Updating to current yo14 and goto_l10 files.

c-proof · Jan 13, 2020 · 1385d1d · 1385d1d
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diff --git a/dfo_walle652/missions/dfo_walle652_20191209/goto_l10.ma b/dfo_walle652/missions/dfo_walle652_20191209/goto_l10.ma
@@ -4,68 +4,47 @@ behavior_name=goto_list
 #  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
+# 2019-12-08 james.pegg@dfo-mpo.gc.ca added waypoints for launch and start of line P
+# 2019-12-19 james.pegg@dfo-mpo.gc.ca full waypoint list outbound, even stations with seamount summit instead of P12, 5km wpt radius
+
+# 
 # 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
+# Wall_E's waypoint list for Line P
 #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
+# this file P4-P26 with sexplorer summit, P12 excluded
 
 <start:b_arg>
-b_arg: list_when_wpt_dist(m) 1000 # if the glider is within 1000m the waypoint is considered as hit
+b_arg: list_when_wpt_dist(m) 5000 # if the glider is within 3 km 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
+b_arg: initial_wpt(enum) -1 # 0 to n-1,-1 first after last,-2 closest
+b_arg: num_waypoints(nodim) 12
 <end:b_arg>
 <start:waypoints>
+-12640.0000 4839.0000
+-12740.0000 4844.6000
+-12840.0000 4849.0000
+-12940.0000 4853.6000
+-13056.5305 4903.5242
+-13240.0000 4907.4000
+-13440.0000 4917.0000
 -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
 <end:waypoints>
diff --git a/dfo_walle652/missions/dfo_walle652_20191209/yo14.ma b/dfo_walle652/missions/dfo_walle652_20191209/yo14.ma
@@ -7,43 +7,46 @@ behavior_name=yo
 # 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
+# 2019-07-15 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
+# 2019-08-22 james.pegg@dfo-mpo.gc.ca half cycles to 6 for triple yos
+# 2019-08-29 james.pegg@dfo-mpo.gc.ca 520ml triple
 
 <start:b_arg>
     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
+    b_arg: num_half_cycles_to_do(nodim) 6   # 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_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_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_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_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
 <end:b_arg>
+
+