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added rosie directory
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@jklymak
jklymak committed Aug 12, 2019
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22 changes: 22 additions & 0 deletions dfo_rosie713/missions/GOTO_L10.MA
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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)

<start:b_arg>
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
<end:b_arg>
<start:waypoints>
-13442.0000 4917.5500
-13438.0000 4917.5500
-13440.0000 4917.0000
<end:waypoints>
131 changes: 131 additions & 0 deletions dfo_rosie713/missions/SAMPLE10.MA
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behavior_name=sample
# sample all science sensors on down cast only
# 10-July-2010 ballsup@webbresearch.com handwritten for stock.mi

<start:b_arg>
b_arg: sensor_type(enum) 0 # ALL 0 C_SCIENCE_ALL_ON
# PROFILE 1 C_PROFILE_ON
# HS2 2 C_HS2_ON !!DELETED!!
# 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 !!DELETED!!
# WHGPBM 8 C_WHGPBM_ON !!DELETED!!
# 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 !!DELETED!!
# 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 !!DELETED!!
# BSIPAR 56 C_BSIPAR_ON
# FLBB 57 C_FLBB_ON
# 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
# LMS 71 C_LMS_ON
# SVS603 72 C_SVS603_ON
# MICRORIDER 73 C_MICRORIDER_ON
# BB2FLSV9 74 C_BB2FLSV9_ON
# SBE41N_PH 75 C_SBE41N_PH_ON
# FL2URRH 76 C_FL2URRH_ON
# FLBBBBV1 77 C_FLBBBBV1_ON
# FLBBBBV2 78 C_FLBBBBV2_ON
# OBSVR 79 C_OBSVR_ON

# This is a bit-field, combine:
# 8 on_surface, 4 climbing, 2 hovering, 1 diving
b_arg: state_to_sample(enum) 1 # 0 none
# 1 diving
# 2 hovering
# 3 diving|hovering
# 4 climbing
# 5 diving|climbing
# 6 hovering|climbing
# 7 diving|hovering|climbing
# 8 on_surface
# 9 diving|on_surface
# 10 hovering|on_surface
# 11 diving|hovering|on_surface
# 12 climbing|on_surface
# 13 diving|climbing|on_surface
# 14 hovering|climbing|on_surface
# 15 diving|hovering|climbing|on_surface


b_arg: intersample_time(s) 0 # if < 0 then off, if = 0 then
# as fast as possible, and if
# > 0 then that many seconds
# between measurements

b_arg: nth_yo_to_sample(nodim) 1 # After the first yo, sample only
# on every nth yo. If argument is
# negative then exclude first yo.

b_arg: intersample_depth(m) -1 # supersedes intersample_time
# by dynamically estimating
# and setting intersample_time
# to sample at the specified
# depth interval. If <=0 then
# then sample uses
# intersample_time, if > 0 then
# that many meters between
# measurements

b_arg: min_depth(m) -5 # minimum depth to collect data, default
# is negative to leave on at surface in
# spite of noise in depth reading
b_arg: max_depth(m) 2000 # maximum depth to collect data

<end:b_arg>
13 changes: 13 additions & 0 deletions dfo_rosie713/missions/SURFAC01.MA
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behavior_name=surface
# Written by SFMC on UTC: 2019-03-14T18:20:53.385
# surfac01.ma

<start:b_arg>
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
<end:b_arg>
24 changes: 24 additions & 0 deletions dfo_rosie713/missions/SURFAC02.MA
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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 when mission done
# This is determined by no one steering in x-y plane (no waypoints)

<start:b_arg>

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: 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_pitch(enum) 3 # 3:servo
b_arg: c_pitch_value(X) 0.4538 # 26 deg

<end:b_arg>




26 changes: 26 additions & 0 deletions dfo_rosie713/missions/SURFAC03.MA
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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
# 08 June 2012 ballsup@webbresearch.com increased surface time to "normal"

# Come up briefly if "yo" finishes
# This happens if a bad altimeter hit causes a dive and climb to
# complete in same cycle, or surfacing for num_half_cycles_to_do

<start:b_arg>

b_arg: start_when(enum) 2 # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle
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_pitch(enum) 3 # 3:servo
b_arg: c_pitch_value(X) 0.4538 # 26 deg

<end:b_arg>




24 changes: 24 additions & 0 deletions dfo_rosie713/missions/SURFAC04.MA
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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 way point

<start:b_arg>

b_arg: start_when(enum) 8 # 8-when hit waypoint
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_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

<end:b_arg>




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24 changes: 24 additions & 0 deletions dfo_rosie713/missions/SURFAC06.MA
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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

<start:b_arg>

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

<end:b_arg>
54 changes: 54 additions & 0 deletions dfo_rosie713/missions/YO10.MA
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behavior_name=yo
# yo10.ma
# climb 3m dive 12m alt 9m pitch 26 deg
# Hand Written
# 18-Feb-02 tc@DinkumSoftware.com Initial
# 13-Mar-02 tc@DinkumSoftware.com Bug fix, end_action from quit(0) to resume(2)
# 09-Apr-03 kniewiad@webbresearch.com Adjusted for Ashumet

<start:b_arg>
b_arg: start_when(enum) 2 # pitch idle (see doco below)
b_arg: num_half_cycles_to_do(nodim) -1 # Number of dive/climbs to perform
# <0 is infinite, i.e. never finishes

# arguments for dive_to
b_arg: d_target_depth(m) 12
b_arg: d_target_altitude(m) 3

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

# arguments for climb_to
b_arg: c_target_depth(m) 3
b_arg: c_target_altitude(m) -1

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: end_action(enum) 2 # 0-quit, 2 resume
<end:b_arg>


# 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
#
# b_arg: STOP_WHEN
# 0 complete
# 1-N same as "start_when"
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