensor: 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 stabilization
sensor: u_avg_msecs_of_post_ds_processing_alpha(nodim) 0.75 # 0 - 1 (more weight to recent values)
# --- Strobe light sensor
sensor: c_strobe_ctrl(bool) 0 # boolean controller for the strobe light.
# 0 = Off
# 1 = On
sensor: m_strobe_ctrl(bool) 0 # boolean measurement for the strobe light.
# 0 = Off
# 1 = On
# --- layered_control.c
sensor: x_mission_num(nodim) 0 # out, YYDDxx the current or last mission number
# Old style, before switch to DBD scheme
# Kept for argos
sensor: x_mission_status(enum) -3 # out, current (or last) mission status
sensor: x_old_mission_status_1(enum) -3 # out, old, status from prior missions
sensor: x_old_mission_status_2(enum) -3 # out, older, status from prior missions
sensor: x_old_mission_status_3(enum) -3 # out, oldest, status from prior missions
# New DBD style mission numbering
sensor: x_dbd_mission_number(nodim) 0.0 # out, mmmm of mmmmssss.dbd
sensor: 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_mode
sensor: cc_heading_value(X) 0 # argument for heading_mode
sensor: cc_pitch_mode(enum) -1 # out, cmd->pitch_mode
sensor: cc_pitch_value(X) 0 # argument for pitch_mode
sensor: cc_bpump_mode(enum) -1 # out, cmd->bump_mode
sensor: cc_bpump_value(X) 0 # argument for bpump_mode
sensor: cc_thruster_mode(enum) -1 # out, cmd->thruster_mode
sensor: cc_thruster_value(X) 0 # argument for thruster_mode
sensor: cc_threng_mode(enum) -1 # out, cmd->threng_mode
sensor: cc_inflection_mode(enum) -1 # out, cmd->inflection_mode
sensor: cc_depth_state_mode(enum) -1 # out, cmd->depth_state_mode
sensor: cc_mission_status_mode(enum) -3 # out, cmd->mission_status_mode
sensor: cc_is_comatose(bool) 0 # out, cmd->is_comatose
sensor: cc_time_til_inflect(s) -1 # out, <0 ==> invalid
sensor: cc_final_heading_mode(enum) -1 # out, cmd->heading_mode
sensor: cc_final_heading_value(X) 0 # argument for heading_mode
sensor: cc_final_pitch_mode(enum) -1 # out, cmd->pitch_mode
sensor: cc_final_pitch_value(X) 0 # argument for pitch_mode
sensor: cc_final_thruster_mode(enum) -1 # out, cmd->thruster_mode
sensor: cc_final_thruster_value(X) 0 # argument for thruster_mode
sensor: cc_final_bpump_mode(enum) -1 # out, cmd->bump_mode
sensor: cc_final_bpump_value(X) 0 # argument for bpump_mode
sensor: cc_final_threng_mode(enum) -1 # out, cmd->threng_mode
sensor: cc_final_inflection_mode(enum) -1 # out, cmd->inflection_mode
sensor: cc_final_depth_state_mode(enum) -1 # out, cmd->depth_state_mode
sensor: cc_final_mission_status_mode(enum) -3 # out, cmd->mission_status_mode
sensor: cc_final_is_comatose(bool) 0 # out, cmd->is_comatose
sensor: 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
# surface
sensor: 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 shore
sensor: m_free_heap(bytes) -1 # out, the amount of free heap space
sensor: sci_m_free_heap(bytes) -1 # and for science
sensor: 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 science
sensor: x_in_surface_dialog(nodim) 0 # out, non-zero means surface behavior
# is in surface dialog and others
# specifically behavior abend should
# not try to read any chars. This is
# a bitfield, with bit assigned to each
# surface behavior by their behavior number
# bit = 1 << (behavior_num-1)
sensor: x_num_bang_cmds_done(nodim) 0 # incremented every time a !cmd execute in
# a surface dialogue, see secs_after_bang_cmd()
sensor: x_sent_data_files(nodim) 0 # set to the number of 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.
sensor: x_surface_final_gps_is_valid(bool) 0 # true if final gps data is valid, else false
sensor: x_surface_initial_gps_is_valid(bool) 0 # true if initial gps during surface interval is valid, else false
sensor: x_prepare_gps_is_valid(bool) 0 # true if gps data is valid during prepare to dive (at start of mission)
sensor: x_invalid_gps(nodim) 0 # Number of sequential surface intervals with invalid GPS. Gets reset if:
# x_prepare_gps_is_valid OR x_surface_initial_gps_is_valid OR x_surface_final_gps_is_valid
# are true.
sensor: x_invalid_gps_total(nodim) 0 # Total number of prepare to dive or surface intervals with invalid GPS. Never gets reset.
# Lens penetration sensors (c_stop_when_air_pump)
# diveclimb.c
sensor: 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 deg
sensor: 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_surface
sensor: 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_airpump
sensor: 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.c
sensor: 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 inflated
sensor: 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_est
sensor: 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 inflated
sensor: 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 inflate
sensor: 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_smp
sensor: dhs_valid(bool) 0 #non-zero means remaining sensors are valid
sensor: dhs_start_time(abstime) 0 #secs since 1970 GMT
sensor: dhs_duration(s) 0
sensor: dhs_gain(dB) 0
sensor: dhs_channel(nodim) 0
sensor: dhs_xmit_files(nodim) 0
sensor: dhs_silence_lvl(nodim) 0
sensor: dhs_sampling(bool) 0 # is set true when data collection in process
# yo
sensor: c_reread_mafiles(bool) 0 # 1 -> reread mafile during a mission
sensor: c_climb_target_depth(m) -1.0 # in, value of b_arg for climb target depth
sensor: 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_altitude
sensor: x_avg_hover_depth(m) 0.0 # exponential mean of m_depth while hovering
sensor: x_hover_ballast(cc) 0.0 # adjusted hover_bpump_value for maintaining
# neutral buoyancy at drift_at_depth target depth
sensor: 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 ballast
sensor: u_avg_hover_ballast_alpha(nodim) 0.05 # more weight for longterm mean
# used for maintaining a depth vs neutral buoyancy lookup table
sensor: x_hover_ballast_shallow(cc) 0.0 # the shallowest neutral buoyancy pumped
sensor: x_hover_ballast_deep(cc) 0.0 # the deepest neutral buoyancy pumped
sensor: x_hover_depth_shallow(m) 0.0 # the shallowest target drift depth
sensor: x_hover_depth_deep(m) 0.0 # the deepest target drift depth
sensor: x_hover_active(bool) 0 # drift_at_depth is in BS_HOVER substate
sensor: x_deactivate_hover(bool) 0 # a way to stop drift_at_depth
sensor: 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 depth
sensor: m_depth_ierror(m-s) 0.0 # Out, integrated error
sensor: 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_rate
sensor: u_hover_bpump_ap_gain_shallow(cc/m) 1.0 #proportional gain, shallow bpump
sensor: u_hover_bpump_ap_dgain_shallow(cc-s/m) 1.0 #derivative gain, shallow bpump
sensor: u_hover_bpump_ap_gain_deep(cc/m) 1.0 #proportional gain, deep bpump
sensor: 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_GAIN
sensor: u_hover_depth_gain_scale_m(X) 0.429
sensor: u_hover_depth_gain_scale_b(X) -0.330
sensor: u_hover_depth_p_gain_min(X) -0.01 # In, limits the minimum value of X_HOVER_DEPTH_P_GAIN if scale is used
sensor: x_hover_depth_i_gain(X) 0 # Out, set by b_arg DEPTH_I_GAIN
sensor: x_hover_depth_d_gain(X) 0 # Out, set by b_arg DEPTH_D_GAIN
sensor: x_hover_depth_pitch_limit(rad) 0.174 # Out, x_hover_depth_pitch_limit = b_arg DEPTH_PITCH_LIMIT - X_PITCH_AP_DEADBAND
sensor: u_hover_depth_run_time(sec) -1 # How often to "run" the loop
# <= 0, every cycle
# > 0, this many seconds
sensor: u_hover_depth_pitch_deadband(X) -1
sensor: u_hover_depth_pitch_rate_deadband(X) -1
sensor: u_hover_depth_inflection_holdoff(sec) -1.0 # do not set. Required for PID controller structure,
# but not used for pitching depth control
sensor: 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 limit
sensor: 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_limit
sensor: 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 limits
sensor: 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_LIMIT
sensor: 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 row
sensor: 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 deadband
sensor: x_hover_depth_pitch_is_maxed(bool) 0 # true implies pitch is maxed
# used for estimating trim offset
sensor: x_avg_depth_pitch_battpos_offset(in) 0.0 # exponential mean of calculated trim offset
sensor: u_avg_depth_pitch_battpos_alpha(nodim) 0.05 # more weight for longterm mean
sensor: 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.txt
sensor: u_abort_min_burn_time(sec) 600 # Never drop the weight before this time
sensor: u_abort_max_burn_time(sec) 14400 # Always drop the weight after this time
sensor: 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 inflection
sensor: m_tot_num_inflections(nodim) 0 # out, running count of number of inflections
# Increments when:
# m_depth_state = cc_final_depth_state_mode and we are in next state (diving/climbing) to increment on
# or
# are commanded to surface and have reached surface
sensor: m_last_yo_time(sec) 0.0 # out, twice the time between last inflections
sensor: m_avg_yo_time(sec) 60.0 # out, twice the average time between inflections
# exponential average of m_last_yo_time
# pump stress track
# sensors to track the estimated number of remaining cycles to pump failure
# Based upon data from A. Sealey, 2016.
# number of cycles to failure: 25000, depth_tested_to_failure: 1km
sensor: m_pump_stress_remaining_cycles(nodim) 0 # out, number of remaining cycles to 1km before failure
sensor: m_pump_stress_track(nodim) 0 # out, total accumulation of relative stress on pump based upon inflection depth
sensor: m_pump_stress(nodim) 0 # out, relative stress on pump based upon inflection depth for this cycle
sensor: m_inflection_depth(m) 0 # out, depth at bottom inflection for this cycle
sensor: u_pump_stress_test_depth(m) 1055 # in, depth pump was tested at to failure
sensor: u_pump_stress_num_cycles(nodim) 25000 # number of cycles to failure in above test
sensor: m_num_half_yos_in_segment(nodim) # out, number of dive/climbs since last surface
# 0 on first dive after surfacing
# incremented on each inflection
sensor: 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 amounts
sensor: 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 .mlg
sensor: 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 routine
sensor: f_speed_min(m/s) 0.05 #in, minimum allowable speed input. Protects against excessively low c_speed_min b_args that could cause stall
sensor: 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 sensors
sensor: m_dive_tot_time(s) -1.0 # out, amount of time to complete dive
sensor: m_climb_tot_time(s) -1.0 # out, amount of time to complete climb
sensor: 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 sensor
sensor: 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 sensor
sensor: 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 climb
sensor: 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 specified
sensor: 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 dive
sensor: dc_c_battpos(in) 0 # out, what dynamic control wants fore/aft battery to be
sensor: dc_c_fluid_pumped(cc) 0 # out, what dynamic control wants fore/aft fluid to be
sensor: 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 do
sensor: 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 description
sensor: 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 etc
sensor: x_utm_to_lmc_00(nodim) 0 # matrix such that: lmc = [] * utm + off
sensor: 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) 0
sensor: 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 position
sensor: x_lmc_utm_veh_zone_digit(byte) 0 # The utm zone of the vehicle
sensor: x_lmc_utm_veh_zone_char(byte) 0 # ditto, 0->A 1->B etc
sensor: x_lmc_utm_veh_easting_correction(m) 0 # needed for crossing lon UTM zones
sensor: x_lmc_utm_veh_northing_correction(m) 0 # needed for crossing equator
# Generic heading related stuff
sensor: c_heading(rad) 0 # out, commanded heading
sensor: c_roll(rad) 0 # out, commanded roll
sensor: dc_c_battroll(rad) 0 # out, what dynamic control wants roll battery to be
sensor: f_battroll_offset(rad) 0.0 # in, added to c_roll to handle off center batteries
sensor: m_hdg_error(rad) 0 # out, m_heading - c_heading
sensor: m_hdg_ierror(rad-sec) 0 # out, integrated m_hdg_error
sensor: m_hdg_derror(rad/sec) 0 # out, rate of change of m_hdg_error
# Waypoint control
sensor: 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 aim
sensor: c_wpt_x_lmc(m) 0 # in, command waypoint in lmc units
sensor: c_wpt_y_lmc(m) 0 #
sensor: x_hit_a_waypoint(bool) 0 # set by behavior when reach a waypoint
sensor: x_last_wpt_x_lmc(m) 0 # set by behavior when reach a waypoint
sensor: 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.txt
sensor: u_hd_fin_ap_gain(1/rad) 1.50 # The "gain" of controller: 57 deg proportional band
# 1/57 deg
sensor: u_hd_fin_ap_igain(1/rad-sec) 0.02
sensor: 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) = 30
sensor: 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) 1.50
sensor: x_hd_fin_ap_igain(1/rad-sec) 0.03
sensor: x_hd_fin_ap_dgain(sec/rad) -4.00
sensor: u_hd_fin_ap_run_time(secs) -1 # How often to "run" the loop
# <= 0, every cycle
# > 0, this many seconds
sensor: u_hd_fin_ap_scale_by_max(bool) 1 # Whether or not we scale the command by X_FIN_MAX
# What to do around inflections
sensor: 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 1000.0
sensor: u_heading_deadband(rad) 0.087 #in, deadband for heading error M_HDG_ERROR
sensor: u_heading_rate_deadband(rad/s) 0.0087 #in, deadband for heading rate error M_HDG_DERROR
sensor: 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 changes
sensor: 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 limits
sensor: 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 only
sensor: 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 deadband
sensor: 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) 1.00
sensor: u_hd_broll_ap_igain(1/rad-sec) 0.03
sensor: u_hd_broll_ap_dgain(1/rad-sec) 0.00 #Never tested
sensor: u_hd_broll_ap_run_time(secs) -1.0
sensor: u_hd_broll_ap_inflection_holdoff(sec) -1.0
sensor: u_hd_broll_ap_hardover_holdoff(sec) 400.0
sensor: u_hd_broll_ap_deadband_reset(bool) 0
sensor: u_hd_broll_ap_limit_gain_x_error(rad) 1000
sensor: u_hd_broll_ap_limit_absolute(rad) 1000
sensor: u_hd_broll_abort_after_y_misses(nodim) 3.0
sensor: u_hd_broll_ap_scale_by_max(bool) 1 # Whether or not we scale the command by X_BATTROLL_MAX
sensor: x_hd_broll_ap_ran(bool) -10
sensor: 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 seneca
sensor: f_pitch_battpos_cal_m(rad/in) -1.2565 # input
sensor: 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 values
sensor: f_pitch_fluid_pumped_cal_m(rad/cc) -0.0043 # input
sensor: 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.txt
sensor: u_max_pitch_ap_period(sec) 60 # 16 AutoPilot "runs" at least this often
sensor: u_min_pitch_ap_period(sec) 2 # AutoPilot "runs" no more than this often
sensor: x_pitch_ap_period(sec) 0 # Actual computed time until next running of autopilot
sensor: 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_THRUSTER
sensor: u_pitch_ap_gain(1/rad) -3.0 # Proportional gain of controller for no thruster
sensor: 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_THRUSTER
sensor: u_pitch_ap_dgain(s/rad) 1.0 # X_PITCH_AP_DGAIN = U_PITCH_AP_DGAIN if thruster is not commanded
sensor: u_pitch_ap_dgain_thruster(s/rad) 1.0 # X_PITCH_AP_GAIN = U_PITCH_AP_DGAIN_THRUSTER if thruster is commanded
sensor: 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_DEADBAND
sensor: u_pitch_ap_deadband(rad) 0.0524 # 3 deg. Deadband for thruster not commanded
sensor: u_pitch_ap_deadband_thruster(rad) 0.0524 # 3 deg. Deadband for thruster commanded
sensor: 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 on
sensor: 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 on
sensor: u_pitch_correction_time_mult(nodim) 0.50 # What fraction assumed correction time we wait before
# running again.
sensor: u_pitch_deadband_time_mult(nodim) 2.0 # How much we increase the time til next attempt if
# we are in the dead band.
sensor: m_pitch_error(rad) 0 # out, difference between m_pitch - c_pitch
sensor: m_pitch_derror(rad/s) 0 # out, time derivative of m_pitch_error
sensor: 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_BATTPOS
sensor: 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 times
sensor: m_tot_horz_dist(km) 0.0 # out, How far we have moved underwater
sensor: x_current_target_altitude(m) -1.0 # default is none, height above
# bottom glider is currently
# diving/climbing to
sensor: 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_deep
sensor: f_depth_subsampling_rate_default_deep(sec) 23 # auto value for deep
sensor: f_depth_subsampling_rate_default_shallow(sec) 0 # auto value for shallow
sensor: m_depth_subsampled(m) 0 # out, subsampled depth measurement
sensor: m_depth_rate(m/s) 0 # out, rate of change of depth, >0 is down
sensor: m_depth_rate_subsampled(m/s) 0 # out, subsampled depth rate measurement
sensor: m_avg_depth_rate(m/s) 0 # out, avg rate of change of depth, >0 is down
sensor: m_avg_climb_rate(m/s) 0 # out, avg rate of change of depth when climbing
sensor: m_avg_dive_rate(m/s) 0 # out, avg rate of change of depth when diving
sensor: 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.c
sensor: 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.c
sensor: m_depth_rate_running_avg_n(enum) 0 # out, identifies the data sample # "n" of m_depth_rate_running_avg
sensor: 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 0-1
sensor: 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 surface
sensor: m_surface_est_cmd(nodim) 0 # commanded to surface
sensor: m_surface_est_ctd(nodim) 0 # ctd pressure => depth
sensor: m_surface_est_gps(nodim) 0 # gps talking to satellite
sensor: m_surface_est_fw(nodim) 0 # freewave has carrier
sensor: m_surface_est_irid(nodim) 0 # iridium has carrier
sensor: u_surface_est_time_constant(secs) 30 # m_surface_est_XXX expontially decayed
# by this when corresponding condition is false
sensor: 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 result
sensor: m_certainly_at_surface(bool) 0 # true if got a gps fix, or freewave/iridium carrier
# on this cycle.
sensor: u_surface_time_offset(sec) 0 # additional time to surface for BAW_WHEN_UTC_TIME
# 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 necessary
sensor: x_alt_time(sec) 0 # out, calculated c_alt_time value
# <0 altimeter off, =0 as fast as possible,
# >0 that many seconds between measurements
sensor: m_altitude(m) 0 # out, height above the bottom
sensor: m_altitude_rate(m/s) 0 # out, rate of change of altitude, <0 is down
sensor: m_altimeter_status(enum) 0 # out, 0 is good reading
# non-zero means rejected
# see sensor_processing.h for codes
sensor: 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 altimeter
sensor: m_aground_water_depth(m) -1 # out, set by behavior dive_to when it crashes
# into bottom
sensor: m_water_depth(m) -1.0 # out, m_depth + m_altitude.
