diff --git a/dfo_walle652/missions/GOTO_L10.MA b/dfo_walle652/missions/GOTO_L10.MA deleted file mode 100644 index afb5788..0000000 --- a/dfo_walle652/missions/GOTO_L10.MA +++ /dev/null @@ -1,22 +0,0 @@ -behavior_name=goto_list -# Written by gen-goto-list-ma ver 1.0 on GMT:Tue Feb 19 18:56:54 2002 -# 2019-08-12 JMK - -# goto_l10.ma -# Flies the box in ashumet -# Each leg about 200m - -# this file P16nw-P16ne-P16 (should start on last waypoint --P16-- because we are still near P14) - - -b_arg: num_legs_to_run(nodim) -1 # loop -b_arg: start_when(enum) 0 # BAW_IMMEDIATELY -b_arg: list_stop_when(enum) 7 # BAW_WHEN_WPT_DIST -b_arg: initial_wpt(enum) -2 # closest -b_arg: num_waypoints(nodim) 4 - - --13442.0000 4917.5500 --13438.0000 4917.5500 --13440.0000 4917.0000 - diff --git a/dfo_walle652/missions/SURFAC01.MA b/dfo_walle652/missions/SURFAC01.MA deleted file mode 100644 index b3c3080..0000000 --- a/dfo_walle652/missions/SURFAC01.MA +++ /dev/null @@ -1,13 +0,0 @@ -behavior_name=surface -# Written by SFMC on UTC: 2019-03-14T18:20:53.385 -# surfac01.ma - - - b_arg: start_when(enum) 8 # BAW_WHEN_HIT_WAYPOINT - b_arg: end_action(enum) 1 # Wait for Ctrl-C Quit/Resume - b_arg: gps_wait_time(sec) 300 # Wait 300 seconds for gps - b_arg: keystroke_wait_time(sec) 300 # Wait 300 seconds for control-C - b_arg: c_use_pitch(enum) 3 # 3:servo - b_arg: c_pitch_value(X) 0.4528 # 26 deg - b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog - diff --git a/dfo_walle652/missions/SURFAC05.MA b/dfo_walle652/missions/SURFAC05.MA deleted file mode 100644 index 1725e4c..0000000 Binary files a/dfo_walle652/missions/SURFAC05.MA and /dev/null differ diff --git a/dfo_walle652/missions/YO14.MA b/dfo_walle652/missions/YO14.MA deleted file mode 100644 index 34de428..0000000 Binary files a/dfo_walle652/missions/YO14.MA and /dev/null differ diff --git a/dfo_walle652/missions/goto_l10.ma b/dfo_walle652/missions/goto_l10.ma new file mode 100644 index 0000000..5702848 --- /dev/null +++ b/dfo_walle652/missions/goto_l10.ma @@ -0,0 +1,71 @@ +behavior_name=goto_list +# Written by gen-goto-list-ma ver 1.0 on GMT:Tue Feb 19 18:56:54 2002 +# 07-Aug-02 tc@DinkumSoftware.com Manually edited for spawars 7aug02 op in buzzards bay +# 07-Aug-02 tc@DinkumSoftware.com Changed from decimal degrees to degrees, minutes, decimal minutes +# ??-Apr-03 kniewiad@webbresearch.com changed to ashument +# 17-Apr-03 tc@DinkumSoftware.com fixed comments +# 2019-Jul-16 cailinburmaster@gmail.com changed waypoints for Explorer Seamount cruise We01-We04 +# 2019-07-21 james.pegg@dfo-mpo.gc.ca added named waypoints for reference and re-arranged to start at W4 +# 2019-07-25 james.pegg@dfo-mpo.gc.ca changed to traverse once and start at first (W1) and added list_when_wpt_dist(m) 500 +# 2019-08-05 tetjana.ross@dfo-mpo.gc.ca changed to traverse continuously around a triangle including P16 and two points 1 km N. +# changed to start after last achieved +# 2019-08-27 james.pegg@dfo-mpo.gc.ca changed radius to achieve wpt to 1000m +# goto_l10.ma +# Wall_E's waypoint list for Explorer Seamount +#P1 -12530.0000 4834.5000 +#P2 -12600.0000 4836.0000 +#P3 -12620.0000 4837.5000 +#P4 -12640.0000 4839.0000 +#P5 -12710.0000 4841.5000 +#P6 -12740.0000 4844.6000 +#P7 -12810.0000 4846.6000 +#P8 -12840.0000 4849.0000 +#P9 -12910.0000 4851.4000 +#P10 -12940.0000 4853.6000 +#P11 -13010.0000 4856.0000 +#P12 -13040.0000 4858.2000 +#w1 -13054.4500 4912.9000 +#w2 -13057.0500 4852.4500 +#w3 -13038.4000 4901.3500 +#w4 -13113.5000 4903.4500 +#summit -13056.5305 4903.5242 +#P13 -13140.0000 4902.6000 +#P14 -13240.0000 4907.4000 +#P15 -13340.0000 4912.0000 +#P16nw -13442.0000 4917.5500 +#P16ne -13438.0000 4917.5500 +#P16 -13440.0000 4917.0000 +#P17 -13540.0000 4921.0000 +#P18 -13640.0000 4926.0000 +#P19 -13740.0000 4930.0000 +#P20 -13840.0000 4934.0000 +#P21 -13940.0000 4938.0000 +#P22 -14040.0000 4942.0000 +#P23 -14140.0000 4946.0000 +#P24 -14240.0000 4950.2000 +#P25 -14336.3000 5000.0000 +#P35 -14418.2000 5000.0000 +#P26 -14500.0000 5000.0000 + +# this file P18-26 + + +b_arg: list_when_wpt_dist(m) 1000 # if the glider is within 1000m the waypoint is considered as hit +b_arg: num_legs_to_run(nodim) -1 # loop through points +b_arg: start_when(enum) 0 # BAW_IMMEDIATELY +b_arg: list_stop_when(enum) 7 # BAW_WHEN_WPT_DIST +b_arg: initial_wpt(enum) -1# # 0 to n-1,-1 first after last,-2 closest +b_arg: num_waypoints(nodim) 10 + + +-13640.0000 4926.0000 +-13740.0000 4930.0000 +-13840.0000 4934.0000 +-13940.0000 4938.0000 +-14040.0000 4942.0000 +-14140.0000 4946.0000 +-14240.0000 4950.2000 +-14336.3000 5000.0000 +-14418.2000 5000.0000 +-14500.0000 5000.0000 + diff --git a/dfo_walle652/missions/sample11.ma b/dfo_walle652/missions/sample11.ma new file mode 100644 index 0000000..db925d9 --- /dev/null +++ b/dfo_walle652/missions/sample11.ma @@ -0,0 +1,13 @@ +behavior_name=sample +# sample ctd on every other downcasst +# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma + + + b_arg: sensor_type(enum) 1 # PROFILE 1 C_PROFILE_ON + b_arg: state_to_sample(enum) 1 # 1 diving + b_arg: intersample_time(s) 0 # as fast as possible + b_arg: nth_yo_to_sample(nodim) 2 # After the first yo, sample only + b_arg: intersample_depth(m) -1 # supersedes intersample_time + b_arg: min_depth(m) -5 # minimum depth to collect data, default + b_arg: max_depth(m) 2000 # maximum depth to collect data + diff --git a/dfo_walle652/missions/sample12.ma b/dfo_walle652/missions/sample12.ma new file mode 100644 index 0000000..155dc3c --- /dev/null +++ b/dfo_walle652/missions/sample12.ma @@ -0,0 +1,14 @@ +behavior_name=sample +# sample ctd on every 3rd upcast (after first) +# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma + + + b_arg: sensor_type(enum) 1 # PROFILE 1 C_PROFILE_ON + b_arg: state_to_sample(enum) 4 # 4 climbing + b_arg: intersample_time(s) 0 # as fast as possible + b_arg: nth_yo_to_sample(nodim) -3 # After the first yo, sample only + b_arg: intersample_depth(m) -1 # supersedes intersample_time + b_arg: min_depth(m) -5 # minimum depth to collect data, default + b_arg: max_depth(m) 2000 # maximum depth to collect data + + diff --git a/dfo_walle652/missions/sample13.ma b/dfo_walle652/missions/sample13.ma new file mode 100644 index 0000000..c7c3f53 --- /dev/null +++ b/dfo_walle652/missions/sample13.ma @@ -0,0 +1,14 @@ +behavior_name=sample +# sample Anderaa optode on every other downcast +# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma + + + b_arg: sensor_type(enum) 54 # OXY4 54 C_OXY4_ON + b_arg: state_to_sample(enum) 1 # 1 diving + b_arg: intersample_time(s) 0 # as fast as possible + b_arg: nth_yo_to_sample(nodim) 2 # After the first yo, sample only + b_arg: intersample_depth(m) -1 # supersedes intersample_time + b_arg: min_depth(m) -5 # minimum depth to collect data, default + b_arg: max_depth(m) 2000 # maximum depth to collect data + + diff --git a/dfo_walle652/missions/sample14.ma b/dfo_walle652/missions/sample14.ma new file mode 100644 index 0000000..bfbe3d4 --- /dev/null +++ b/dfo_walle652/missions/sample14.ma @@ -0,0 +1,13 @@ +behavior_name=sample +# sample Anderaa optode on every 3rd upcast (after first) +# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma + + + b_arg: sensor_type(enum) 54 # OXY4 54 C_OXY4_ON + b_arg: state_to_sample(enum) 4 # 4 climbing + b_arg: intersample_time(s) 0 # as fast as possible + b_arg: nth_yo_to_sample(nodim) -3 # After the first yo, sample only + b_arg: intersample_depth(m) -1 # supersedes intersample_time + b_arg: min_depth(m) -5 # minimum depth to collect data, default + b_arg: max_depth(m) 2000 # maximum depth to collect data + \ No newline at end of file diff --git a/dfo_walle652/missions/sample15.ma b/dfo_walle652/missions/sample15.ma