# -1 ==> unknown
sensor: u_max_water_depth_lifetime(yos) 1.0 #! visible = True
# in, how long we can use m_depth in absence
# of measured data
sensor: u_max_bottom_slope(m/m) 3.0 # in, max slope of bottom. <0 disables all filters
# max change in altitude/horizontal movement
sensor: u_min_water_depth(m) 0 # in, altimeter reading + M_DEPTH must be between these
sensor: 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 secs
sensor: 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 WATER
sensor: 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 point
sensor: 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 constant
sensor: u_calc_angle_of_attack(bool) 1 #! visible = True
# in, whether or not to make an angle of attack calculation
sensor: 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_speed
sensor: 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 time
sensor: m_vx_lmc(m/s) 0 # out, vehicle horizontal velocity OVER GROUND
sensor: 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 thruster
sensor: u_max_thruster_speed(m/s) 1.5 # Max estimated thruster speed. Limits M_THRUSTER_EST_SPEED and scales U_PITCH_AP_GAIN_THRUSTER
sensor: u_avg_thruster_speed_num(enum) 10 # In, number of samples to use for m_avg_thruster_speed
sensor: 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_v0
sensor: f_thruster_v1(m/s-volts) 0.0994 # In, 1st-order coefficient
sensor: 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 + i0
sensor: f_thruster_i0(m-s) 0.1473
sensor: f_thruster_i1(m/s-amp) 0.9018
sensor: f_thruster_i2(m/s-amp-amp) -0.2083
# compute_water_velocity() See doco/water-velocity-caclulation.txt
sensor: 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/y
sensor: m_initial_water_vy(m/s) 0 #
sensor: m_final_water_vx(m/s) 0 # out, initial computation of m_water_vx/y
sensor: m_final_water_vy(m/s) 0 #
sensor: m_water_delta_vx(m/s) 0 # out, change in water_vx/vy this segment
sensor: 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 segment
sensor: x_prior_seg_water_vy(m/s) 0
sensor: 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 writeup
sensor: x_dr_state(enum) 0.0 # out, mission_start=0, underwater=1,awaiting_fix=2,
# awaiting_postfix=3, awaiting_dive=4
sensor: m_dr_time(sec) -1.0 # out, how long underwater, subject to currents
sensor: m_dr_surf_x_lmc(m) 0 # Dead Reckoned location when surface
sensor: m_dr_surf_y_lmc(m) 0
sensor: m_dr_fix_time(sec) -1.0 # out, surface drift time til first gps fix
sensor: m_gps_fix_x_lmc(m) 0 # location of first gps fix
sensor: m_gps_fix_y_lmc(m) 0
sensor: m_dr_x_ini_err(m) 0 # out, m_gps_fix_x/y_lmc - m_dr_surf_x/y_lmc
sensor: m_dr_y_ini_err(m) 0
sensor: 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_time
sensor: m_gps_postfix_x_lmc(m) 0
sensor: m_gps_postfix_y_lmc(m) 0 # Location used to measure surface drift
sensor: m_dr_x_postfix_drift(m) 0 # out, m_gps_postfix_x/y_lmc - x_gps_fix_x/y_lmc
sensor: m_dr_y_postfix_drift(m) 0
sensor: m_dr_x_ta_postfix_drift(m) 0 # out, m_dr_x/y_postfix_drift * time adjusted value
sensor: m_dr_y_ta_postfix_drift(m) 0
sensor: 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 Coordinates
sensor: m_y_lmc(m) 0 # (0,0) at mission start Y axis is magnetic north
sensor: 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 latitude
sensor: m_lon(lon) 69696969 # vehicle position in longitude
sensor: c_wpt_lat(lat) 0 # current waypoint in latitude
sensor: c_wpt_lon(lon) 0 # current waypoint in longitude
sensor: x_last_wpt_lat(lat) # last achieved waypoint
sensor: x_last_wpt_lon(lon)
# compute_comms_stuff
sensor: u_stable_comms_reqd_secs(sec) 60.0 # in, continous seconds of carrier detect
# required to have stable comms
sensor: 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 row
sensor: 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_surface
sensor: 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_time
sensor: m_avg_upward_inflection_time(sec) 12.0 # exponential average of inflections
sensor: m_avg_downward_inflection_time(sec) 12.0 # start with reasonable guess
# --- device driver level
sensor: 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 device
sensor: m_device_warning(nodim) -1.0 # whenever it generates error/warning/oddity
sensor: m_device_error(nodim) -1.0
sensor: f_max_time_per_device_ctrl(msec) 500 # In, default max allowable time for
# a device driver to run. oddities
# generated if this time execeeded
sensor: f_noise_floor(volts) 0.050 # Electrical noise in system
# Used to compute how often motor
# velocities are computed and checked
sensor: f_crush_depth(m) 225.0 # When the glider gets crushed
sensor: f_time_to_burn_wire(sec) 20.0 # How long it takes burn wire to drop weight
sensor: 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 motors
sensor: u_motor_debug(nodim) 0 # bitmask:
# 0x0000000000000001 1 print motor travel stats at end of motion
sensor: u_comatose_enabled(bool) 0.0 #! visible = True
# in, true->enables comatose mode
sensor: u_comatose_deadband_mult(nodim) 10.0 # in, how much to increase motor deadbands
# when in comatose mode
sensor: u_motor_fs_travel_mult(nodim) 2.0 # in, used to compute worst case motor travel time
# = U_MOTOR_FS_TRAVEL_MULT *
# 2 * F__SAFETY_MAX / F_NOMINAL_VEL
sensor: 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 up
sensor: 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 enuf
sensor: x_ballast_pumped_max(cc) 226 # out, Maximum OPERATIONAL limit
sensor: x_ballast_pumped_deadband(cc) 0.0 # out, how close is good enuf
# = f_ballast_pumped_deadz_width * f_ballast_pumped_db_frac_dz
sensor: x_ballast_pumped_passive_retraction_depth(m) 200.0 # Maintains shallowest depth
# where battery spike occured
sensor: x_ballast_passive_retraction_count(int) 0 # How many times we hit the brakes
sensor: f_ballast_passive_retraction_delay(ms) 10 # How long for
sensor: m_is_ballast_pump_moving(bool) 0 # out, t-> motor is moving
sensor: m_ballast_pumped_vel(cc/sec) 0 # out, measured motor speed
sensor: m_ballast_pumped_energy(joules) 0 #out, How much energy to pump water on last command
# = pressure * volume when extending
sensor: m_tot_ballast_pumped_energy(kjoules) 0 #out, totalized m_ballast_pumped_energy
sensor: u_ballast_pumped_microposition(bool) 0 # T==> microposition the motor
sensor: u_ballast_pumped_micropos_rt(msec) 250 # "run time" >0 max allowable microposition time
sensor: 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 never
sensor: 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 forward
sensor: c_dive_battpos(in) 0 # out, battpos to immediately move to at start of dive. Set by either DM_PITCH_SERVO or in diveclimb.c
sensor: c_climb_battpos(in) 0 # out, battpos to immediately move to at start of climb. Set by either DM_PITCH_SERVO or in diveclimb.c
sensor: c_hover_battpos(in) 0 # out, battpos to immediately move to at start of hover/drift_at_depth. Set by DM_PITCH_SERVO
sensor: u_deep_pitch_surface_zero(bool) 1 # in, if we zero pitch at the surface for a deep glider
sensor: 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_battpos
sensor: m_battpos(in) # out
sensor: x_battpos_max(in) # out, Maximum OPERATIONAL limit
sensor: x_battpos_deadband(in) 0.0 # out, how close is good enuf
# = f_battpos_deadzone_width * f_battpos_db_frac_dz
sensor: m_is_battpos_moving(bool) 0 # out, t-> motor is moving
sensor: m_battpos_vel(in/sec) 0 # out, measured motor velocity
sensor: u_battpos_microposition(bool) 1 # T==> microposition the motor
sensor: u_battpos_micropos_rt(msec) 1000 # "run time" >0 max allowable microposition time
sensor: 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 never
sensor: u_battpos_micropos_dc(nodim) 10 # "duty cycle" 1-N once pulsing,
# pulse motor 1 cycle out of this many
sensor: 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.c
sensor: c_fluid_pumped(cc) 0 # in, >0 vehicle dives (nose down)
# the fluid is pumped forward
sensor: m_fluid_pumped(cc) # out
sensor: x_fluid_pumped_max(cc) # out, Maximum OPERATIONAL limit
sensor: x_fluid_pumped_deadband(cc) 0.0 # out, how close is good enuf
# = f_fluid_pumped_deadzone_width * f_fluid_pumped_db_frac_dz
sensor: m_is_fpitch_pump_moving(bool) 0 # out, t-> pump is moving
sensor: m_fluid_pumped_vel(cc/sec) 0 # out, measured fluid pumped velocity
sensor: m_fluid_pumped_fwd_hall_voltage(volts) # out, voltage from forward hall sensor
sensor: 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_voltage
sensor: 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_width
sensor: f_fluid_pumped_safety_max(cc) 160.0 # in, damage to glider
sensor: f_fluid_pumped_deadzone_width(cc) 20.0 # Sets x_ limit
sensor: f_fluid_pumped_db_frac_dz(nodim) 0.5 # deadband as fraction of dead zone
sensor: f_fluid_pumped_nominal_vel(cc/sec) 20.0 # nominal speed
sensor: 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 # slope
sensor: f_fluid_pumped_cal_b(cc) -168.0 # y-intercept
# battery roll, motor.c motor_drivers.
# battroll
sensor: c_battroll(rad) 0 # in, >0 puts stbd wing down
# the battery is rotated ClockWise (CW)
# when looking fwd
sensor: m_battroll(rad) # out
sensor: x_battroll_max(rad) # out, Maximum OPERATIONAL limit
sensor: x_battroll_deadband(rad) 0.0 # out, how close is good enuf
# = f_battroll_deadzone_width * f_battroll_db_frac_dz
sensor: m_is_battroll_moving(bool) 0 # out, t-> motor is moving
sensor: m_battroll_vel(rad/sec) 0 # out, measured motor velocity
sensor: u_battroll_microposition(bool) 0 # T==> microposition the motor
sensor: u_battroll_micropos_rt(msec) 250 # "run time" >0 max allowable microposition time
sensor: 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 never
sensor: 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 limit
sensor: x_fin_deadband(rad) 0.0 # out, how close is good enuf
# = f_fin_deadzone_width * f_fin_db_frac_dz
sensor: m_is_fin_moving(bool) 0 # out, t-> motor is moving
sensor: m_fin_vel(rad/sec) 0 # out, measured motor velocity
sensor: u_fin_microposition(bool) 1 # T==> microposition the motor
sensor: u_fin_micropos_rt(msec) 750 # "run time" >0 max allowable microposition time
sensor: 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 never
sensor: 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 unassigned
sensor: c_lithium_battery_on(sec) 0 # required by gb_devdrvr paradigm
# statistics
sensor: m_lithium_battery_relative_charge(%) 0 # Relative cumulative charge
sensor: m_lithium_battery_time_to_discharge(mins) 0 # cumulative time to discharge
sensor: m_lithium_battery_time_to_charge(mins) 0 # cumulative time to charge
sensor: 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
# leak detect
sensor: m_digifin_leakdetect_reading(nodim) 2000 # leak detect reading in A/D counts
sensor: f_digifin_leakdetect_threshold(nodim) 1018 # leak detect threshold in A/D counts
sensor: u_digifin_leakdetect_count(int) 5 # need this many consecutive readings to abort
sensor: m_digifin_leakdetect_count(int) 0 # current count of readings below threshold
sensor: m_leak_digifin(bool) 0 # non-zero ==> m_digifin_leakdetect_reading < f_digifin_leakdetect_threshold
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).
# 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 up
sensor: u_min_de_oil_flux(cc/sec) 0.10 # if below, error
sensor: u_de_oil_vol_check_time(sec) 0.0 # monitoring rate while stable
# 0 = every cycle
sensor: u_secs_for_oil_vol_stabilization(secs) 15.0 # <=0 disables, wait time for any gas in system
# to stabilize after ascents
sensor: 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.mi
sensor: f_de_oil_vol_pot_voltage_min(volts) -20.0 # raw AD voltage of fully retracted pot
sensor: f_de_oil_vol_pot_voltage_max(volts) -20.0 # raw AD voltage of fully extended pot
sensor: f_de_oil_vol_in_system(cc) 650.0 # volume of internal oil reservoir
sensor: f_de_oil_vol_safety_max(cc) 290.0 # shouldn't go beyond this
sensor: f_de_oil_vol_deadz_width(cc) 30.0 # sets x_ limit
sensor: f_de_oil_vol_db_frac_dz(nodim) 0.667 # deadband as fraction of dead zone
sensor: 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_voltage
sensor: m_de_oil_vol_pot_voltage(volts) 0.0 # raw voltage from AD
sensor: m_is_de_pump_moving(bool) 0 # t-> motor is moving
sensor: 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_width
sensor: 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 system
sensor: 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 electric
sensor: x_de_oil_flux(cc/sec) 0.0 # positive = pumping, negative = retracting
sensor: x_de_ignore_tvalve_oddity(bool) 0 # t-> don't log tvalve oddity after
# de_pump chore
# threng.c
sensor: 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) DOWN
sensor: 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 abort
sensor: u_thermal_valve_time_in_up_pos(s) 60.0 # in, how long thermal valve says in up position
# before being automatically moved to charge
sensor: 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.c
sensor: f_thermal_valve_time_over_slot(msec) 150 # millisecs the thermal valve hole is over the sensor
sensor: 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 moving
sensor: m_tot_num_thermal_valve_cmd(nodim) # out, running count of total number of times the valve command is changed
sensor: 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
sensor: u_valve_open_max_depth(m) 100 # Maximum depth to operate the ball valve full open
sensor: m_valve_pos(enum) -1 # Raw ballvalve position
sensor: c_valve_pos(enum) 0 # Commanded ballvalve position
# 1=open, 3=closed, 5=restrict
# 1=restrict, 3=closed, 5=open
sensor: f_valve_restrict(int) 364 # ballvalve AD reading at restrict
sensor: f_valve_open(int) 1936 # ballvalve AD reading at open
sensor: f_valve_tolerance(int) 80 # +/- tolerance hitting the spot
# tcm3.c
sensor: f_tcm3_cal_points(nodim) 50 # Default number of sample points in calibration
sensor: 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 data
sensor: m_tcm3_recv_start_time(ms) 0 # Time after open_uart() call we start receiving data
sensor: m_tcm3_recv_stop_time(ms) 0 # Time after open_uart() call we stop receiving data
# attitude.c/attitude_tcm3.c/attitude_rev.c
sensor: c_att_time(sec) 0 # in, time spacing for attitude checks
# <0 is off, =0 as fast as possible
# otherwise secs between measurements
sensor: 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: c_att_debug(bool) 0 # 1 to show NMEA string
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 up
sensor: m_pitch(rad) 0 # out, >0 is nose up
sensor: m_heading(rad) 0 # out
sensor: m_vehicle_temp(degC) 0 # out
sensor: m_dip_angle(rad) 0 # out
sensor: m_magnetic_field(nodim) 0 # out
# oceanpres.c
sensor: c_pressure_time(sec) 1 # in, <0 is off, =0 as fast as possible
# >0 num seconds betweens measurements
sensor: c_pressure_recall(msec) -1 # in, <=0 no subcycle measurements
# >0 millisecs between subcycle measurements
# c_pressure_time must be 0 to enable
sensor: m_pressure_voltage(volts) # out, measured, averaged or median filtered from 20 raw samples of AD
sensor: m_pressure(bar) # out, measured NOT clipped:
# <0 not good, glider above the surface,
# 0 surface
# >0 glider below surface in water
sensor: m_depth(m) 0 # out, calculated clips at 0
# 0 surface
# >0 glider below surface in water
sensor: u_use_ctd_depth_for_flying(bool) 0 #! visible = True
# true=> use ctd measurement for m_depth
# implemented as emergency workaround for
# broken ocean pressure
sensor: 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 output
sensor: u_depth_rate_filter_sub_sur_dep(m) 0.05 # used for M_DEPTH when m_pressure rejected at
# the surface
sensor: 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 change
sensor: 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 this
sensor: u_pressure_autocal_min_time_between(secs) 180 # minimum interval time
# between auto calibrations
sensor: u_pressure_autocal_enabled(bool) 1 # 0=turned off, 1=turned on
sensor: u_pressure_autocal_deadband(bar) 0.025 # re-calibrate when drift is
# beyond + or - this
sensor: u_pressure_autocal_max_allowed(bar) 0.2 # print oddity when drift is
# beyond + or - this, don't
# re-calibrate
sensor: 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):
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 measurements
sensor: 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 enable
sensor: m_thermal_acc_pres_voltage(volts) 0 # out, raw voltage from AD
sensor: 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 pressure
sensor: 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=>137.8948
sensor: 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.c
sensor: 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 -lab
sensor: m_thermal_pump(enum) 0 # out, actual state of thermal pump:
# MTHR_PUMP_OFF 0.0
# MTHR_PUMP_ON 1.0
# MTHR_AWAITING_NOT_ENUF_VOLUME -1.0
# MTHR_AWAITING_REQD_PITCH -2.0
# MTHR_AWAITING_VALVE -3.0
sensor: 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.c
sensor: c_alt_time(sec) 0 # in, time spacing for altimeter pings
# <0 is off, =0 as fast as possible
# >0 that many seconds betweens measurements
sensor: c_alt_recall(msecs) -1.0 # in, <=0 no subcycle sampling
# >0 millisecs between subcycle measurements
# c_alt_time must be 0 to enable
sensor: 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 on
sensor: 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 data
sensor: u_alt_min_depth(m) 2.0 #! visible = True
# how deep vehicle must be to use altitude
sensor: u_alt_reqd_good_in_a_row(nodim) 3 # how many in a row we require before accepting reading
sensor: u_alt_filter_enabled(bool) 1 #! visible = True
# enable median filter depth for altitude.
sensor: m_raw_altitude(m) # out, height above bottom, unfiltered
sensor: m_raw_altitude_rejected(bool) # out, true if altimeter did not supply reading
sensor: m_altimeter_voltage(volts) # out, voltage read from the A/D
# watchdog.c
sensor: c_weight_drop(bool) 0 # in, non-zero->drop the weight
sensor: 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 timer
sensor: u_tickle_on_gps(bool) 1 # in, non-zero reset watchdog on every gps fix
sensor: u_tickle_on_console_cd(bool) 1 # in, non-zero reset watchdog if have freewave
sensor: x_hardware_cop_timeout(hours) -1 # out, reflects state of jumper
# -1 can't tell, >=RevE will be 2 or 16
sensor: m_cop_tickle_timestamp(timestamp) 0 # out, timestamp for every time COP is tickled
# MS_ABORT_NO_COMMS_TICKLE
# If have not received m_comms_tickle_timestamp as specified in the abend no_comms_tickle_for, then x_reset_no_comms is set.