new file mode 100644 index 0000000..69e3762 --- /dev/null +++ b/dfo_walle652/missions/sample15.ma @@ -0,0 +1,13 @@ +behavior_name=sample +# sample ecopuck every other downcast +# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma + + + b_arg: sensor_type(enum) 48 # FLBBCD 48 C_FLBBCD_ON + b_arg: state_to_sample(enum) 1 # 1 diving + b_arg: intersample_time(s) 0 # as fast as possible + b_arg: nth_yo_to_sample(nodim) 2 # After the first yo, sample only + b_arg: intersample_depth(m) -1 # supersedes intersample_time + b_arg: min_depth(m) -5 # minimum depth to collect data, default + b_arg: max_depth(m) 200 # maximum depth to collect data + \ No newline at end of file diff --git a/dfo_walle652/missions/sample16.ma b/dfo_walle652/missions/sample16.ma new file mode 100644 index 0000000..3c61243 --- /dev/null +++ b/dfo_walle652/missions/sample16.ma @@ -0,0 +1,13 @@ +behavior_name=sample +# sample ecopuck upper 200m every 3rd upcast (after first) +# 2019-07-27 james.pegg@dfo-mpo.gc.ca Modified from sample10.ma + + + b_arg: sensor_type(enum) 48 # FLBBCD 48 C_FLBBCD_ON + b_arg: state_to_sample(enum) 4 # 4 climbing + b_arg: intersample_time(s) 0 # as fast as possible + b_arg: nth_yo_to_sample(nodim) -3 # After the first yo, sample only + b_arg: intersample_depth(m) -1 # supersedes intersample_time + b_arg: min_depth(m) -5 # minimum depth to collect data, default + b_arg: max_depth(m) 200 # maximum depth to collect data + \ No newline at end of file diff --git a/dfo_walle652/missions/surfac01.MA b/dfo_walle652/missions/surfac01.MA new file mode 100644 index 0000000..c60e8c8 --- /dev/null +++ b/dfo_walle652/missions/surfac01.MA @@ -0,0 +1,27 @@ +behavior_name=surface +# climb to surface with ballast pump full out +# pitch servo'ed to 26 degrees +# Hand Written +# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma +# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1557) + +# Come up if haven't had comms for a while +# 2019-Jul-16 cailinburmaster@gmail.com changed b_arg: when_secs to 46800 # Surface every 12 hours for no comms +# 2019-Jul-16 cburmaster removed b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if # # start_when==7 +# 2019-Aug-21 cburmaster changed b_arg: when_secs(sec) 61200 # Surface every 17 hours for no comms (double yos) + + + + b_arg: start_when(enum) 12 # BAW_NOCOMM_SECS 12, when have not had comms for WHEN_SECS secs + + b_arg: when_secs(sec) 61200 # Surface every 17 hours for no comms + + b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist" + b_arg: gps_wait_time(s) 300 # how long to wait for gps + b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C + b_arg: c_use_bpump(enum) 0 # use autoballast on the surface climb (requires autoballast yo) + b_arg: c_use_pitch(enum) 3 # 3:servo + b_arg: c_pitch_value(X) 0.4528 # 26 deg + b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog + + diff --git a/dfo_walle652/missions/SURFAC02.MA b/dfo_walle652/missions/surfac02.MA similarity index 72% rename from dfo_walle652/missions/SURFAC02.MA rename to dfo_walle652/missions/surfac02.MA index 4a23654..cbc37a9 100644 --- a/dfo_walle652/missions/SURFAC02.MA +++ b/dfo_walle652/missions/surfac02.MA @@ -3,6 +3,7 @@ behavior_name=surface # pitch servo'ed to 26 degrees # Hand Written # 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma +# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1577) # Come up when mission done # This is determined by no one steering in x-y plane (no waypoints) @@ -10,15 +11,12 @@ behavior_name=surface b_arg: start_when(enum) 3 # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle - b_arg: end_action(enum) 0 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist" + b_arg: end_action(enum) 0 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist" b_arg: gps_wait_time(s) 300 # how long to wait for gps b_arg: keystroke_wait_time(sec) 