# If no user intervention (either by setting x_reset_no_comms to 0 or prompt), then glider will
# reset and call into factory number
sensor: m_comms_tickle_timestamp(timestamp) 0 # out, timestamp for every time comms are tickled,
# when M_CONSOLE_CD or M_IRIDIUM_CONSOLE_ON set true
sensor: x_reset_no_comms(enum) 0 # out, MS_ABORT_NO_COMMS_TICKLE sets this to 1
# If glider resets because no intervention, then this is set to 2
# Adds IRIDIUM_PHONE_NUM_FACTORY to call list if = 2
sensor: u_no_comms_max_time_in_gliderdos(sec) 1200.0 # In, secs til autoexecute if X_RESET_NO_COMMS
sensor: u_check_secs_comms_tickle(sec) 600 # In, if in GliderDos and have received m_comms_tickle since then, then
# reset x_reset_no_comms
sensor: m_tot_on_time(days) 0 # out, How long we have been powered on
sensor: m_bpump_fault_bit(bool) 0 # out, reflects state of bit_BPUMP_FAULT
# airpump.c
sensor: 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 on
sensor: 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 not
sensor: m_air_fill(bool) 0 # out, T->air pump solenoid in fill position
# F->air pump solenoid in escape position
# battery.c
sensor: u_battery_time(sec) 0 # in, Time between battery measurements
# <0 is off, =0 as fast as possible
# >0 num seconds betweens measurements
sensor: u_battery_recall(msecs) -1.0 # <=0 no subcycle measurements
# >0 millisecs between subcycle measurements
# u_battery_time must be 0 to enable
sensor: m_battery_inst(volts) 12 # out, Instantaneous battery voltage
sensor: m_battery(volts) 12 # out, Average Battery voltage
sensor: 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.c
sensor: u_vacuum_time(sec) 0 # in, Time between vacuum measurements
# <0 is off, =0 as fast as possible
# >0 that many seconds betweens measurements
sensor: x_increase_vacuum_time(bool) 0 # Whether or not to temporarily increase the vacuum sampling frequency to u_increase_vacuum_time
sensor: u_increase_vacuum_time(sec) 0 # If we want to temporarily increase the vacuum sampling frequency, then set it to this value
sensor: u_vacuum_recall(msec) -1 # in, <=0 no subcycle measurements
# >0 millisecs between subcycle measurements
# u_vacuum_time must be 0 to enable
sensor: m_vacuum(inHg) # out, Internal glider pressure
sensor: u_vacuum_cal_m(inHg/Volt) -14.4059 # Factory Calibration data
sensor: u_vacuum_cal_b(inHg) 31.64615 # inHg = m V + b
# leakdetect.c
sensor: c_leakdetect_time(s) 0.0 # in, Time between leakdetect measurements
# <0 is off, =0 as fast as possible
# >0 that many seconds betweens measurements
sensor: c_leakdetect_recall(msec) -1.0 # in, <=0, no subcycle measurements
# >0 millisecs between subcycle measurements
# c_leakdetect_time must be 0 to enable
sensor: 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_threshold
sensor: 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.c
sensor: 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 measurements
sensor: c_veh_temp_recall(msec) 0.0 # in, <=0, no subcycle measurements
# >0 millisecs between subcycle measurements
# c_leakdetect_time must be 0 to enable
sensor: 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 board
sensor: m_veh_overheat(bool) -1.0 # non-zero ==> m_veh_temp >= f_veh_temp_threshold
# pinger.c
sensor: u_pinger_rep_rate(sec) 0 #in, secs between primary depth pings
# 0 turns it off
sensor: 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.c
sensor: 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/lon
sensor: m_gps_on(bool) 0 # out, >0 means gps is actually turned on
sensor: m_gps_lat(lat) 69696969 # out DDMM.MMMM >0 ==> North <0 ==> South
sensor: m_gps_lon(lon) 69696969 # out DDMM.MMMM >0 ==> East <0 ==> West
sensor: m_gps_x_lmc(m) 0 # out position in local mission coordinates
sensor: m_gps_y_lmc(m) 0 # out
sensor: m_gps_status(enum) 69 # out, updated with status of gps after received a line
sensor: 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 why
sensor: m_gps_ignored_lat(lat) 69696969 # out, first few ignored gps fixes here
sensor: 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 lines
sensor: m_gps_invalid_lon(lon) 69696969
sensor: 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 available
sensor: m_gps_toofar_lat(lat) 69696969 # out, published if too far from DR point
sensor: 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 position
sensor: 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 above
sensor: u_gps_uncertainity(m) 30.0 # in, see equation above
# This data is read from gps and published
sensor: m_gps_utc_day(byte) 0 # 1-31 Date/Time of position
sensor: m_gps_utc_month(byte) 0 # 1-12
sensor: m_gps_utc_year(byte) 0 # 00, 01, ... until Y3K
sensor: m_gps_utc_hour(byte) 0 # 0-23
sensor: m_gps_utc_minute(byte) 0 # 0-59
sensor: m_gps_utc_second(nodim) 0 # 0-59.xxxxxx
sensor: m_gps_speed(m/s) 0 # speed over ground
sensor: m_gps_heading(rad) 0 # magnetic heading
sensor: 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 99.9
sensor: m_gps_num_satellites(nodim) 69696969 # out, Number of satellites in use, 00 to 12
sensor: m_system_clock_lags_gps(sec) 0 # lagtime between persistor and gps clock
sensor: m_avg_system_clock_lags_gps(sec) 0 # exponential mean of above lagtime
sensor: u_alpha_system_clock_lags_gps(nodim) 0.05 # weight in exponential mean
# generic time syncing sensor, called in surface.c and g_shell.c
sensor: 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.c
sensor: x_system_clock_adjusted(sec) 0 # records the last sync_time offset
# argos.c
sensor: 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/TERM
sensor: m_argos_on(bool) 0 # out, >0 means argos is actually turned on
sensor: m_argos_sent_data(bool) 0 # out, > 0 means data was sent to PTT
sensor: m_argos_is_xmitting(bool) 0 # out, > 0 means PTT is radiating
# sensors to support new PTT format, along with legacy stuff
sensor: 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.c
sensor: c_profile_on(sec) 0 # in, <0 is off, =0 as fast as possible
# >0 that many seconds betweens measurements
sensor: c_profile_recall(msec) 2000 # in, <=0 no subcycle measurements
# millisecs between subcycle measurements
# c_profile_on must be 0 to enable
sensor: m_water_cond(S/m) 3 # out, conductivity
sensor: m_water_temp(degC) 10 # out
sensor: 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.c
sensor: c_iridium_on(enum) 1 # in
# <0 turns it off
# 0 turns it off
# 1 turns it on, becomes 2nd console when connected
# 2 turns it on, no 2nd console
# 3 turns it on in "send data" mode
# 4 turns it on in "echo data" mode
# >4 turns it off
sensor: 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 number
sensor: c_iridium_lead_zeros(nodim) 2 # number of leading zeros in phone number
# typically 2 for both commercial or military
sensor: 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 number
sensor: c_iridium_phone_num_alt(digits) 17818711051 # WRC phone number !no spaces!
# FACTORY number: do not touch!!! to be used in case of emergency
# For Gliders utilizing DISA sim cards, users will want to insert the following sensor into the glider(s) autoexec.mi file:
# sensor: f_iridium_phone_num_factory(digits) 6977818711051 # WRC phone number !no spaces!
sensor: f_iridium_lead_zeros_factory(nodim) 2 # number of leading zeros in phone number
sensor: f_iridium_phone_num_factory(digits) 17818711051 # WRC phone number !no spaces!
# Used to manage which phone number to use
sensor: u_iridium_failover_retries(nodim) 5 #! visible = True
# Maximum number of retries before failing over to
# other number
sensor: 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
# 2 - IRIDIUM_PHONE_NUM_FACTORY,
# only added to the call list if X_RESET_NO_COMMS=2
# How long to wait for modem to respond at various times
sensor: c_iridium_atok_timeout(sec) 30 # how long to wait for OK after AT
# should be immediate if phone is attached
sensor: 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 secs
sensor: 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_ON
sensor: 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/off
sensor: u_iridium_idle_on_time(sec) 600.0
sensor: u_iridium_idle_off_time(sec) 600.0
sensor: m_iridium_rcv_chars(int) 0
sensor: 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 echo
sensor: m_iridium_on(bool) 0.0 # out 0 it's off, 1 it's on
sensor: m_iridium_connected(bool) 0 # out 1==> modem is connected
sensor: m_iridium_console_on(enum) 0. # out. 0 = iridium console off, 1 = on
sensor: 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 register
sensor: m_iridium_waiting_redial_delay(bool) # out, 1 ==> waiting to redial
sensor: 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 on
sensor: m_iridium_dialed_num(nodim) 0.0 # out, number of times phone was dialed
# incremented on every dial attempt
# it is never reset
sensor: m_iridium_call_num(nodim) 0.0 # out, is incremented on every connection,
# it is never reset
sensor: u_iridium_force_port(bool) 0 # in, iridium always uses J26 if true
# nose.c
sensor: c_recovery_on(bool) 0 # In, nonzero deploys recovery system
# thruster.c/thruster_g1.c
sensor: c_thruster_on(%) 0 # In, zero = off, 100 = all it's got
sensor: m_thruster_raw(int) 0 # out, pwm setting
sensor: x_thruster_has_current_sense(bool) 1 #Out. If thruster motor controller has current sensing. Set by thruster.c or thruster_g1.c
sensor: m_thruster_current(amp) 0 # Out, measured current.
sensor: c_thruster_current_cal(nodim) 0.038 # A / count cal for thruster current
sensor: u_thruster_cmd_change_min(%) 1 # In, minimum change between thruster commands to be considered a new set of cmds
sensor: 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 spikes
sensor: u_avg_thruster_power_num(nodim) 10 # Number of samples to use for m_avg_thruster_power
sensor: m_avg_thruster_power(watt) 0 # Out, average measured power
sensor: f_thruster_power_max(watt) 14.5 # In, maximum allowable average thruster power
sensor: f_thruster_power_min(watt) 0.5 # In, minimum allowable average thruster power, for use_thruster=4
sensor: m_thruster_power_spike(enum) 0 # Running tally of power spikes above f_thruster_power_max
sensor: m_thruster_voltage(volts) 0 #Out, estimated input voltage to thruster. = C_THRUSTER_ON*M_BATTERY_INST/100
sensor: m_thruster_power(watt) 0 #Out m_thruster_voltage * m_thruster_current
sensor: m_thruster_amphr(amp-hrs) 0 #Out, integrated current
sensor: m_thruster_watthr(watt-hrs) 0 #Out, integrated power
sensor: 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 hovering
sensor: 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 thruster
sensor: u_thruster_burst_secs(sec) 15 # In, turn on thruster for this long
sensor: m_thruster_burst(bool) 0 # Out, when we turn on the thruster for surface burst
sensor: u_thruster_burst_freq(hours) 12 # In, how often we need to run the surface burst behavior
# To disable, set to -1
# dynamic_control.c thruster parameters
sensor: dc_c_thruster_on(%) 0 # In/out, What dynamic control wants c_thruster_on to be
sensor: 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 gliders
sensor: u_thruster_inflection_holdoff_shal(sec) 60.0 # In, shallow gliders
sensor: 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_burst
sensor: f_thruster_min_v(volts) 3.0 # In, minimum voltage to run the thruster
sensor: f_thruster_max_v(volts) 9.7 # In, maximum voltage to run the thruster
sensor: u_ap_thruster_delta_cmd(%) 5 # 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 power
sensor: u_ap_thruster_power_deadband(watt) 0.1 # In, allow power between +/- this amount
sensor: m_thruster_power_error(watt) 0 # Out, cmd - meas
sensor: u_ap_thruster_power_p_gain(nodim) 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 commands
sensor: 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 rate
sensor: u_ap_thruster_depth_rate_deadband(m/s) 0.02 # Allow depth rate between +/- this amount
sensor: u_thruster_ap_period(s) 30 # How often to run immediately after each command
sensor: 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 calculation
sensor: x_reset_depth_rate_thr(bool) 0 #Out, set at start of dive/climb/surface, to reset the running average calculation
sensor: c_thruster_surface_secs(s) 0 # out, How long the thruster has been on in depth rate mode for this surfacing
sensor: c_thruster_depth_rate_secs(s) 0 # out, How long the thruster has been on in depth rate mode for the entire segment
sensor: c_thruster_surface_depth(m) 0 # out, What depth the thruster first turned on (in depth rate mode) for this surfacing
sensor: c_thruster_depth_rate_depth(m) 0 # out, What depth the thruster first turned on (in depth rate mode) for the entire segment
sensor: u_mission_year_base(int) 2000 # Start of epoch for dtime timestamps
# science.c/science_super.c
sensor: 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 errors
sensor: x_science_on(bool) 1 # internal copy of above, conditioned by sampling
sensor: 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 uart
sensor: sci_m_science_on(bool) 0 # In, set by science when powered on
# clr by science when safe to power off
sensor: 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 cycle
sensor: c_science_all_on_enabled(bool) 1 # in, non-zero enables c_science_all_on
sensor: sci_software_ver(nodim) 0 # In, software version running on science
sensor: sci_sbmb_hw_ver(enum) 0 # Science bay Mother Board Version
# 0 Unknown
# 1 SBMB1
# 2 SBMB2
sensor: sci_reqd_heartbeat(secs) -1.0 # In. How often each side must communicate
# over the clothesline
# DISABLED, too many false alarms
sensor: 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 power
sensor: 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 up
sensor: 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.c
sensor: 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 acknowledgement
sensor: x_sci_cmd_mode_state(enum) 0 # out, state of science console state machine
# see science_cmd_execution.h, enum science_cmd_mode_t
sensor: u_sci_cmd_max_ack_wait_time(s) 60.0 # in, how long to wait for science to acknowdge request
# to go to command mode
sensor: u_sci_cmd_max_consci_time(s) 3600. #! visible = True
# in, maximum time in consci
sensor: 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 command
sensor: 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 _run
sensor: c_science_stress_on(sensors/sec) 0 # causes proglet to send SCI_GENERIC_A-Z
# this many times/sec for diagnostic purposes
sensor: sci_m_present_time(timestamp) 0 # In, written by science on every cycle
# their notion of time, secs since 1970
sensor: sci_m_present_secs_into_mission(sec) 0 # out, secs since mission started
sensor: m_science_clothesline_lag(s) 0 # out, How far behind science is
# M_PRESENT_TIME - SCI_M_PRESENT_TIME
sensor: 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 comms
sensor: sci_wants_quiet(bool) 0 # In, t-> science computer wants glider in comatose behavior
sensor: 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.c
sensor: c_obsolete_on(bool) -1
sensor: sci_obsolete_is_installed(bool) 0
sensor: sci_obsolete_var(nodim) 0
# CTD data measured by Science. Updates m_water_cond, m_water_temp, & m_water_pressure
sensor: 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 computer
sensor: 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 CTD
sensor: 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) = -2
sensor: sci_water_cond(S/m) 3 # out, conductivity f#=1
sensor: sci_water_temp(degC) 10 # out f#=2
sensor: sci_water_pressure(bar) 0 # out f#=3
sensor: sci_ctd41cp_timestamp(timestamp) 0 # out, secs since 1970 f#=4
# we use this one instead for a Neil Brown CTD
sensor: sci_nbctd_timestamp(timestamp) 0 # out, secs since 1970 f#=4
sensor: sci_generic_a(nodim) 0 # unspecified variables for science to use
sensor: sci_generic_b(nodim) 0