180 # how long to wait for control-C b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if start_when==7 + b_arg: c_use_bpump(enum) 0 # use autoballast on surface climb (requires autoballast yo) b_arg: c_use_pitch(enum) 3 # 3:servo b_arg: c_pitch_value(X) 0.4538 # 26 deg - - - - \ No newline at end of file diff --git a/dfo_walle652/missions/SURFAC03.MA b/dfo_walle652/missions/surfac03.MA similarity index 84% rename from dfo_walle652/missions/SURFAC03.MA rename to dfo_walle652/missions/surfac03.MA index 061a7eb..5de0022 100644 --- a/dfo_walle652/missions/SURFAC03.MA +++ b/dfo_walle652/missions/surfac03.MA @@ -4,6 +4,7 @@ behavior_name=surface # Hand Written # 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma # 08 June 2012 ballsup@webbresearch.com increased surface time to "normal" +# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1577) # Come up briefly if "yo" finishes # This happens if a bad altimeter hit causes a dive and climb to @@ -16,11 +17,8 @@ behavior_name=surface b_arg: gps_wait_time(s) 300 # how long to wait for gps b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if start_when==7 + b_arg: c_use_bpump(enum) 0 # use autoballast on surface climb (requires autoballast yo) b_arg: c_use_pitch(enum) 3 # 3:servo b_arg: c_pitch_value(X) 0.4538 # 26 deg - - - - diff --git a/dfo_walle652/missions/SURFAC04.MA b/dfo_walle652/missions/surfac04.MA similarity index 81% rename from dfo_walle652/missions/SURFAC04.MA rename to dfo_walle652/missions/surfac04.MA index e94334e..ad8a7f4 100644 --- a/dfo_walle652/missions/SURFAC04.MA +++ b/dfo_walle652/missions/surfac04.MA @@ -3,6 +3,7 @@ behavior_name=surface # pitch servo'ed to 26 degrees # Hand Written # 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma +# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1577) # Come up every way point @@ -13,12 +14,9 @@ behavior_name=surface b_arg: gps_wait_time(s) 300 # how long to wait for gps b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if start_when==7 + b_arg: c_use_bpump(enum) 0 # use autoballast on surface climb (requires autoballast yo) b_arg: c_use_pitch(enum) 3 # 3:servo b_arg: c_pitch_value(X) 0.4538 # 26 deg b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog - - - - diff --git a/dfo_walle652/missions/SURFAC06.MA b/dfo_walle652/missions/surfac05.MA similarity index 71% rename from dfo_walle652/missions/SURFAC06.MA rename to dfo_walle652/missions/surfac05.MA index 95f392b..ea08e06 100644 --- a/dfo_walle652/missions/SURFAC06.MA +++ b/dfo_walle652/missions/surfac05.MA @@ -1,24 +1,21 @@ -behavior_name=surface -# climb to surface with ballast pump full out -# pitch servo'ed to 26 degrees -# Hand Written -# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma - -# Come up every three hours - - - - b_arg: start_when(enum) 9 # 9-every when_secs - b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist" - - b_arg: when_secs(s) 10800 # How long between surfacing, only if start_when==6 or 9 - - - b_arg: gps_wait_time(s) 300 # how long to wait for gps - b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C - b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if start_when==7 - b_arg: c_use_pitch(enum) 3 # 3:servo - b_arg: c_pitch_value(X) 0.4538 # 26 deg - b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog - - +behavior_name=surface +# climb to surface with ballast pump full out +# pitch servo'ed to 26 degrees +# Hand Written +# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma +# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1577) + +# Come up when requested by science + + + + b_arg: start_when(enum) 11 # BAW_SCI_SURFACE + b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist" + b_arg: gps_wait_time(s) 300 # how long to wait for gps + b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C + b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if start_when==7 + b_arg: c_use_bpump(enum) 0 # use autoballast on surface climb (requires autoballast yo) + b_arg: c_use_pitch(enum) 3 # 3:servo + b_arg: c_pitch_value(X) 0.4538 # 26 deg + + diff --git a/dfo_walle652/missions/surfac06.MA b/dfo_walle652/missions/surfac06.MA new file mode 100644 index 0000000..5a7cf10 --- /dev/null +++ b/dfo_walle652/missions/surfac06.MA @@ -0,0 +1,27 @@ +behavior_name=surface +# climb to surface with ballast pump full out +# pitch servo'ed to 26 degrees +# Hand Written +# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma +# 2017-08-24 lcooney@teledyne.com Added c_use_bpump 0 for Autoballast (M#1577) + +# Come up every six hours +# 2019-Jul-16 cailinburmaster@gmail.com changed b_arg: when_secs(s) 21600 + + + + b_arg: start_when(enum) 9 # 9-every when_secs + b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist" + + b_arg: when_secs(s) 21600 # How long between surfacing, only if start_when==6 or 9 + + + b_arg: gps_wait_time(s) 300 # how long to wait for gps + b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C + b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if start_when==7 + b_arg: c_use_bpump(enum) 0 # use autoballast on surface climb (requires autoballast yo) + b_arg: c_use_pitch(enum) 3 # 3:servo + b_arg: c_pitch_value(X) 0.4538 # 26 deg + b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog + + diff --git a/dfo_walle652/missions/yo14.MA b/dfo_walle652/missions/yo14.MA new file mode 100644 index 0000000..1ff2402 --- /dev/null +++ b/dfo_walle652/missions/yo14.MA @@ -0,0 +1,49 @@ +behavior_name=yo +# yo14.ma +# climb 7m dive 1000 m alt -1 m pitch 26 deg +# Basic parameters for Autoballast routine to reduce total drive to d_bpump_value +# with minimum vertical speed d_speed_min and c_speed_min +# See /doco/how-it-works/autoballast.txt and masterdata for full list of b_args. +# 2011-09-19 lcooney@teledyne.com Initial, copied from yo10.ma +# 2016-02-04 lcooney@teledyne.com Added d/c_stop_when_hover/stalled_for args, M#2632 +# 2017-08-24 lcooney@teledyne.com Changed speed_min to 0.06, increased altitude from 3->5 +# 2019-07-15 cailinburmaster@gmail.com changed b_arg: num_half_cycles_to_do(nodim) 2 +# 2019-07-31 james.pegg@dfo-mpo.gc.ca altitude off,-1 for line P +# 2019-08-06 james.pegg@dfo-mpo.gc.ca half cycles to 4 for double yos and climb to 5m +# 2019-08-29 james.pegg@dfo-mpo.gc.ca 520ml double + + + b_arg: start_when(enum) 2 # pitch idle (see doco below) + b_arg: num_half_cycles_to_do(nodim) 4 # Number of dive/climbs to perform + # <0 is infinite, i.e. never finishes + + # arguments for dive_to + b_arg: d_target_depth(m) 1000 + b_arg: d_target_altitude(m) -1 + + b_arg: d_use_bpump(enum) 0 # 0 Autoballast/Speed control. + b_arg: d_bpump_value(X) 520.0 # use_bpump == 0 Total amt of ballast, stored as C_AUTOBALLAST_VOLUME + + b_arg: d_use_pitch(enum) 3 # 1:battpos 2:setonce 3:servo + # in rad rad, <0 dive + b_arg: d_pitch_value(X) -0.4538 # -26 deg + b_arg: d_stop_when_hover_for(sec) 600.0 # increased to accomodate slower depth rate for autoballast + b_arg: d_stop_when_stalled_for(sec) 660.0 # increased to accomodate slower depth rate for autoballast + b_arg: d_speed_min(m/s) 0.06 # minimum depth rate for dive + + + # arguments for climb_to + b_arg: c_target_depth(m) 5 + b_arg: c_target_altitude(m) -1 + + b_arg: c_use_bpump(enum) 0 # 0 Autoballast/Speed control. + + b_arg: c_use_pitch(enum) 3 # 1:battpos 2:setonce 3:servo + # in rad rad, >0 climb + b_arg: c_pitch_value(X) 0.4538 # 26 deg + b_arg: c_stop_when_hover_for(sec) 600.0 # increased to accomodate slower depth rate for autoballast + b_arg: c_stop_when_stalled_for(sec) 660.0 # increased to accomodate slower depth rate for autoballast + b_arg: c_speed_min(m/s) -0.06 # minimum depth rate for climb + + b_arg: end_action(enum) 2 # 0-quit, 2 resume +