sensor: sci_generic_c(nodim) 0
sensor: sci_generic_d(nodim) 0
sensor: sci_generic_e(nodim) 0
sensor: sci_generic_f(nodim) 0
sensor: sci_generic_g(nodim) 0
sensor: sci_generic_h(nodim) 0
sensor: sci_generic_i(nodim) 0
sensor: sci_generic_j(nodim) 0
sensor: sci_generic_k(nodim) 0
sensor: sci_generic_l(nodim) 0
sensor: sci_generic_m(nodim) 0
sensor: sci_generic_n(nodim) 0
sensor: sci_generic_o(nodim) 0
sensor: sci_generic_p(nodim) 0
sensor: sci_generic_q(nodim) 0
sensor: sci_generic_r(nodim) 0
sensor: sci_generic_s(nodim) 0
sensor: sci_generic_t(nodim) 0
sensor: sci_generic_u(nodim) 0
sensor: sci_generic_v(nodim) 0
sensor: sci_generic_w(nodim) 0
sensor: sci_generic_x(nodim) 0
sensor: sci_generic_y(nodim) 0
sensor: sci_generic_z(nodim) 0
# For testing connectivity
sensor: x_ping_glider_to_sci(nodim) 0 # Out, science driver increments this each cycle
# and can be sent to science for testing
sensor: 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.RUN
sensor: 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) proglet
sensor: c_bam_on(sec) 0 # >0 secs between run cycles, <0 off,
# 0 = fast as possible
sensor: c_bam_mode(enum) 0 # 0: command mode
# 1: data collect mode
sensor: 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 broadcast
sensor: c_bam_cmd_parse_secs(sec) 5 # How often to check command input buffer
sensor: c_bam_number_of_echos(nodim) 3 # Number of times to echo commands
sensor: c_bam_chars_to_get_before_surfacing(nodim) 1000 # how many chars to collect
# in modmdata.dat before
# surfacing, <0 => don't
# collect any data
sensor: 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 installed
sensor: sci_bam_science_on(bool) # false -> exit supersci app
# maps to c_science_on
sensor: sci_bam_rcvd_chars_since_last_report(nodim) # num of chars heard in last 10 seconds
sensor: 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 sensor
sensor: c_bb2f_on(sec) 0 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2f_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 sent
sensor: sci_bb2f_b470(nodim) 0 # col 3, blue scatter
sensor: sci_bb2f_b700(nodim) 0 # col 5, red scatter
sensor: sci_bb2f_fluor(nodim) 0 # col 6, fluorescence
sensor: sci_bb2f_therm(nodim) 0 # col 7, thermistor
sensor: sci_bb2f_b470_ref(nodim) 0 # col 2, blue ref
sensor: sci_bb2f_b700_ref(nodim) 0 # col 4, red ref
sensor: 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 means
sensor: c_bb2c_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2c_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 conversion
sensor: 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 tossed
sensor: sci_bb2c_beta532_eng_units(nodim) 0 # derived from col 4
sensor: sci_bb2c_beta660_eng_units(nodim) 0 # derived from col 6
sensor: sci_bb2c_beta532(nodim) 0 # col 4
sensor: sci_bb2c_beta660(nodim) 0 # col 6
sensor: sci_bb2c_cdom(nodim) 0 # col 8
sensor: sci_bb2c_ref1(nodim) 0 # col 3
sensor: sci_bb2c_ref2(nodim) 0 # col 5
sensor: sci_bb2c_ref3(nodim) 0 # col 7
sensor: sci_bb2c_temp(nodim) 0 # col 9
sensor: sci_bb2c_timestamp(timestamp) 0 # secs since 1970
# proglet bb2lss, wetlabs Light Scatter Sensor
sensor: c_bb2lss_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2lss_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 conversion
sensor: 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 tossed
sensor: sci_bb2lss_beta880_eng_units(nodim) 0 # derived from col4
sensor: sci_bb2lss_beta880(nodim) 0 # col4
sensor: sci_bb2lss_lss(nodim) 0 # col6
sensor: sci_bb2lss_ref1(nodim) 0 # col3
sensor: sci_bb2lss_ref2(nodim) 0 # col5
sensor: sci_bb2lss_temp(nodim) 0 # col7
sensor: sci_bb2lss_timestamp(timestamp) 0 # secs since 1970
#proglet sam: Wetlabs: Scattering Attenuation Meter
sensor: c_sam_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_sam_is_installed(bool) 0 # in, t--> installed on science
sensor: u_sam_is_calibrated(bool) 0 # false, assume not calibrated
# sensor specific calibration constants
sensor: u_sam_do1(nodim) 68.0 # for deriving engineering units
sensor: 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 order
sensor: sci_sam_c_mix(nodim) 0 # engineering unit1, derived from cols 2 and 3
sensor: sci_sam_vis(nodim) 0 # engineering unit2, derived from cols 2 and 3
sensor: sci_sam_filter_age(sec) 0 # age of oldest sample in median window
sensor: sci_sam_s1_filtered(nodim) 0 # median filtered version of sci_sam_s1
sensor: sci_sam_s2_filtered(nodim) 0 # median filtered version of sci_sam_s2
sensor: sci_sam_s1(nodim) 0 # col 2
sensor: sci_sam_s2(nodim) 0 # col 3
sensor: sci_sam_ref(nodim) 0 # col 1
sensor: 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 CTD
sensor: c_whfctd_on(sec) 10.0 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: 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 above
sensor: sci_whfctd_is_installed(bool) 0 # in, t--> installed on science
sensor: sci_whfctd_ref_hi(nodim) 0 # col 1, AAAAAAAA
sensor: sci_whfctd_ref_mid(nodim) 0 # col 2, BBBBBBB
sensor: sci_whfctd_ref_lo(nodim) 0 # col 3, CCCCCC
sensor: sci_whfctd_raw_temp(nodim) 0 # col 4, DDDDDDD
sensor: sci_whfctd_raw_con1(nodim) 0 # col 5, EEEEEE
sensor: sci_whfctd_raw_con2(nodim) 0 # col 6, FFFFFFF
sensor: sci_whfctd_raw_pres(nodim) 0 # col 7, GGGGGG
sensor: sci_whfctd_elap_time(nodim) 0 # col 8, HHHHH
# proglet MoteOPD
# Mote Marine Laboratory Optical Phytoplankton Discriminator (OPD)
# last modified: ahails@mote.org 29 August 2011
sensor: c_moteopd_on(sec) -1 # >=0 turns it on, <0 stops it
sensor: c_moteopd_debug(bool) 0 # 1 for verbose logging
sensor: c_moteopd_data_overtime(sec) 600 # Max. time to allow before OPD data flagged as overdue
sensor: sci_moteopd_is_installed(bool) 0 # installed on science
sensor: sci_moteopd_sn(nodim) 0 # OPD unit serial number
sensor: sci_moteopd_status(nodim) 0 # OPD's binary cumulative error code
sensor: sci_moteopd_volt(nodim) 0 # its measured supply voltage, VDC
sensor: sci_moteopd_press(nodim) 0 # filter backpressure, psi
sensor: sci_moteopd_cdomref(nodim) 0 # remaining cdom reference fluid supply, mL
sensor: sci_moteopd_int_time(nodim) 0 # spectrometer integration time, msec
sensor: sci_moteopd_start_time(timestamp) 0 # timestamp, unix
sensor: sci_moteopd_stop_time(timestamp) 0 # timestamp, unix
sensor: sci_moteopd_absorb_a(nodim) 0 # slope of best-fit line of CDOM absorbance
sensor: sci_moteopd_absorb_b(nodim) 0 # intercept of best-fit line of CDOM absorbance
sensor: sci_moteopd_corr0(nodim) 0 # similarity index for the 0th species file
sensor: sci_moteopd_corr1(nodim) 0 # similarity index for the 1st species file
sensor: sci_moteopd_corr2(nodim) 0 # similarity index for the 2nd species file
sensor: sci_moteopd_corr3(nodim) 0 # etc. these vary with OPD setup, may be all or just 0th
sensor: 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 hydrophone
sensor: c_hydrophone_on(sec) -1.0 # positive or zero turns it on and starts sampling sequence
sensor: c_hydrophone_pre_delay(sec) 15.0 # delay between proglet start and sample start
sensor: c_hydrophone_post_delay(sec) 30.0 # delay between sample done and starting over
sensor: c_hydrophone_duration(sec) 30.0 # how long a measurement
sensor: c_hydrophone_gain(nodim) 3.0 # 0-7
sensor: c_hydrophone_num_channels(nodim) 1.0 # 1-4
sensor: c_hydrophone_sample_rate(Hz) 5000.0 # 1000-5000, how fast to AD
sensor: c_hydrophone_drive_num(nodim) 3.0 # 2->C:, 3:->D: etc
sensor: c_hydrophone_pre_pings(nodim) 1.0 # number of pings before sample
sensor: c_hydrophone_post_pings(nodim) 2.0 # number of pings after sample
sensor: sci_hydrophone_is_installed(bool) 0.0 # T-> if proglet installed
sensor: 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_disk
sensor: sci_hard_disk_is_installed(bool) 0.0 # true means installed
# proglet bbfl2s: wet labs bbfl2slo fluorometer / backscatter sensor
sensor: c_bbfl2s_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bbfl2s_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bbfl2s_chlor_cwo(nodim) 56 # clean water offset, nodim == counts
sensor: u_bbfl2s_cdom_cwo(nodim) 54 # clean water offset, nodim == counts
sensor: 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 units
sensor: 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 sent
sensor: sci_bbfl2s_bb_scaled(nodim) 0 # derived from col 4
sensor: sci_bbfl2s_chlor_scaled(ug/l) 0 # derived from col 6
sensor: sci_bbfl2s_cdom_scaled(ppb) 0 # derived from col 8
sensor: sci_bbfl2s_bb_sig(nodim) 0 # col 4
sensor: sci_bbfl2s_chlor_sig(nodim) 0 # col 6
sensor: sci_bbfl2s_cdom_sig(nodim) 0 # col 8
sensor: sci_bbfl2s_bb_ref(nodim) 0 # col 3
sensor: sci_bbfl2s_chlor_ref(nodim) 0 # col 5
sensor: sci_bbfl2s_cdom_ref(nodim) 0 # col 7
sensor: sci_bbfl2s_temp(nodim) 0 # col 9
sensor: sci_bbfl2s_timestamp(timestamp) 0 # secs since 1970
# proglet bbfl2sV2: wet labs bbfl2slo fluorometer / backscatter sensor, 2nd conf
sensor: c_bbfl2sV2_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bbfl2sV2_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bbfl2sV2_fl1_cwo(nodim) 43 # Phycoerythrin, clean water offset, nodim == counts
sensor: u_bbfl2sV2_fl2_cwo(nodim) 52 # CDOM, clean water offset, nodim == counts
sensor: 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 units
sensor: 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 sent
sensor: sci_bbfl2sV2_bb_scaled(nodim) 0 # derived from col 4
sensor: sci_bbfl2sV2_fl1_scaled(nodim) 0 # derived from col 6
sensor: sci_bbfl2sV2_fl2_scaled(nodim) 0 # derived from col 8
sensor: sci_bbfl2sV2_bb_sig(nodim) 0 # col 4
sensor: sci_bbfl2sV2_fl1_sig(nodim) 0 # col 6
sensor: sci_bbfl2sV2_fl2_sig(nodim) 0 # col 8
sensor: sci_bbfl2sV2_bb_ref(nodim) 0 # col 3
sensor: sci_bbfl2sV2_fl1_ref(nodim) 0 # col 5
sensor: sci_bbfl2sV2_fl2_ref(nodim) 0 # col 7
sensor: sci_bbfl2sV2_therm(nodim) 0 # col 9
sensor: sci_bbfl2sV2_timestamp(timestamp) 0 # secs since 1970
# proglet fl3slo: wet labs fl3slo fluorometer triplet sensor
sensor: c_fl3slo_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_fl3slo_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_fl3slo_phyco_cwo(nodim) 55 # clean water offset, nodim == counts
sensor: u_fl3slo_cdom_cwo(nodim) 55 # clean water offset, nodim == counts
sensor: u_fl3slo_chlor_sf(ug/l/nodim) 0.0126 # scale factor to get units
sensor: u_fl3slo_phyco_sf(ppb/l/nodim) 0.0459 # scale factor to get units
sensor: 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 sent
sensor: sci_fl3slo_chlor_units(ug/l) 0 # derived from col 4
sensor: sci_fl3slo_phyco_units(ppb) 0 # derived from col 6
sensor: sci_fl3slo_cdom_units(QSDE) 0 # derived from col 8
sensor: sci_fl3slo_chlor_sig(nodim) 0 # col 4
sensor: sci_fl3slo_phyco_sig(nodim) 0 # col 6
sensor: sci_fl3slo_cdom_sig(nodim) 0 # col 8
sensor: sci_fl3slo_chlor_ref(nodim) 0 # col 3
sensor: sci_fl3slo_phyco_ref(nodim) 0 # col 5
sensor: sci_fl3slo_cdom_ref(nodim) 0 # col 7
sensor: sci_fl3slo_temp(nodim) 0 # col 9
sensor: sci_fl3slo_timestamp(timestamp) 0 # secs since 1970
# proglet bb3slo: wet labs bb3slo backscatter triplet sensor
sensor: c_bb3slo_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb3slo_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bb3slo_b532_do(nodim) 51 # dark offset, nodim == counts
sensor: u_bb3slo_b660_do(nodim) 114 # dark offset, nodim == counts
sensor: 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 sent
sensor: sci_bb3slo_b470_scaled(nodim) 0 # from col 4, blue
sensor: sci_bb3slo_b532_scaled(nodim) 0 # from col 6, green
sensor: sci_bb3slo_b660_scaled(nodim) 0 # from col 8, red
sensor: sci_bb3slo_b470_sig(nodim) 0 # col 4, blue
sensor: sci_bb3slo_b532_sig(nodim) 0 # col 6, green
sensor: sci_bb3slo_b660_sig(nodim) 0 # col 8, red
sensor: sci_bb3slo_b470_ref(nodim) 0 # col 3, blue
sensor: sci_bb3slo_b532_ref(nodim) 0 # col 5, green
sensor: sci_bb3slo_b660_ref(nodim) 0 # col 7, red
sensor: sci_bb3slo_temp(nodim) 0 # col 9
sensor: sci_bb3slo_timestamp(timestamp) 0 # secs since 1970
# proglet oxy3835: Aanderaa Oxygen Optode 3835
sensor: c_oxy3835_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_oxy3835_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 sent
sensor: sci_oxy3835_oxygen(nodim) 0 # col 3, oxygen
sensor: sci_oxy3835_saturation(nodim) 0 # col 4, saturation
sensor: sci_oxy3835_temp(nodim) 0 # col 5, temperature
sensor: sci_oxy3835_timestamp(timestamp) 0 # secs since 1970
# proglet oxy3835_wphase: Aanderaa Oxygen Optode 3835
sensor: c_oxy3835_wphase_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_oxy3835_wphase_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 sent
sensor: sci_oxy3835_wphase_oxygen(nodim) 0 # col 3, oxygen
sensor: sci_oxy3835_wphase_saturation(nodim) 0 # col 4, saturation
sensor: sci_oxy3835_wphase_temp(nodim) 0 # col 5, temperature
sensor: sci_oxy3835_wphase_dphase(nodim) 0 # col 6, d-phase
sensor: sci_oxy3835_wphase_bphase(nodim) 0 # col 7, b-phase
sensor: sci_oxy3835_wphase_rphase(nodim) 0 # col 8, r-phase
sensor: sci_oxy3835_wphase_bamp(nodim) 0 # col 9, b-amp
sensor: sci_oxy3835_wphase_bpot(nodim) 0 # col 10, b-pot
sensor: sci_oxy3835_wphase_ramp(nodim) 0 # col 11, r-amp
sensor: sci_oxy3835_wphase_rawtemp(nodim) 0 # col 12, RawTemp
sensor: sci_oxy3835_wphase_timestamp(timestamp) 0 # secs since 1970
# proglet viper: DMA Viper Processor
sensor: c_viper_on(sec) -1.0 # positive or zero turns it on and starts sampling sequence
sensor: c_viper_turn_on_timeout(sec) 120.0 # max wait time for viper to power on
sensor: c_viper_collect_timeout(sec) 200.0 # max wait time for viper to collect/analyse acoustic data
sensor: c_viper_reset_timeout(sec) 60.0 # max wait time for viper to respond to reset gain command
sensor: c_viper_start_sampling_timeout(sec) 60.0 # max wait time for viper to respond to start sampling command
sensor: c_viper_detection_done_timeout(sec) 60.0 # max wait time for viper to respond to detection done command
sensor: c_viper_turn_off_timeout(sec) 120.0 # max wait time for viper to power off
sensor: c_viper_gain(nodim) 3.0 # 0-7 gain sent to viper
sensor: c_viper_max_sample_starts(nodim) 3.0 # max allowable attempts to obtain a definitive detection
sensor: c_viper_max_errors(nodim) 3.0 # max number of viper errors before mission abort
sensor: sci_viper_power_on(bool) 0 # power state of the Viper, true -> on
sensor: sci_viper_error(nodim) 0 # unique number for each error sequence
sensor: sci_viper_target(enum) 0 # target priority returned by Viper
sensor: sci_viper_collect_time(sec) 0 # data collection time returned by Viper
sensor: sci_viper_is_installed(bool) 0.0 # T-> if proglet installed
sensor: sci_viper_finished(bool) 0.0 # T-> viper is ready to be powered down
sensor: sci_viper_collecting(bool) 0.0 # T-> viper is doing it's thing, comatose time
# proglet ocr504R: Satlantic OCR-504 Radiance configuration
#Inputs
sensor: c_ocr504R_on(sec) 0 # sets secs between how often data is sent
# <0 stops, 0 fast as possible, 0> that many secs
sensor: 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 1
sensor: u_ocr504R_cal_coeff_c1(Tnodim) 29310.139102 # calibration factor for channel 1
sensor: u_ocr504R_immersion_coeff_c1(nodim) 1.758 # immersion factor for channel 1
sensor: u_ocr504R_dark_counts_c2(nodim) 2147357165.1 # dark offset for channel 2
sensor: u_ocr504R_cal_coeff_c2(Tnodim) 33825.794480 # calibration factor for channel 2
sensor: u_ocr504R_immersion_coeff_c2(nodim) 1.752 # immersion factor for channel 2
sensor: u_ocr504R_dark_counts_c3(nodim) 2147621476.7 # dark offset for channel 3
sensor: u_ocr504R_cal_coeff_c3(Tnodim) 29314.178969 # calibration factor for channel 3
sensor: u_ocr504R_immersion_coeff_c3(nodim) 1.746 # immersion factor for channel 3
sensor: u_ocr504R_dark_counts_c4(nodim) 2147499550.4 # dark offset for channel 4
sensor: u_ocr504R_cal_coeff_c4(Tnodim) 18677.199017 # calibration factor for channel 4
sensor: u_ocr504R_immersion_coeff_c4(nodim) 1.739 # immersion factor for channel 4
sensor: u_ocr504R_Vin_a0(nodim) 0.0 # polynomial coefficient to scale Vin
sensor: u_ocr504R_Vin_a1(nodim) 0.03 # polynomial coefficient to scale Vin
sensor: u_ocr504R_itemp_a0(nodim) -50.0 # polynomial coefficient to scale itemp
sensor: u_ocr504R_itemp_a1(nodim) 0.5 # polynomial coefficient to scale itemp
sensor: 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 below
sensor: 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 channel1
sensor: sci_ocr504R_rad2(uW/cm^2/nm) # from channel2
sensor: sci_ocr504R_rad3(uW/cm^2/nm) # from channel3
sensor: sci_ocr504R_rad4(uW/cm^2/nm) # from channel4
sensor: sci_ocr504R_itemp(Celsius) # internal temperature of instrument
sensor: sci_ocr504R_Vin(volts) # regulated input voltage
sensor: sci_ocr504R_fcount(nodim) # 0-255, count of frame transmitted
sensor: sci_ocr504R_channel1(nodim) # raw counts from discrete optical waveband 1
sensor: sci_ocr504R_channel2(nodim) # raw counts from discrete optical waveband 2
sensor: sci_ocr504R_channel3(nodim) # raw counts from discrete optical waveband 3
sensor: sci_ocr504R_channel4(nodim) # raw counts from discrete optical waveband 4
sensor: sci_ocr504R_itemp_raw(nodim) # raw pre-scaled temperature
sensor: sci_ocr504R_Vin_raw(nodim) # raw pre-scaled regulated input voltage
sensor: 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 sampled
sensor: sci_ocr504R_cksum(nodim) # data integrity sensor, checksum on frame
# proglet ocr504I: Satlantic OCR-504 Irradiance configuration
#Inputs
sensor: c_ocr504I_on(sec) 0 # sets secs between how often data is sent
# <0 stops, 0 fast as possible, 0> that many secs
sensor: 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 1
sensor: u_ocr504I_cal_coeff_c1(Tnodim) 1636922.3650 # calibration factor for channel 1
sensor: u_ocr504I_immersion_coeff_c1(nodim) 1.368 # immersion factor for channel 1
sensor: u_ocr504I_dark_counts_c2(nodim) 2147446582.0 # dark offset for channel 2
sensor: u_ocr504I_cal_coeff_c2(Tnodim) 1940758.5765 # calibration factor for channel 2
sensor: u_ocr504I_immersion_coeff_c2(nodim) 1.410 # immersion factor for channel 2
sensor: u_ocr504I_dark_counts_c3(nodim) 2147390884.4 # dark offset for channel 3
sensor: u_ocr504I_cal_coeff_c3(Tnodim) 2286152.2061 # calibration factor for channel 3
sensor: u_ocr504I_immersion_coeff_c3(nodim) 1.365 # immersion factor for channel 3
sensor: u_ocr504I_dark_counts_c4(nodim) 2147443303.2 # dark offset for channel 4
sensor: u_ocr504I_cal_coeff_c4(Tnodim) 1804514.9462 # calibration factor for channel 4
sensor: u_ocr504I_immersion_coeff_c4(nodim) 1.372 # immersion factor for channel 4
sensor: u_ocr504I_Vin_a0(nodim) 0.0 # polynomial coefficient to scale Vin
sensor: u_ocr504I_Vin_a1(nodim) 0.03 # polynomial coefficient to scale Vin
sensor: u_ocr504I_itemp_a0(nodim) -50.0 # polynomial coefficient to scale itemp
sensor: u_ocr504I_itemp_a1(nodim) 0.5 # polynomial coefficient to scale itemp
sensor: 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 below
sensor: 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 channel1
sensor: sci_ocr504I_irrad2(uW/cm^2/nm) # from channel2
sensor: sci_ocr504I_irrad3(uW/cm^2/nm) # from channel3
sensor: sci_ocr504I_irrad4(uW/cm^2/nm) # from channel4
sensor: sci_ocr504I_itemp(Celsius) # internal temperature of instrument
sensor: sci_ocr504I_Vin(volts) # regulated input voltage
sensor: sci_ocr504I_fcount(nodim) # 0-255, count of frame transmitted
sensor: sci_ocr504I_channel1(nodim) # raw counts from discrete optical waveband 1
sensor: sci_ocr504I_channel2(nodim) # raw counts from discrete optical waveband 2
sensor: sci_ocr504I_channel3(nodim) # raw counts from discrete optical waveband 3
sensor: sci_ocr504I_channel4(nodim) # raw counts from discrete optical waveband 4
sensor: sci_ocr504I_itemp_raw(nodim) # raw pre-scaled temperature
sensor: sci_ocr504I_Vin_raw(nodim) # raw pre-scaled regulated input voltage
sensor: 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 sampled
sensor: sci_ocr504I_cksum(nodim) # data integrity sensor, checksum on frame
# proglet ocr507R: Satlantic OCR-507 Radiance configuration
#Inputs
sensor: c_ocr507R_on(sec) 0 # sets secs between how often data is sent
# <0 stops, 0 fast as possible, 0> that many secs
sensor: 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 1
sensor: u_ocr507R_cal_coeff_c1(Tnodim) 27096.112147 # calibration factor for channel 1
sensor: u_ocr507R_immersion_coeff_c1(nodim) 1.758 # immersion factor for channel 1
sensor: u_ocr507R_dark_counts_c2(nodim) 2147915422.1 # dark offset for channel 2
sensor: u_ocr507R_cal_coeff_c2(Tnodim) 27065.322575 # calibration factor for channel 2
sensor: u_ocr507R_immersion_coeff_c2(nodim) 1.754 # immersion factor for channel 2
sensor: u_ocr507R_dark_counts_c3(nodim) 2148704283.1 # dark offset for channel 3
sensor: u_ocr507R_cal_coeff_c3(Tnodim) 26930.360588 # calibration factor for channel 3
sensor: u_ocr507R_immersion_coeff_c3(nodim) 1.745 # immersion factor for channel 3
sensor: u_ocr507R_dark_counts_c4(nodim) 2148332704.3 # dark offset for channel 4
sensor: u_ocr507R_cal_coeff_c4(Tnodim) 17037.140659 # calibration factor for channel 4
sensor: u_ocr507R_immersion_coeff_c4(nodim) 1.741 # immersion factor for channel 4
sensor: u_ocr507R_dark_counts_c5(nodim) 2147608197.8 # dark offset for channel 5
sensor: u_ocr507R_cal_coeff_c5(Tnodim) 16287.406269 # calibration factor for channel 5
sensor: u_ocr507R_immersion_coeff_c5(nodim) 1.739 # immersion factor for channel 5
sensor: u_ocr507R_dark_counts_c6(nodim) 2146048148.6 # dark offset for channel 6
sensor: u_ocr507R_cal_coeff_c6(Tnodim) 11802.500350 # calibration factor for channel 6
sensor: u_ocr507R_immersion_coeff_c6(nodim) 1.730 # immersion factor for channel 6
sensor: u_ocr507R_dark_counts_c7(nodim) 2145662191.9 # dark offset for channel 7
sensor: u_ocr507R_cal_coeff_c7(Tnodim) 5511.536788 # calibration factor for channel 7
sensor: u_ocr507R_immersion_coeff_c7(nodim) 1.729 # immersion factor for channel 7
sensor: u_ocr507R_Vin_a0(nodim) 0.0 # polynomial coefficient to scale Vin
sensor: u_ocr507R_Vin_a1(nodim) 0.03 # polynomial coefficient to scale Vin
sensor: u_ocr507R_Va_a0(nodim) 0.0 # polynomial coefficient to scale Vin
sensor: u_ocr507R_Va_a1(nodim) 0.03 # polynomial coefficient to scale Vin
sensor: u_ocr507R_itemp_a0(nodim) -50.0 # polynomial coefficient to scale itemp
sensor: u_ocr507R_itemp_a1(nodim) 0.5 # polynomial coefficient to scale itemp
sensor: 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 below
sensor: 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 channel1
sensor: sci_ocr507R_rad2(uW/cm^2/nm) # from channel2
sensor: sci_ocr507R_rad3(uW/cm^2/nm) # from channel3
sensor: sci_ocr507R_rad4(uW/cm^2/nm) # from channel4
sensor: sci_ocr507R_rad5(uW/cm^2/nm) # from channel5
sensor: sci_ocr507R_rad6(uW/cm^2/nm) # from channel6
sensor: sci_ocr507R_rad7(uW/cm^2/nm) # from channel7
sensor: sci_ocr507R_itemp(Celsius) # internal temperature of instrument
sensor: sci_ocr507R_Vin(volts) # regulated input voltage
sensor: sci_ocr507R_Va(volts) # analog voltage
sensor: sci_ocr507R_fcount(nodim) # 0-255, count of frame transmitted
sensor: sci_ocr507R_channel1(nodim) # raw counts from discrete optical waveband 1
sensor: sci_ocr507R_channel2(nodim) # raw counts from discrete optical waveband 2
sensor: sci_ocr507R_channel3(nodim) # raw counts from discrete optical waveband 3
sensor: sci_ocr507R_channel4(nodim) # raw counts from discrete optical waveband 4
sensor: sci_ocr507R_channel5(nodim) # raw counts from discrete optical waveband 5
sensor: sci_ocr507R_channel6(nodim) # raw counts from discrete optical waveband 6
sensor: sci_ocr507R_channel7(nodim) # raw counts from discrete optical waveband 7
sensor: sci_ocr507R_itemp_raw(nodim) # raw pre-scaled temperature
sensor: sci_ocr507R_Vin_raw(nodim) # raw pre-scaled regulated input voltage
sensor: sci_ocr507R_Va_raw(nodim) # raw pre-scaled analog voltage
sensor: 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 sampled
sensor: sci_ocr507R_cksum(nodim) # data integrity sensor, checksum on frame
# proglet ocr507I: Satlantic OCR-507 Irradiance configuration
#Inputs
sensor: c_ocr507I_on(sec) 0 # sets secs between how often data is sent
# <0 stops, 0 fast as possible, 0> that many secs
sensor: 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 1
sensor: u_ocr507I_cal_coeff_c1(Tnodim) 2139416.2652 # calibration factor for channel 1
sensor: u_ocr507I_immersion_coeff_c1(nodim) 1.368 # immersion factor for channel 1
sensor: u_ocr507I_dark_counts_c2(nodim) 2147351752.0 # dark offset for channel 2
sensor: u_ocr507I_cal_coeff_c2(Tnodim) 1973191.3026 # calibration factor for channel 2
sensor: u_ocr507I_immersion_coeff_c2(nodim) 1.401 # immersion factor for channel 2
sensor: u_ocr507I_dark_counts_c3(nodim) 2148356170.6 # dark offset for channel 3
sensor: u_ocr507I_cal_coeff_c3(Tnodim) 2072416.6110 # calibration factor for channel 3
sensor: u_ocr507I_immersion_coeff_c3(nodim) 1.365 # immersion factor for channel 3
sensor: u_ocr507I_dark_counts_c4(nodim) 2147879094.8 # dark offset for channel 4
sensor: u_ocr507I_cal_coeff_c4(Tnodim) 2070368.1944 # calibration factor for channel 4
sensor: u_ocr507I_immersion_coeff_c4(nodim) 1.378 # immersion factor for channel 4
sensor: u_ocr507I_dark_counts_c5(nodim) 2147571956.1 # dark offset for channel 5
sensor: u_ocr507I_cal_coeff_c5(Tnodim) 2108980.9681 # calibration factor for channel 5
sensor: u_ocr507I_immersion_coeff_c5(nodim) 1.372 # immersion factor for channel 5
sensor: u_ocr507I_dark_counts_c6(nodim) 2147977849.9 # dark offset for channel 6
sensor: u_ocr507I_cal_coeff_c6(Tnodim) 2209709.2232 # calibration factor for channel 6
sensor: u_ocr507I_immersion_coeff_c6(nodim) 1.354 # immersion factor for channel 6
sensor: u_ocr507I_dark_counts_c7(nodim) 2147679441.1 # dark offset for channel 7
sensor: u_ocr507I_cal_coeff_c7(Tnodim) 2090347.2455 # calibration factor for channel 7
sensor: u_ocr507I_immersion_coeff_c7(nodim) 1.347 # immersion factor for channel 7
sensor: u_ocr507I_Vin_a0(nodim) 0.0 # polynomial coefficient to scale Vin
sensor: u_ocr507I_Vin_a1(nodim) 0.03 # polynomial coefficient to scale Vin
sensor: u_ocr507I_Va_a0(nodim) 0.0 # polynomial coefficient to scale Va
sensor: u_ocr507I_Va_a1(nodim) 0.03 # polynomial coefficient to scale Va
sensor: u_ocr507I_itemp_a0(nodim) -50.0 # polynomial coefficient to scale itemp
sensor: u_ocr507I_itemp_a1(nodim) 0.5 # polynomial coefficient to scale itemp
sensor: 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 below
sensor: 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 channel1
sensor: sci_ocr507I_irrad2(uW/cm^2/nm) # from channel2
sensor: sci_ocr507I_irrad3(uW/cm^2/nm) # from channel3
sensor: sci_ocr507I_irrad4(uW/cm^2/nm) # from channel4
sensor: sci_ocr507I_irrad5(uW/cm^2/nm) # from channel5
sensor: sci_ocr507I_irrad6(uW/cm^2/nm) # from channel6
sensor: sci_ocr507I_irrad7(uW/cm^2/nm) # from channel7
sensor: sci_ocr507I_itemp(Celsius) # internal temperature of instrument
sensor: sci_ocr507I_Vin(volts) # regulated input voltage
sensor: sci_ocr507I_Va(volts) # analog voltag
sensor: sci_ocr507I_fcount(nodim) # 0-255, count of frame transmitted
sensor: sci_ocr507I_channel1(nodim) # raw counts from discrete optical waveband 1
sensor: sci_ocr507I_channel2(nodim) # raw counts from discrete optical waveband 2
sensor: sci_ocr507I_channel3(nodim) # raw counts from discrete optical waveband 3
sensor: sci_ocr507I_channel4(nodim) # raw counts from discrete optical waveband 4
sensor: sci_ocr507I_channel5(nodim) # raw counts from discrete optical waveband 5
sensor: sci_ocr507I_channel6(nodim) # raw counts from discrete optical waveband 6
sensor: sci_ocr507I_channel7(nodim) # raw counts from discrete optical waveband 7
sensor: sci_ocr507I_itemp_raw(nodim) # raw pre-scaled temperature
sensor: sci_ocr507I_Vin_raw(nodim) # raw pre-scaled regulated input voltage
sensor: sci_ocr507I_Va_raw(nodim) # raw pre-scaled analog voltage
sensor: 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 sampled
sensor: 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 cycles
sensor: c_badd_mode(enum) 57 # bit mapped operating steps:
# range 1 ON
# autobaud 2
# probe 4
# testlink 8 ON
# send 16 ON
# receive 32 ON
sensor: c_badd_target_id(enum) -1 # address of remote host modem being called
sensor: 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) * 2
sensor: c_badd_range_tries(int) 15 # how many times to request range to remote mode
sensor: c_badd_input_parse_secs(sec) 60 # Timeout for all modem messages except data receive
sensor: c_badd_datacol_status_secs(sec) 300 # Timeout for data receive
sensor: c_badd_data_min_rate(%) 50 # Minimum success rate to maintain data collection
sensor: c_badd_data_min_tries(int) 5 # Minimum # tries to do data collection
sensor: c_badd_session_secs(sec) 3600 # Max time for session
sensor: c_badd_clear_remote_data(bool) 0 # 0: do NOT clear remote data after successful
sensor: c_badd_initial_wait_secs(sec) 30 # Initial wait after starting before operation
sensor: c_badd_retry_wait_secs(sec) 300 # Wait after unsuccessful attempt before retry
sensor: c_baud_attempt_min(enum) 3 # minimum badd baud attempt
sensor: 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_FH
sensor: c_autobaud_max_ber(nodim) 0 # max BER allowed
sensor: 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 installed
sensor: sci_badd_power_on(bool) 0 # power state of modem (true -> on)
sensor: sci_badd_error(nodim) 0 # unique number for each error type
sensor: sci_badd_remote_stored_bytes(nodim) 0 # number of stored bytes on remote modem
sensor: sci_badd_retrieved_bytes(nodim) 0 # number of bytes collected from remote modem
sensor: sci_badd_n_tries_to_connect(nodim) 0 # number of attempts to connect with target modem
sensor: sci_badd_target_range(m) 0 # response to range command
sensor: sci_badd_finished(bool) 0 # the proglet has finished
sensor: sci_badd_state(enum) 0 # operating state of modem
sensor: sci_badd_error_rate(%) 0 # receive data error rate
# proglet flntu: wet labs flntu fluorometer and turbidity sensor
sensor: c_flntu_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_flntu_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_flntu_turb_do(nodim) 47 # dark water offset, nodim == counts
sensor: u_flntu_chlor_sf(ug/l/nodim) 0.0125 # scale factor to get units
sensor: 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 sent
sensor: sci_flntu_chlor_units(ug/l) 0 # derived from col 4
sensor: sci_flntu_turb_units(NTU) 0 # derived from col 6
sensor: sci_flntu_chlor_sig(nodim) 0 # col 4
sensor: sci_flntu_turb_sig(nodim) 0 # col 6
sensor: sci_flntu_chlor_ref(nodim) 0 # col 3
sensor: sci_flntu_turb_ref(nodim) 0 # col 5
sensor: sci_flntu_temp(nodim) 0 # col 7
sensor: sci_flntu_timestamp(timestamp) 0 # secs since 1970
# proglet fl3sloV2: wet labs fl3slo fluorometer triplet sensor, 2nd configuration
sensor: c_fl3sloV2_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_fl3sloV2_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_fl3sloV2_rhod_cwo(nodim) 49 # clean water offset, nodim == counts
sensor: u_fl3sloV2_cdom_cwo(nodim) 48 # clean water offset, nodim == counts
sensor: u_fl3sloV2_chlor_sf(ug/l/nodim) 0.0127 # scale factor to get units
sensor: u_fl3sloV2_rhod_sf(ppb/nodim) 0.0481 # scale factor to get units
sensor: 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 sent
sensor: sci_fl3sloV2_chlor_units(ug/l) 0 # derived from col 4
sensor: sci_fl3sloV2_rhod_units(ppb) 0 # derived from col 6
sensor: sci_fl3sloV2_cdom_units(ppb) 0 # derived from col 8
sensor: sci_fl3sloV2_chlor_sig(nodim) 0 # col 4
sensor: sci_fl3sloV2_rhod_sig(nodim) 0 # col 6
sensor: sci_fl3sloV2_cdom_sig(nodim) 0 # col 8
sensor: sci_fl3sloV2_chlor_ref(nodim) 0 # col 3
sensor: sci_fl3sloV2_rhod_ref(nodim) 0 # col 5
sensor: sci_fl3sloV2_cdom_ref(nodim) 0 # col 7
sensor: sci_fl3sloV2_temp(nodim) 0 # col 9
sensor: sci_fl3sloV2_timestamp(timestamp) 0 # secs since 1970
# proglet bb3sloV2: wet labs bb3slo backscatter triplet sensor, 2nd configuration
sensor: c_bb3sloV2_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb3sloV2_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bb3sloV2_b660_do(nodim) 49 # dark offset, nodim == counts
sensor: u_bb3sloV2_b880_do(nodim) 52 # dark offset, nodim == counts
sensor: 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 sent
sensor: sci_bb3sloV2_b532_scaled(nodim) 0 # from col 4
sensor: sci_bb3sloV2_b660_scaled(nodim) 0 # from col 6
sensor: sci_bb3sloV2_b880_scaled(nodim) 0 # from col 8
sensor: sci_bb3sloV2_b532_sig(nodim) 0 # col 4
sensor: sci_bb3sloV2_b660_sig(nodim) 0 # col 6
sensor: sci_bb3sloV2_b880_sig(nodim) 0 # col 8
sensor: sci_bb3sloV2_b532_ref(nodim) 0 # col 3
sensor: sci_bb3sloV2_b660_ref(nodim) 0 # col 5
sensor: sci_bb3sloV2_b880_ref(nodim) 0 # col 7
sensor: sci_bb3sloV2_temp(nodim) 0 # col 9
sensor: sci_bb3sloV2_timestamp(timestamp) 0 # secs since 1970
# proglet bb3sloV3: wet labs bb3slo backscatter triplet sensor, 3nd configuration
sensor: c_bb3sloV3_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb3sloV3_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bb3sloV3_b630_do(nodim) 11 # dark offset, nodim == counts
sensor: u_bb3sloV3_b880_do(nodim) 18 # dark offset, nodim == counts
sensor: 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 sent
sensor: sci_bb3sloV3_b532_scaled(nodim) 0 # from col 4
sensor: sci_bb3sloV3_b630_scaled(nodim) 0 # from col 6
sensor: sci_bb3sloV3_b880_scaled(nodim) 0 # from col 8
sensor: sci_bb3sloV3_b532_sig(nodim) 0 # col 4
sensor: sci_bb3sloV3_b630_sig(nodim) 0 # col 6
sensor: sci_bb3sloV3_b880_sig(nodim) 0 # col 8
sensor: sci_bb3sloV3_b532_ref(nodim) 0 # col 3
sensor: sci_bb3sloV3_b630_ref(nodim) 0 # col 5
sensor: sci_bb3sloV3_b880_ref(nodim) 0 # col 7
sensor: sci_bb3sloV3_temp(nodim) 0 # col 9
sensor: sci_bb3sloV3_timestamp(timestamp) 0 # secs since 1970
# simulator proglet wetlabs_sim: generic wet labs sensor simulator
sensor: sci_wetlabs_sim_is_installed(bool) 0 # in, t--> wetlabs sensor is being simulated on science computer
sensor: u_wetlabs_sim_num_eng_units(nodim) 3 # currently, either 2 or 3
# proglet bb2fls: wet labs bb2flslk scatter meter and fluorometer sensor
sensor: c_bb2fls_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2fls_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bb2fls_b880_cwo(nodim) 48 # clean water offset, nodim == counts
sensor: u_bb2fls_cdom_cwo(nodim) 45 # clean water offset, nodim == counts
sensor: 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 sent
sensor: sci_bb2fls_b660_scaled(nodim) 0 # derived from col 4
sensor: sci_bb2fls_b880_scaled(nodim) 0 # derived from col 6
sensor: sci_bb2fls_cdom_scaled(ppb) 0 # derived from col 8
sensor: sci_bb2fls_b660_sig(nodim) 0 # col 4
sensor: sci_bb2fls_b880_sig(nodim) 0 # col 6
sensor: sci_bb2fls_cdom_sig(nodim) 0 # col 8
sensor: sci_bb2fls_b660_ref(nodim) 0 # col 3
sensor: sci_bb2fls_b880_ref(nodim) 0 # col 5
sensor: sci_bb2fls_cdom_ref(nodim) 0 # col 7
sensor: sci_bb2fls_therm(nodim) 0 # col 9
sensor: sci_bb2fls_timestamp(timestamp) 0 # secs since 1970
# proglet bb2flsV2: wet labs bb2flslk scatter meter and fluorometer sensor, 2nd configuration
sensor: c_bb2flsV2_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2flsV2_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bb2flsV2_b532_cwo(nodim) 50 # clean water offset, nodim == counts
sensor: u_bb2flsV2_chl_cwo(nodim) 51 # clean water offset, nodim == counts
sensor: 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 sent
sensor: sci_bb2flsV2_b470_scaled(nodim) 0 # derived from col 4
sensor: sci_bb2flsV2_b532_scaled(nodim) 0 # derived from col 6
sensor: sci_bb2flsV2_chl_scaled(ug/l) 0 # derived from col 8
sensor: sci_bb2flsV2_b470_sig(nodim) 0 # col 4
sensor: sci_bb2flsV2_b532_sig(nodim) 0 # col 6
sensor: sci_bb2flsV2_chl_sig(nodim) 0 # col 8
sensor: sci_bb2flsV2_b470_ref(nodim) 0 # col 3
sensor: sci_bb2flsV2_b532_ref(nodim) 0 # col 5
sensor: sci_bb2flsV2_chl_ref(nodim) 0 # col 7
sensor: sci_bb2flsV2_therm(nodim) 0 # col 9
sensor: sci_bb2flsV2_timestamp(timestamp) 0 # secs since 1970
# simulator proglet auvb_sim: Wet Labs AUV-B Fluorometer simulator
sensor: sci_auvb_sim_is_installed(bool) 0 # in, t--> auvb is being simulated on science computer
# proglet auvb: wet labs auv-b ECO Fluorometer
sensor: c_auvb_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_auvb_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 order
sensor: sci_auvb_ref(nodim) 0 # col 3, refernece counts
sensor: sci_auvb_sig(nodim) 0 # col 4, signal counts
sensor: sci_auvb_therm(nodim) 0 # col 5, internal thermistor
sensor: sci_auvb_timestamp(timestamp) 0 # secs since 1970
# proglet bb2fV2: wet labs bb2fslo scatter meter and fluorometer sensor
sensor: c_bb2fV2_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2fV2_is_installed(bool) 0 # in, t--> installed on science
sensor: 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) = -2
sensor: 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 == counts
sensor: u_bb2fV2_b700_cwo(nodim) 58 # clean water offset, nodim == counts
sensor: u_bb2fV2_chlor_cwo(nodim) 53 # clean water offset, nodim == counts
sensor: 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 sent
sensor: sci_bb2fV2_b470_scaled(nodim) 0 # derived from col 4
sensor: sci_bb2fV2_b700_scaled(nodim) 0 # derived from col 6
sensor: sci_bb2fV2_chlor_scaled(ug/l) 0 # derived from col 7
sensor: sci_bb2fV2_b470_sig(nodim) 0 # col 4
sensor: sci_bb2fV2_b700_sig(nodim) 0 # col 6
sensor: sci_bb2fV2_chlor(nodim) 0 # col 7
sensor: sci_bb2fV2_b470_ref(nodim) 0 # col 3
sensor: sci_bb2fV2_b700_ref(nodim) 0 # col 5
sensor: sci_bb2fV2_therm(nodim) 0 # col 9
sensor: 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 secs
sensor: u_tarr_num_errors_before_restart(nodim) 5 # number of errors before cycling
# power, <0 = never cycle power
# 0 = restart on any error
sensor: 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 science
sensor: sci_tarr_track_count(nodim) 0 # number of data tracks produced since power on
sensor: sci_tarr_error(nodim) 0 # unique number to indicate error type
# proglet glbps: ASL GLBPS SONAR Device
sensor: c_glbps_on(sec) 1 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_glbps_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 sent
sensor: sci_glbps_round_trip_time(nodim) 0 # col 10, round trip time
sensor: sci_glbps_persistance(nodim) 0 # col 11, persistance
sensor: sci_glbps_timestamp(timestamp) 0 # secs since 1970
sensor: sci_glbps_ping_number(nodim) 0 # col 1, ping number
sensor: sci_glbps_year(nodim) 0 # col 2, year
sensor: sci_glbps_month(nodim) 0 # col 3, month
sensor: sci_glbps_day(nodim) 0 # col 4, day
sensor: sci_glbps_hour(nodim) 0 # col 5, hour
sensor: sci_glbps_minute(nodim) 0 # col 6, minute
sensor: sci_glbps_second(nodim) 0 # col 7, second
sensor: sci_glbps_hundreds_of_second(nodim) 0 # col 8, hundreds of second
sensor: sci_glbps_target_count(nodim) 0 # col 9, target count
#SPAWAR Acoustic Array Proglet
sensor: c_sscsd_on(sec) 2.0 #
sensor: sci_sscsd_is_installed(bool) 0 # in, t--> installed on science
sensor: sci_sscsd_test(nodim) 0 # this is only a test
#output sensors:
sensor: sci_wants_turn(enum) 0 # 0 no request yet
# 1 request
sensor: sci_wants_wpt(enum) 0
sensor: sci_heading(rad) 0 # heading sci wants to turn to
sensor: 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/LONG
sensor: sci_wants_depth(enum) 0 # science request to change depth profile
sensor: sci_depth(m) 0 # depth to change to
sensor: sci_array_heading1(deg) 0
sensor: sci_array_pitch1(deg) 0
sensor: sci_array_roll1(deg) 0
sensor: sci_array_heading2(deg) 0
sensor: sci_array_pitch2(deg) 0
sensor: sci_array_roll2(deg) 0
sensor: sci_array_heading3(deg) 0
sensor: sci_array_pitch3(deg) 0
sensor: sci_array_roll3(deg) 0
# proglet bb2flsV3: wet labs bb2flslk scatter meter and fluorometer sensor, 3rd configuration
sensor: c_bb2flsV3_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2flsV3_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bb2flsV3_b880_cwo(nodim) 51 # clean water offset, nodim == counts
sensor: u_bb2flsV3_pe_cwo(nodim) 51 # clean water offset, nodim == counts
sensor: u_bb2flsV3_b715_sf(Mnodim) 3.62 # scale factor x 1e-6
sensor: u_bb2flsV3_b880_sf(Mnodim) 2.97 # scale factor x 1e-6
sensor: 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 sent
sensor: sci_bb2flsV3_b715_scaled(nodim) 0 # derived from col 4
sensor: sci_bb2flsV3_b880_scaled(nodim) 0 # derived from col 6
sensor: sci_bb2flsV3_pe_scaled(ppb) 0 # derived from col 8
sensor: sci_bb2flsV3_b715_sig(nodim) 0 # col 4
sensor: sci_bb2flsV3_b880_sig(nodim) 0 # col 6
sensor: sci_bb2flsV3_pe_sig(nodim) 0 # col 8
sensor: sci_bb2flsV3_b715_ref(nodim) 0 # col 3
sensor: sci_bb2flsV3_b880_ref(nodim) 0 # col 5
sensor: sci_bb2flsV3_b880_ref(nodim) 0 # col 5sensor: sci_bb2flsV3_pe_ref(nodim) 0 # col 7
sensor: sci_bb2flsV3_therm(nodim) 0 # col 9
sensor: sci_bb2flsV3_timestamp(timestamp) 0 # secs since 1970
# proglet bb2flsV4: wet labs bb2flslk scatter meter and fluorometer sensor, 4th configuration
sensor: c_bb2flsV4_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2flsV4_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bb2flsV4_b470_cwo(nodim) 48 # clean water offset, nodim == counts
sensor: u_bb2flsV4_chl_cwo(nodim) 54 # clean water offset, nodim == counts
sensor: u_bb2flsV4_b412_sf(Mnodim) 13.27 # scale factor x 1e-6
sensor: u_bb2flsV4_b470_sf(Mnodim) 12.08 # scale factor x 1e-6
sensor: 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 sent
sensor: sci_bb2flsV4_b412_scaled(nodim) 0 # derived from col 4
sensor: sci_bb2flsV4_b470_scaled(nodim) 0 # derived from col 6
sensor: sci_bb2flsV4_chl_scaled(ug/l) 0 # derived from col 8
sensor: sci_bb2flsV4_b412_sig(nodim) 0 # col 4
sensor: sci_bb2flsV4_b470_sig(nodim) 0 # col 6
sensor: sci_bb2flsV4_chl_sig(nodim) 0 # col 8
sensor: sci_bb2flsV4_b412_ref(nodim) 0 # col 3
sensor: sci_bb2flsV4_b470_ref(nodim) 0 # col 5
sensor: sci_bb2flsV4_chl_ref(nodim) 0 # col 7
sensor: sci_bb2flsV4_therm(nodim) 0 # col 9
sensor: sci_bb2flsV4_timestamp(timestamp) 0 # secs since 1970
# proglet bb2flsV5: wet labs bb2flslk scatter meter and fluorometer sensor, 5th configuration
sensor: c_bb2flsV5_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2flsV5_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bb2flsV5_b660_cwo(nodim) 59 # clean water offset, nodim == counts
sensor: u_bb2flsV5_cdom_cwo(nodim) 63 # clean water offset, nodim == counts
sensor: u_bb2flsV5_b532_sf(Mnodim) 7.678 # scale factor x 1e-6
sensor: u_bb2flsV5_b660_sf(Mnodim) 3.829 # scale factor x 1e-6
sensor: 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 sent
sensor: sci_bb2flsV5_b532_scaled(nodim) 0 # derived from col 4
sensor: sci_bb2flsV5_b660_scaled(nodim) 0 # derived from col 6
sensor: sci_bb2flsV5_cdom_scaled(ppb) 0 # derived from col 8
sensor: sci_bb2flsV5_b532_sig(nodim) 0 # col 4
sensor: sci_bb2flsV5_b660_sig(nodim) 0 # col 6
sensor: sci_bb2flsV5_cdom_sig(nodim) 0 # col 8
sensor: sci_bb2flsV5_b532_ref(nodim) 0 # col 3
sensor: sci_bb2flsV5_b660_ref(nodim) 0 # col 5
sensor: sci_bb2flsV5_cdom_ref(nodim) 0 # col 7
sensor: sci_bb2flsV5_therm(nodim) 0 # col 9
sensor: sci_bb2flsV5_timestamp(timestamp) 0 # secs since 1970
# proglet bb2flsV6: wet labs bb2flslk scatter meter and fluorometer sensor, 3rd configuration
sensor: c_bb2flsV6_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2flsV6_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bb2flsV6_b880_cwo(nodim) 51 # clean water offset, nodim == counts
sensor: u_bb2flsV6_cdom_cwo(nodim) 42 # clean water offset, nodim == counts
sensor: 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 sent
sensor: sci_bb2flsV6_b532_scaled(nodim) 0 # derived from col 4
sensor: sci_bb2flsV6_b880_scaled(nodim) 0 # derived from col 6
sensor: sci_bb2flsV6_cdom_scaled(ppb) 0 # derived from col 8
sensor: sci_bb2flsV6_b532_sig(nodim) 0 # col 4
sensor: sci_bb2flsV6_b880_sig(nodim) 0 # col 6
sensor: sci_bb2flsV6_cdom_sig(nodim) 0 # col 8
sensor: sci_bb2flsV6_b532_ref(nodim) 0 # col 3
sensor: sci_bb2flsV6_b880_ref(nodim) 0 # col 5
sensor: sci_bb2flsV6_cdom_ref(nodim) 0 # col 7
sensor: sci_bb2flsV6_therm(nodim) 0 # col 9
sensor: sci_bb2flsV6_timestamp(timestamp) 0 # secs since 1970
# proglet FIRe: Satlantic Fluorescence Induction and Relaxation electronics
# input sensors
sensor: c_FIRe_on(sec) 0 #in, >=0 turns it on, <0 stops it
sensor: c_FIRe_num_fields_to_send(nodim) 10 #in, number of columns to send
sensor: u_FIRe_num_errors_before_restart(nodim) 5 # number of errors before
# cycling power,
# <0 = never cycle power
sensor: sci_FIRe_is_installed(bool) 0 # in, t--> installed on science
# output sensors
sensor: sci_FIRe_timestamp(timestamp) 0 # measurement timestamp
sensor: sci_FIRe_Fo(nodim) 0 # Calculated initial fluorescence
sensor: sci_FIRe_Fm(nodim) 0 # Calculated maximum fluorescence
sensor: sci_FIRe_FvFm(nodim) 0 # Calculated maximum quantum yield of
# photochemistry in PSII
sensor: sci_FIRe_s(nodim) 0 # Calculated Sigma-PSII
sensor: sci_FIRe_p(nodim) 0 # Calculated connectivity factor
sensor: sci_FIRe_par(nodim) 0 # Calculated PAR
sensor: sci_FIRe_battery(volts) 0 # Battery volts measured by FIRe
sensor: sci_FIRe_temp(degC) 0 # FIRe PCB temp
sensor: sci_FIRe_frame_count(nodim) 0 # what it says
sensor: 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 control
sensor: c_logger_on(sec) 0 # in, 0 = on, -1 = off
sensor: sci_logger_is_installed(bool) 0 # in, t--> installed on science
sensor: sci_logger_status(enum) 0 # out
sensor: 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 simulator
sensor: sci_bbam_sim_is_installed(bool) 0 # in, t--> bbam is being simulated on science computer
# proglet bbam: Wetlabs BAM beam attenuation meter
sensor: c_bbam_on(sec) 0 # in, 0 = on, -1 = off
sensor: c_bbam_num_fields_to_send(nodim) 6 # in, number of columns to send on each
sensor: sci_bbam_is_installed(bool) 0 # in, t--> installed on science
sensor: sci_bbam_beam_c(1/m) 0 # out, beam C
sensor: sci_bbam_corr_sig(nodim) 0 # out, corrected signal value
sensor: sci_bbam_raw_sig(nodim) 0 # out, raw signal value
sensor: sci_bbam_raw_ref(nodim) 0 # out, raw reference value
sensor: sci_bbam_therm(nodim) 0 # out, thermistor
sensor: 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 messages
sensor: u_uModem_num_errors_before_restart(nodim) 5 # number of errors before cycling
# power, <0 = never cycle power
# 0 = restart on any error
sensor: u_uModem_SRC(nodim) 1 # SRC: [0-15] address of uModem on glider
sensor: 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, symbols
sensor: u_uModem_CST(bool) 1 # Cycle statistics message 0 = off, 1 = on
sensor: u_uModem_DTO(sec) 8 # Data request timeout in seconds
#outputs:
sensor: sci_uModem_is_installed(bool) 0 # in, t--> installed on science
sensor: sci_uModem_error(nodim) 0 # unique number to indicate error type
# proglet rinkoII: JFE ALEC RINKO-II disolved oxygen and temperature sensor
sensor: 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 secs
sensor: c_rinkoII_num_fields_to_send(nodim) 3
# in, number of columns to send on each
# measurement, fields to send chosen
# by order in the list above
sensor: 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, temperature
sensor: sci_rinkoII_DO(%) 0 # col 4, disolved oxygen
sensor: sci_rinkoII_voltage(volts) 0 # col 5, voltage output of oxygen sensor
sensor: 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 secs
sensor: u_dvl_pd_data_stream_select(enum) 0 # (0 or 6) Supports formats PD0 and PD6
sensor: 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 power
sensor: u_dvl_debug_level(nodim) 0 # Diagnostic level
# 0 - DIAG_LEVEL_NORMAL, normal mode of operation, only errors reported.
# 1 - DIAG_LEVEL_STATE_TRACE, proglet state trace info.
# 2 - DIAG_LEVEL_MSG_TRACE, DIAG_LEVEL_STATE_TRACE + message tracing.
# 3 - DIAG_LEVEL_FRAME_TRACE, DIAG_LEVEL_MSG_TRACE + frame tracing.
sensor: u_dvl_ensemble_timeout(sec) 20 # generate error and retry if no data
# after this many seconds
sensor: 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 science
sensor: sci_dvl_error(nodim) 0 # unique number to indicate error type
# system attitude data
sensor: sci_dvl_sa_pitch(deg) 0 # pitch in degrees
sensor: sci_dvl_sa_roll(deg) 0 # roll in degrees
sensor: sci_dvl_sa_heading(deg) 0 # heading in degrees
# timing and scaling data
sensor: sci_dvl_ts_timestamp(timestamp) 0 # secs since 1970
sensor: sci_dvl_ts_sal(ppt) 0 # salinity in parts per thousand
sensor: sci_dvl_ts_temp(degC) 0 # temp in degC
sensor: sci_dvl_ts_depth(m) 0 # depth of transducer face in meters
sensor: sci_dvl_ts_sound_speed(m/s) 0 # speed of sound in m/s
sensor: sci_dvl_ts_bit(nodim) 0 # Built-in Test (BIT) result code
# water-mass, instrument-referenced velocity data
sensor: sci_dvl_wi_x_vel(mm/s) 0 # X-axis vel. data in mm/s
sensor: sci_dvl_wi_y_vel(mm/s) 0 # Y-axis vel. data in mm/s
sensor: sci_dvl_wi_z_vel(mm/s) 0 # Z-axis vel. data in mm/s
sensor: sci_dvl_wi_err_vel(mm/s) 0 # Error velocity data in mm/s
sensor: sci_dvl_wi_vel_good(bool) 0 # Velocity data status 0=bad, 1=good
# bottom-track, instrument-referenced velocity data
sensor: sci_dvl_bi_x_vel(mm/s) 0 # X-axis vel. data in mm/s
sensor: sci_dvl_bi_y_vel(mm/s) 0 # Y-axis vel. data in mm/s
sensor: sci_dvl_bi_z_vel(mm/s) 0 # Z-axis vel. data in mm/s
sensor: sci_dvl_bi_err_vel(mm/s) 0 # Error velocity data in mm/s
sensor: sci_dvl_bi_vel_good(bool) 0 # Velocity data status 0=bad, 1=good
# water-mass, ship-referenced velocity data
sensor: sci_dvl_ws_transverse_vel(mm/s) 0 # Transverse vel. data in mm/s
sensor: sci_dvl_ws_longitudinal_vel(mm/s) 0 # Longitudinal vel. data in mm/s
sensor: sci_dvl_ws_normal_vel(mm/s) 0 # Normal vel. data in mm/s
sensor: sci_dvl_ws_vel_good(bool) 0 # Vel. data status 0=bad, 1=good
# bottom-track, ship-referenced velocity data
sensor: sci_dvl_bs_transverse_vel(mm/s) 0 # Transverse vel. data in mm/s
sensor: sci_dvl_bs_longitudinal_vel(mm/s) 0 # Longitudinal vel. data in mm/s
sensor: sci_dvl_bs_normal_vel(mm/s) 0 # Normal vel. data in mm/s
sensor: sci_dvl_bs_vel_good(bool) 0 # Vel. data status 0=bad, 1=good
# water-mass, earth-referenced velocity data
sensor: sci_dvl_we_u_vel(mm/s) 0 # East (u-axis) vel. data in mm/s
sensor: sci_dvl_we_v_vel(mm/s) 0 # North (v-axis) vel. data in mm/s
sensor: sci_dvl_we_w_vel(mm/s) 0 # Upward(w-axis) vel. data in mm/s
sensor: sci_dvl_we_vel_good(bool) 0 # Vel. data status 0=bad, 1=good
# bottom-track, earth-referenced velocity data
sensor: sci_dvl_be_u_vel(mm/s) 0 # East (u-axis) vel. data in mm/s
sensor: sci_dvl_be_v_vel(mm/s) 0 # North (v-axis) vel. data in mm/s
sensor: sci_dvl_be_w_vel(mm/s) 0 # Upward(w-axis) vel. data in mm/s
sensor: sci_dvl_be_vel_good(bool) 0 # Vel. data status 0=bad, 1=good
# water-mass, earth-referenced distance data
sensor: sci_dvl_wd_u_dist(m) 0 # East (u-axis) distance data in meters
sensor: sci_dvl_wd_v_dist(m) 0 # North (v-axis) distance data in meters
sensor: sci_dvl_wd_w_dist(m) 0 # Upward (w-axis) distance data in meters
sensor: sci_dvl_wd_range_to_water_mass_center(m) 0 # Range to water-mass center in meters
sensor: sci_dvl_wd_time_since_last_good_vel(sec) 0 # Time since last good-velocity estimate in seconds
# bottom-track, earth-referenced distance data
sensor: sci_dvl_bd_u_dist(m) 0 # East (u-axis) distance data in meters
sensor: sci_dvl_bd_v_dist(m) 0 # North (v-axis) distance data in meters
sensor: sci_dvl_bd_w_dist(m) 0 # Upward (w-axis) distance data in meters
sensor: sci_dvl_bd_range_to_bottom(m) 0 # Range to bottom in meters
sensor: 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 sensor
sensor: c_flbbrh_on(sec) 0 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_flbbrh_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_flbbrh_bb_cwo(nodim) 48 # clean water offset, nodim == counts
sensor: u_flbbrh_rhod_cwo(nodim) 58 # clean water offset, nodim == counts
sensor: u_flbbrh_chlor_sf(ug/l/nodim) 0.0123 # scale factor to get units
sensor: u_flbbrh_bb_sf(Mnodim) 3.653 # (0.000003653) scale factor to get units
sensor: 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 sent
sensor: sci_flbbrh_chlor_units(ug/l) 0 # derived from col 4
sensor: sci_flbbrh_bb_units(nodim) 0 # derived from col 6
sensor: sci_flbbrh_rhod_units(ppb) 0 # derived from col 8
sensor: sci_flbbrh_chlor_sig(nodim) 0 # col 4
sensor: sci_flbbrh_bb_sig(nodim) 0 # col 6
sensor: sci_flbbrh_rhod_sig(nodim) 0 # col 8
sensor: sci_flbbrh_chlor_ref(nodim) 0 # col 3
sensor: sci_flbbrh_bb_ref(nodim) 0 # col 5
sensor: sci_flbbrh_rhod_ref(nodim) 0 # col 7
sensor: sci_flbbrh_temp(nodim) 0 # col 9
sensor: sci_flbbrh_timestamp(timestamp) 0 # secs since 1970
# proglet flur: Wet Labs flur uranine sensor
sensor: c_flur_on(sec) 0 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_flur_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: 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 sent
sensor: sci_flur_units(ppb) 0 # derived from col 4
sensor: sci_flur_sig(nodim) 0 # col 4
sensor: sci_flur_ref(nodim) 0 # col 3
sensor: sci_flur_temp(nodim) 0 # col 5
sensor: sci_flur_timestamp(timestamp) 0 # secs since 1970
# proglet bb2flsV7: wet labs bb2flslk scatter meter and fluorometer sensor, 7th configuration
sensor: c_bb2flsV7_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2flsV7_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bb2flsV7_b650_cwo(nodim) 46 # clean water offset, nodim == counts
sensor: u_bb2flsV7_chl_cwo(nodim) 40 # clean water offset, nodim == counts
sensor: 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 sent
sensor: sci_bb2flsV7_b532_scaled(nodim) 0 # derived from col 4
sensor: sci_bb2flsV7_b650_scaled(nodim) 0 # derived from col 6
sensor: sci_bb2flsV7_chl_scaled(ug/l) 0 # derived from col 8
sensor: sci_bb2flsV7_b532_sig(nodim) 0 # col 4
sensor: sci_bb2flsV7_b650_sig(nodim) 0 # col 6
sensor: sci_bb2flsV7_chl_sig(nodim) 0 # col 8
sensor: sci_bb2flsV7_b532_ref(nodim) 0 # col 3
sensor: sci_bb2flsV7_b650_ref(nodim) 0 # col 5
sensor: sci_bb2flsV7_chl_ref(nodim) 0 # col 7
sensor: sci_bb2flsV7_therm(nodim) 0 # col 9
sensor: sci_bb2flsV7_timestamp(timestamp) 0 # secs since 1970
# proglet flbbcd: Wet Labs flbbcd fluorometer, scattering meter, and cdom sensor
sensor: c_flbbcd_on(sec) 0 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_flbbcd_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_flbbcd_bb_cwo(nodim) 49 # clean water offset, nodim == counts
sensor: u_flbbcd_cdom_cwo(nodim) 47 # clean water offset, nodim == counts
sensor: u_flbbcd_chlor_sf(ug/l/nodim) 0.0119 # scale factor to get units
sensor: u_flbbcd_bb_sf(Mnodim) 3.522 # (0.000003522) scale factor to get units
sensor: 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 sent
sensor: sci_flbbcd_chlor_units(ug/l) 0 # derived from col 4
sensor: sci_flbbcd_bb_units(nodim) 0 # derived from col 6
sensor: sci_flbbcd_cdom_units(ppb) 0 # derived from col 8
sensor: sci_flbbcd_chlor_sig(nodim) 0 # col 4
sensor: sci_flbbcd_bb_sig(nodim) 0 # col 6
sensor: sci_flbbcd_cdom_sig(nodim) 0 # col 8
sensor: sci_flbbcd_chlor_ref(nodim) 0 # col 3
sensor: sci_flbbcd_bb_ref(nodim) 0 # col 5
sensor: sci_flbbcd_cdom_ref(nodim) 0 # col 7
sensor: sci_flbbcd_therm(nodim) 0 # col 9
sensor: sci_flbbcd_timestamp(timestamp) 0 # secs since 1970
# proglet dmon: W.H.O.I DMON, Digital Monitor, a passive acoustic monitor
sensor: sci_dmon_is_installed(bool) 0 # t--> installed on science
#inputs:
sensor: c_dmon_on(sec) 0 # >= 0 enables the device
sensor: 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 Satlantic
sensor: sci_suna_is_installed(bool) 0 # t--> installed on science
#inputs:
sensor: c_suna_on(sec) 0 # >= 0 enables the device
sensor: c_suna_num_fields_to_send(nodim) 3 # fields to send, default omits date/time/timestamp
#outputs
sensor: sci_suna_nitrate_um(uMol/L) 0 # Nitrate concentration in uMol/L
sensor: sci_suna_nitrate_mg(mg/L) 0 # Nitrate concentration in mg/L
sensor: sci_suna_internal_date(nodim) 0 # internal date, year and day-of-year
sensor: sci_suna_internal_time(nodim) 0 # internal time, hours of day
sensor: sci_suna_timestamp(timestamp) 0 # secs since 1970
sensor: sci_suna_record_offset(bytes) 0 # message byte count for open disk file
# 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 secs
sensor: c_c3sfl_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^(6-1) = -32
sensor: 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 sensor
sensor: 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 secs
sensor: 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) = -4
sensor: 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 coeffients
sensor: 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 3
sensor: sci_satpar_raw_counts(nodim) 0 # col 3
sensor: sci_satpar_timer(sec) 0 # col 2
sensor: sci_satpar_timestamp(timestamp) 0 # secs since 1970
# proglet vsf: Wet Labs Volume Scattering Function meter
sensor: c_vsf_on(sec) 0 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_vsf_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_vsf_125_dc(nodim) 50 # dark counts, nodim == counts
sensor: u_vsf_150_dc(nodim) 40 # dark counts, nodim == counts
sensor: u_vsf_100_sf(Mnodim) 4.820 # (0.000004820) scale factor to get units
sensor: u_vsf_125_sf(Mnodim) 3.527 # (0.000003527) scale factor to get units
sensor: 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 sent
sensor: sci_vsf_100_scaled(nodim) 0 # derived from col 4
sensor: sci_vsf_125_scaled(nodim) 0 # derived from col 5
sensor: sci_vsf_150_scaled(nodim) 0 # derived from col 6
sensor: sci_vsf_100_sig(nodim) 0 # col 4
sensor: sci_vsf_125_sig(nodim) 0 # col 5
sensor: sci_vsf_150_sig(nodim) 0 # col 6
sensor: sci_vsf_therm(nodim) 0 # col 7
sensor: sci_vsf_timestamp(timestamp) 0 # secs since 1970
# proglet : Aanderaa Oxygen Optode 4330F or 4831
sensor: c_oxy4_on(sec) 0 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_oxy4_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 sent
sensor: sci_oxy4_oxygen(uM) 0 # col 3, O2 Concentration
sensor: sci_oxy4_saturation(%) 0 # col 4, air saturation
sensor: sci_oxy4_temp(degC) 0 # col 5, temperature
sensor: sci_oxy4_calphase(deg) 0 # col 6, CalPhase
sensor: sci_oxy4_tcphase(deg) 0 # col 7, TCPhase
sensor: sci_oxy4_c1rph(deg) 0 # col 8, C1RPh
sensor: sci_oxy4_c2rph(deg) 0 # col 9, C2RPh
sensor: sci_oxy4_c1amp(mV) 0 # col 10, C1Amp
sensor: sci_oxy4_c2amp(mV) 0 # col 11, C2Amp
sensor: sci_oxy4_rawtemp(mV) 0 # col 12, RawTemp
sensor: sci_oxy4_timestamp(timestamp) 0 # secs since 1970
# 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 secs
sensor: 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) = -4
sensor: 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 mV
sensor: 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 science
sensor: sci_bsipar_par(uE/m^2sec) # derived from col 1
sensor: sci_bsipar_sensor_volts(volts) # col 1
sensor: sci_bsipar_temp(degC) # col 2
sensor: sci_bsipar_supply_volts(volts) # col 3
sensor: sci_bsipar_timestamp(timestamp) # secs since 1970
# proglet flbb: wet labs flbb fluorometer and scattering meter
sensor: c_flbb_on(sec) 0 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_flbb_is_installed(bool) 0 # in, t--> installed on science
sensor: 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)) = -131
sensor: 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 == counts
sensor: u_flbb_bb_do(nodim) 52 # dark water offset, nodim == counts
sensor: u_flbb_chlor_sf(ug/l/nodim) 0.0072 # scale factor to get units
sensor: 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 sent
sensor: sci_flbb_chlor_units(ug/l) 0 # derived from col 4
sensor: sci_flbb_bb_units(nodim) 0 # derived from col 6
sensor: sci_flbb_chlor_sig(nodim) 0 # col 4
sensor: sci_flbb_bb_sig(nodim) 0 # col 6
sensor: sci_flbb_chlor_ref(nodim) 0 # col 3
sensor: sci_flbb_bb_ref(nodim) 0 # col 5
sensor: sci_flbb_therm(nodim) 0 # col 7
sensor: 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 interval
sensor: sci_vr2c_is_installed(bool) 0 # in, 1-->installed on science
sensor: c_vr2c_num_fields_to_send(nodim) 2 # number of fields to send to science.
#outputs
sensor: sci_vr2c_state(nodim) -1 # current state of the VR2C proglet
# Imagenex
#input sensors
sensor: c_echosndr853_on(sec) -1
sensor: sci_echosndr853_is_installed(bool) 0
#output sensors
sensor: 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 secs
sensor: sci_ctd41cp2_is_installed(bool) 0 # in, t--> ctd installed on science
sensor: 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) = -2
sensor: sci_water_cond2(S/m) 3 # out, conductivity f#=1
sensor: sci_water_temp2(degC) 10 # out f#=2
sensor: sci_water_pressure2(bar) 0 # out f#=3
sensor: 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 secs
sensor: sci_flrh_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: 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 sent
sensor: sci_flrh_units(ppb) 0 # derived from col 4
sensor: sci_flrh_sig(nodim) 0 # col 4
sensor: sci_flrh_ref(nodim) 0 # col 3
sensor: sci_flrh_temp(nodim) 0 # col 5
sensor: sci_flrh_timestamp(timestamp) 0 # secs since 1970
# proglet bb2flsV8: wet labs bb2flslk scatter meter and fluorometer sensor, 8th configuration
sensor: c_bb2flsV8_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_bb2flsV8_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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 == counts
sensor: u_bb2flsV8_b700_cwo(nodim) 46 # clean water offset, nodim == counts
sensor: u_bb2flsV8_chl_cwo(nodim) 46 # clean water offset, nodim == counts
sensor: 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 sent
sensor: sci_bb2flsV8_b470_scaled(nodim) 0 # derived from col 4
sensor: sci_bb2flsV8_b700_scaled(nodim) 0 # derived from col 6
sensor: sci_bb2flsV8_chl_scaled(ug/l) 0 # derived from col 8
sensor: sci_bb2flsV8_b470_sig(nodim) 0 # col 4
sensor: sci_bb2flsV8_b700_sig(nodim) 0 # col 6
sensor: sci_bb2flsV8_chl_sig(nodim) 0 # col 8
sensor: sci_bb2flsV8_b470_ref(nodim) 0 # col 3
sensor: sci_bb2flsV8_b700_ref(nodim) 0 # col 5
sensor: sci_bb2flsV8_chl_ref(nodim) 0 # col 7
sensor: sci_bb2flsV8_therm(nodim) 0 # col 9
sensor: sci_bb2flsV8_timestamp(timestamp) 0 # secs since 1970
# proglet uviluxPAH: Chelsea Technologies Uvilux PAH sensor
sensor: c_uviluxPAH_on(sec) -1 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_uviluxPAH_is_installed(bool) 0 # in, t--> installed on science
sensor: 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 below
sensor: 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, cols
sensor: sci_uviluxPAH_sig(ug/l) 0 # col 1
sensor: sci_uviluxPAH_eht_volt(nodim) 0 # col 2
sensor: sci_uviluxPAH_data_quality(nodim) 0 # col 3
sensor: sci_uviluxPAH_timestamp(timestamp) 0 # secs since 1970
# proglet ad2cp: Nortek AD2CP Acoustic Doppler Current Profiler
# input sensors
sensor: c_ad2cp_on(sec) -1 # >=0 turns it on, <0 turns it off
sensor: sci_ad2cp_is_installed(bool) 0 # in, t--> installed on science
# output sensors
sensor: sci_ad2cp_run_state(enum) 0 # current run state of the AD2CP proglet
sensor: sci_ad2cp_surface_state(enum) 0 # current surface state of the AD2CP proglet
sensor: sci_ad2cp_bottom_track_signal(bool) 0 # 0 is off, 1 is on
sensor: sci_ad2cp_file_state(enum) 0 # 0-inactive
# 1-processing
# 2-process complete
# 3-process error
# proglet miniProCO2: Pro-Oceanus Mini-Pro CO2 sensor
# input sensors
sensor: c_miniProCO2_on(sec) -1 # >=0 turns it on, <0 turns it off
sensor: sci_miniProCO2_is_installed(bool) 0 # in, t--> installed on science
sensor: c_miniProCO2_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
sensor: u_miniProCO2_power_up_wait(sec) 10 # power up wait time, seconds
sensor: u_miniProCO2_no_data_timeout(sec) 30 # no data timeout, seconds
# output sensors
sensor: sci_miniProCO2_rawCO2(ppm) 0 # col 10
sensor: sci_miniProCO2_correctedCO2(ppmv) 0 # col 11
sensor: sci_miniProCO2_temp(degC) 0 # col 12
sensor: sci_miniProCO2_pressure(mbar) 0 # col 13
sensor: sci_miniProCO2_timestamp(timestamp) 0 # secs since 1970
#sensor: sci_generic_a(nodim) 0 # column 8
#sensor: sci_generic_b(nodim) 0 # column 9
#sensor: sci_generic_c(nodim) 0 # column 14
#sensor: sci_generic_d(nodim) 0 # column 15
#sensor: sci_generic_e(nodim) 0 # column 16
#sensor: sci_generic_f(nodim) 0 # column 17
#sensor: sci_generic_g(nodim) 0 # column 18
# proglet pCO2: Aanderaa pCO2 sensor
sensor: c_pCO2_on(sec) 0 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_pCO2_is_installed(bool) 0 # in, t--> installed on science
sensor: c_pCO2_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_oxy4_num_fields_to_send is 3, cols 3,4,5 sent
sensor: sci_pCO2_pCO2(uatm) 0 # col 3
sensor: sci_pCO2_CO2(mg/l) 0 # col 4
sensor: sci_pCO2_temp(degC) 0 # col 5
sensor: sci_pCO2_calphase(deg) 0 # col 6
sensor: sci_pCO2_dphase(deg) 0 # col 7
sensor: sci_pCO2_c1rph(deg) 0 # col 8
sensor: sci_pCO2_c2rph(deg) 0 # col 9
sensor: sci_pCO2_c1amp(mV) 0 # col 10
sensor: sci_pCO2_c2amp(mV) 0 # col 11
sensor: sci_pCO2_rawtemp(mV) 0 # col 12
sensor: sci_pCO2_timestamp(timestamp) 0 # secs since 1970
# proglet seaOWL: Wet Labs seaOWLslc, Sea Oil-in-Water Locator
# requires device programmed to output fields containing numerical data only
# first 6 columns must contain: measurement 1 total output (07)
# engineering output measurement 1 (27)
# measurement 2 total output (10)
# engineering output measurement 2 (29)
# measurement 3 total output (13)
# engineering output measurement 3 (32)
# followed by any user-selected numerical data, maximum 28 total columns
sensor: c_seaOWL_on(sec) 2 # in, sets secs between measurements
# <0 stops, 0 fast as possible, >0 that many secs
sensor: sci_seaOWL_is_installed(bool) 0 # in, t--> installed on science
sensor: c_seaOWL_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
# this value cannot be larger
# than the number of fields that
# the device is returning or
# ERRORS WILL BE GENERATED
sensor: u_seaOWL_is_calibrated(bool) 0 # false, assume not calibrated,
# By setting this to 1, the user is
# assuring that the Dark counts and
# scale factors have been configured
# on the device (use '$cal' on the
# device to display the settings).
# no calibration constants are required, internal to the device, see prior comment
# output sensors, listed in PRIORITY order
# e.g. if c_seaOWL_num_fields_to_send is 3, cols 1,2,3 sent
# This device allows the user to configure output fields
# The first 6 fields are required and must match, see below
# The remaining fields are optional, must contain all numeric data, and are
# assigned to sequential 'sci_generic..' sensors.
# The device is limited to 28 fields.
sensor: sci_seaOWL_chl_scaled(ug/l) 0 # col 1, engineering output, measurement 1 (27)
sensor: sci_seaOWL_bb_scaled(nodim) 0 # col 3, engineering output, measurement 2 (29)
sensor: sci_seaOWL_fdom_scaled(ppb) 0 # col 5, engineering output, measurement 3 (32)
sensor: sci_seaOWL_chl_sig(nodim) 0 # col 2, measurement 1 total output (7)
sensor: sci_seaOWL_bb_sig(nodim) 0 # col 4, measurement 2 total output (10)
sensor: sci_seaOWL_fdom_sig(nodim) 0 # col 6, measurement 3 total output (13)
sensor: sci_seaOWL_timestamp(timestamp) 0 # secs since 1970
#sensor: sci_generic_a(nodim) 0 # col 7, optional, user defined
#sensor: sci_generic_b(nodim) 0 # col 8, optional, user defined
#sensor: sci_generic_c(nodim) 0 # col 9, optional, user defined
#sensor: sci_generic_d(nodim) 0 # col 10, optional, user defined
#sensor: sci_generic_e(nodim) 0 # col 11, optional, user defined
#sensor: sci_generic_f(nodim) 0 # col 12, optional, user defined
#sensor: sci_generic_g(nodim) 0 # col 13, optional, user defined
#sensor: sci_generic_h(nodim) 0 # col 14, optional, user defined
#sensor: sci_generic_i(nodim) 0 # col 15, optional, user defined
#sensor: sci_generic_j(nodim) 0 # col 16, optional, user defined
#sensor: sci_generic_k(nodim) 0 # col 17, optional, user defined
#sensor: sci_generic_l(nodim) 0 # col 18, optional, user defined
#sensor: sci_generic_m(nodim) 0 # col 19, optional, user defined
#sensor: sci_generic_n(nodim) 0 # col 20, optional, user defined
#sensor: sci_generic_o(nodim) 0 # col 21, optional, user defined
#sensor: sci_generic_p(nodim) 0 # col 22, optional, user defined
#sensor: sci_generic_q(nodim) 0 # col 23, optional, user defined
#sensor: sci_generic_r(nodim) 0 # col 24, optional, user defined
#sensor: sci_generic_s(nodim) 0 # col 25, optional, user defined
#sensor: sci_generic_t(nodim) 0 # col 26, optional, user defined
#sensor: sci_generic_u(nodim) 0 # col 27, optional, user defined
#sensor: sci_generic_v(nodim) 0 # col 28, optional, user defined
# proglet azfp: ASL Acoustic Zooplankton Fish Profiler (AZFP)
# input sensors
sensor: c_azfp_on(sec) -1 # >=0 turns it on, <0 turns it off
sensor: sci_azfp_is_installed(bool) 0 # in, t--> installed on science
# output sensors
sensor: sci_azfp_file_offset(nodim) 0 # byte offset of the device data in
# the *.azf file
sensor: sci_azfp_run_state(nodim) 0 # azfp run state
sensor: sci_azfp_pause_signal(bool) 0 # 0, pause signal disabled, low
# 1, pause signal enabled, high
# proglet ubat: Wet Labs Underwater Bioluminescence Assessment Tool (UBAT)
sensor: c_ubat_on(sec) -1 # >=0 turns it on, <0 turns it off
sensor: sci_ubat_is_installed(bool) 0 # in, t--> installed on science
# input sensors
sensor: c_ubat_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
sensor: u_ubat_power_up_wait(sec) 15 # power up wait time, seconds
sensor: u_ubat_no_data_timeout(sec) 60 # no data timeout time, seconds
sensor: u_ubat_is_calibrated(bool) 0 # false, assume not calibrated
sensor: u_ubat_flow_rate_cal_coeff(Mnodim) 472 # UBAT0048 cal sheet, 4.72E-04
# output sensors, listed in PRIORITY order
sensor: sci_ubat_BL_potential(photons/s/L) 0 # derived from cols 4, 7, cal coeff
sensor: sci_ubat_BL_avg(photons/s) 0 # col 4
sensor: sci_ubat_pump_speed(rpm) 0 # col 5
sensor: sci_ubat_flow_speed(rpm) 0 # col 7
sensor: sci_ubat_record_num(nodim) 0 # col 2
sensor: sci_ubat_cal_coeff_HV_step(photons/s) 0 # col 3
sensor: sci_ubat_system_voltage(volts) 0 # col 6
sensor: sci_ubat_HV_step(volts) 0 # col 8
sensor: sci_ubat_timestamp(timestamp) 0 # secs since 1970
sensor: sci_ubat_file_offset(nodim) 0 # byte offset of the device data in
# the *.ubt file
# proglet lisst: Sequoia Laser In-Situ Scattering and Transmissometry (LISST)
sensor: c_lisst_on(sec) -1 # >=0 turns it on, <0 turns it off
sensor: sci_lisst_is_installed(bool) 0 # in, t--> installed on science
# input sensors
sensor: c_lisst_num_fields_to_send(nodim) 11 # 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
sensor: sci_lisst_totvol(uL/L) 0 # col 6
sensor: sci_lisst_meansize(um) 0 # col 7
sensor: sci_lisst_beamc(1/m) 0 # col 8
sensor: sci_lisst_raw_lref(nodim) 0 # col 9
sensor: sci_lisst_qc_flag(nodim) 0 # col 10
sensor: sci_lisst_qc_data1(nodim) 0 # col 11
sensor: sci_lisst_qc_data2(nodim) 0 # col 12
sensor: sci_lisst_qc_data3(nodim) 0 # col 13
sensor: sci_lisst_qc_data4(nodim) 0 # col 14
sensor: sci_lisst_rbn1_file(nodim) 0 # col 4
sensor: sci_lisst_rbn2_index(nodim) 0 # col 5
sensor: sci_lisst_timestamp(timestamp) 0 # secs since 1970
# Add additional science proglets here
# console.c
sensor: 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 regardless
sensor: u_console_reqd_cd_off_time(sec) 15.0 # in, how long without CD before powering off
# modem if C_CONSOLE_ON == 1
sensor: m_console_on(bool) 1.0 # out, power state of RF modem
sensor: m_console_cd(bool) 1.0 # out, state of RF modem carrier detect
sensor: 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 off
sensor: m_chars_tossed_with_cd_off(nodim) 0 # out, chars eaten with CD off
sensor: m_chars_tossed_by_abend(nodim) 0 # out, chars eaten by abend
# this one maintained by behavior abend,
# listed here for completeness
sensor: u_console_announce_time(sec) 60 # controls how often glidername
# is announced when M_CONSOLE_CD
# <0 disables announcement
sensor: x_console_announcement_made(nodim) 0 # incremented whenever an announcement is made
#========================================================
# Gliderbus (gbus) devices
# gb_devdrvr paradigm devices use:
# where is the device driver name (as listed in "use")
#
# C__ON ; How often to measure
# ; <0 => never(off)
# ; 0 => fast as possible
# ; >0 => every this many seconds
#
# U_GLIDERBUS_DEBUG ; controls whole bus
# U__DEBUG ; controls device
# ; 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__whatever
#
# Bus wide
sensor: u_gliderbus_debug(nodim) 0.0
# coulomb counter
sensor: c_coulomb_on(sec) 0 # required by gb_devdrvr paradigm
sensor: u_coulomb_debug(nodim) 0
sensor: f_coulomb_calibration_factor(%) .05 # calibration factor for the
# onboard coulomb counter
sensor: m_coulomb_amphr(amp-hrs) 0.0 # integrated current, i.e. energy
sensor: m_coulomb_current(amp) 0.0 # instantaneous current
sensor: m_coulomb_amphr_raw(nodim) 0.0
sensor: m_coulomb_current_raw(nodim) 0.0
sensor: m_coulomb_amphr_total(amp-hrs) 0.0 # persistant amp-hours total
sensor: f_coulomb_battery_capacity(amp-hrs) 720.0 # nominal battery capacity
sensor: 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) 0
sensor: c_fin(rad) 0 # in, >0 vehicle turns right
sensor: x_last_commanded_fin_pos(rad) 0 # stores the last commanded fin position.
# sensor: m_digifin_rawposition(nodim) 0 # raw position in A/D counts
sensor: m_fin(rad) # out
#========================================================
# Clock Source
sensor: 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 simulating
sensor: x_are_simulating(enum) 0 # out
# 0 not simulating
# 3 on bench
# 2 just electronics
# 1 no electronics
sensor: 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) controls
sensor: 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) LMC
sensor: s_water_depth_avg(m) 30.0
sensor: s_water_depth_delta(m) 0.0
sensor: s_water_depth_wavelength(m) 100.0
sensor: s_water_cond(S/m) 4.0 # conductivity, How salty it is
sensor: 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_t
sensor: xs_vehicle_temp(degC) 25.0 # How warm vehicle is
sensor: s_vehicle_temp_tc(1/sec) 0.01 # tc ==> time constant
# See simdrvr.c do_xs_vehicle_temp() for derivation
sensor: s_wind_speed(m/s) 9.0 # how fast the wind is blowing, 3.0 ==> 5.4 knots
sensor: s_wind_direction(rad) 0.0 # Direction wind is blowing FROM
sensor: s_water_speed(m/s) 0.05 # Current speed, 0.5 ==> 1knot
sensor: s_water_direction(rad) 4.712 # direction current is going TO,
# toward the west
sensor: 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 number
sensor: xs_wax_temp(degC) 20 # temperature of working fluid
sensor: xs_wax_frac_frozen(nodim) 0 # what fraction of the fluid is frozen
sensor: s_wax_freeze_temp(degC) 10 # where it freezes
# do_thermal_oil
sensor: xs_thermal_aft_oil_vol(cc) # simulated oil volume in the aft bladder
sensor: xs_thermal_int_oil_vol(cc) # simulated oil volume in the interior reservoir
sensor: xs_thermal_tube_oil_vol(cc) # simulated oil volume in the external tube
sensor: 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 location
sensor: xs_lat(deg) 4138.051 # Ashumet
sensor: xs_lon(deg) -7032.124
# Users should change these to move the simulated glider
# position
sensor: s_ini_lat(deg) 69696969 # these are purposely set to
sensor: s_ini_lon(deg) 69696969 # unreasonable values
sensor: 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 change
sensor: s_de_oil_pot_volt_flux(volts/sec) 0.01
# working
sensor: x_simdrvr_ran(out) 0 # out, set to 1 on every simdrvr_ctrl() call
sensor: xs_battpos(in) 0 # simdrvr.c, do_glider_internals()
sensor: xs_battroll(rad) 0
sensor: xs_ballast_pumped(cc) 0
sensor: xs_fluid_pumped(cc) 0
sensor: xs_fin(rad) 0
sensor: xs_roll(rad) 0 # simdrvr.c, do_glider_attitude()
sensor: xs_pitch(rad) 0
sensor: xs_depth(m) 0 # simdrvr.c, do_glider_depth()
sensor: xs_altitude(m) 0 # how far above bottm
sensor: xs_vert_speed(m/s) 0 # veh vert speed thru water
sensor: s_ocean_pressure_min(volts) 0.20 # used to generate voltage for 0 pressure
sensor: xs_pressure_drift(volts) 0 # integrated pressure drift
sensor: xs_pressure_noise(bar) 0 # simulated random noise to be added to simulated pressure reading
sensor: xs_hdg_rate(rad/sec) 0
sensor: xs_heading(rad) 0
sensor: xs_speed(m/s) 0 # veh horz speed thru water
sensor: xs_vx_lmc(m/s) 0 # vehicle horizontal velocity OVER GROUND
sensor: xs_vy_lmc(m/s) 0
sensor: xs_x_lmc(m) 0 # vehicle position in Local Mission Coordinates
sensor: 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 device
sensor: s_corrupted_altitude(bool) 0 # altimeter
sensor: s_corrupted_gps(bool) 0 # The gps, valid or invalid
sensor: s_corrupted_gps_error(bool) 0 # The gps, error added to fix
sensor: s_corrupted_watchdog_oddity(bool) 0 # watchdog generated oddity
sensor: s_corrupted_bpump_stalled(bool) 0 # buoyancy pump "jammed"
sensor: s_corrupted_bpump_overheated(bool) 0 # buoyancy pump overheat bit went high
sensor: s_corrupted_pitch_stalled(bool) 0 # pitch motor "jammed"
sensor: s_corrupted_memory_leak(bool) 0 # We leaked some heap memory
sensor: s_corrupted_pressure_drift(bool) 0 # we generated a pressure drift
sensor: s_corrupted_pressure_spike(bool) 0 # we generated an ocean pressure spike
sensor: 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 metrics
sensor: xs_x_lmc_error(m) 0 # m_x/y_lmc - s_x/y_lmc
sensor: xs_y_lmc_error(m) 0
sensor: xs_speed_error(m/s) 0 #xs_speed_error = m_speed - xs_speed
# test_driver
sensor: u_test_driver_errors_per_min(nodim) 0.0 # Only for testing error handling
sensor: u_test_driver_warnings_per_min(nodim) 0.0 # Only for testing error handling
sensor: u_test_driver_oddities_per_min(nodim) 0.0 # Only for testing error handling
# DBD/SBD header control for header
sensor: 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 side
sensor: 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 pruning
sensor: u_reqd_disk_space(Mbytes) 10.0 # How much disk space do we want to keep free
# as a minimum. ~ 1 Mbyte/hour is generated
sensor: m_disk_usage(Mbytes) 0.0 # How much disk space is currently used on glider
sensor: sci_m_disk_usage(Mbytes) 0.0 # How much disk space is currently used on science
sensor: m_disk_free(Mbytes) 0.0 # How much disk space is currently free on glider
sensor: sci_m_disk_free(Mbytes) 0.0 # How much disk space is currently free on science
sensor: x_disk_files_removed(nodim) 0 # Count of how many files pruned last time on glider
sensor: sci_x_disk_files_removed(nodim) 0 # Count of how many files pruned last time on science
# Send log files time requirement calculation
sensor: u_freewave_data_rate(KBps) 3.0 # Nominal data throughput on Freewave kilobytes per second
sensor: 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 mission
behavior: 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_NO_COMMS_TICKLE
b_arg: no_comms_tickle_for(hours) 72 # <0 disables, default 3 days
# hours, abort mission if (M_PRESENT_TIME - M_COMMS_TICKLE_TIMESTAMP) > no_comms_tickle_for
# If no user intervention (either by setting
# X_RESET_NO_COMMS to 0 or prompt), glider will store X_RESET_NO_COMMS in longterm,
# will reset, and add F_IRIDIUM_PHONE_NUM_FACTORY to call list
# See MS_ABORT_NO_COMMS_TICKLE sensors
# 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 # Not presently available, do not use
# If True, then use the thruster to maintain an emergency ascent depth rate u_min_thruster_abort_ascent_rate
b_arg: invalid_gps(nodim) 10 # MS_ABORT_INVALID_GPS
# <0 disables check
# Aborts if X_INVALID_GPS exceeds this
# Future missions will continue to abort if valid GPS is not achieved
# and if X_INVALID_GPS is not reset to 0
behavior: surface
b_arg: args_from_file(enum) -1 #! ignore=True
# >= 0 enables reading from mafiles/surfac.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
# When using start_when=13 when_utc_timestamp, specify when_secs for the following:
# 0=one time only, exactly at timestamp
# -1=triggers any point after timestamp
# >0=repetition period after timestamp
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_timestamp(dtime) -1 #! simple=False
# date/time to activate, represented as:
# yymmddhhmm, year/month/day/hour/minute
# starting year is set in u_mission_year_base (default 2000)
# NOTE: must also change the when_secs arg
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
# Set to -1 to disable
# 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_' sensors
behavior: 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.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
# Ignored when args from file
# 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) 0
behavior: yo
b_arg: args_from_file(enum) -1 #! ignore=True
# >= 0 enables reading from mafiles/yo.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.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_time
behavior: 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 removed
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
b_arg: c_ad2cp_on(sec) -1.0
b_arg: c_miniProCO2_on(sec) -1.0
b_arg: c_pCO2_on(sec) -1.0
b_arg: c_seaOWL_on(sec) -1.0
b_arg: c_azfp_on(sec) -1.0
b_arg: c_ubat_on(sec) -1.0
b_arg: c_lisst_on(sec) -1.0
# Add additional science proglets here
# ----- This is end of a typical mission
# These usually do not get called directly
behavior: set_heading
b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/set_he.ma
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 12
behavior: 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] Watts
behavior: 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_timestamp(dtime) -1 #! simple=False
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
b_arg: pressure_median(bool) 1 # If pressure median should be enabled
b_arg: battpos_db(nodim) 1 # How much to scale battpos deadband, f_battpos_db_frac_dz
# 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/depth
behavior: bconsci #! visible = False
behavior: 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: bhydrophone
behavior: hydrosmp #! visible = False
b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/hydros.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 sampling
behavior: bhydrophone #! visible = False
b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/bhydro.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 processor
behavior: bviper #! visible = False
b_arg: args_from_file(enum) -1 # >= 0 enables reading from mafiles/bhydro.ma
b_arg: start_when(enum) 0 # See doco above: 0, 9, 13
b_arg: when_secs(sec) 0 #
b_arg: when_utc_timestamp(dtime) -1 # see dtime
# 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.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 !!REMOVED!!
# 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
# AD2CP 64 C_AD2CP_ON
# MINIPROCO2 65 C_MINIPROCO2_ON
# PCO2 66 C_PCO2_ON
# SEAOWL 67 C_SEAOWL_ON
# AZFP 68 C_AZFP_ON
# UBAT 69 C_UBAT_ON
# LISST 70 C_LISST_ON
# 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 data
behavior: badd_b #! visible = False
b_arg: args_from_file(enum) -1 #! ignore = True
# >= 0 enables reading from mafiles/bhydro.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 4
behavior: 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 testing
behavior: 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/on
behavior: 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.dat
behavior: 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 mission
behavior: 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) 1000
END
#endif