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added rosie directory
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‎dfo_rosie713/missions/GOTO_L10.MA‎

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behavior_name=goto_list
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# Written by gen-goto-list-ma ver 1.0 on GMT:Tue Feb 19 18:56:54 2002
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# 2019-08-12 JMK
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# goto_l10.ma
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# Flies the box in ashumet
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# Each leg about 200m
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# this file P16nw-P16ne-P16 (should start on last waypoint --P16-- because we are still near P14)
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<start:b_arg>
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b_arg: num_legs_to_run(nodim) -1 # loop
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b_arg: start_when(enum) 0 # BAW_IMMEDIATELY
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b_arg: list_stop_when(enum) 7 # BAW_WHEN_WPT_DIST
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b_arg: initial_wpt(enum) -2 # closest
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b_arg: num_waypoints(nodim) 4
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<end:b_arg>
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<start:waypoints>
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-13442.0000 4917.5500
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-13438.0000 4917.5500
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-13440.0000 4917.0000
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<end:waypoints>

‎dfo_rosie713/missions/SAMPLE10.MA‎

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behavior_name=sample
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# sample all science sensors on down cast only
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# 10-July-2010 ballsup@webbresearch.com handwritten for stock.mi
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<start:b_arg>
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b_arg: sensor_type(enum) 0 # ALL 0 C_SCIENCE_ALL_ON
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# PROFILE 1 C_PROFILE_ON
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# HS2 2 C_HS2_ON !!DELETED!!
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# BB2F 3 C_BB2F_ON
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# BB2C 4 C_BB2C_ON
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# BB2LSS 5 C_BB2LSS_ON
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# SAM 6 C_SAM_ON
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# WHPAR 7 C_WHPAR_ON !!DELETED!!
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# WHGPBM 8 C_WHGPBM_ON !!DELETED!!
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# MOTEOPD 9 C_MOTEOPD_ON
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# BBFL2S 10 C_BBFL2S_ON
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# FL3SLO 11 C_FL3SLO_ON
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# BB3SLO 12 C_BB3SLO_ON
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# OXY3835 13 C_OXY3835_ON
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# WHFCTD 14 C_WHFCTD_ON
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# BAM 15 C_BAM_ON
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# OCR504R 16 C_OCR504R_ON
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# OCR504I 17 C_OCR504I_ON
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# BADD 18 C_BADD_ON
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# FLNTU 19 C_FLNTU_ON
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# FL3SLOV2 20 C_FL3SLOV2_ON
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# BB3SLOV2 21 C_BB3SLOV2_ON
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# OCR507R 22 C_OCR507R_ON
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# OCR507I 23 C_OCR507I_ON
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# BB3SLOV3 24 C_BB3SLOV3_ON
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# BB2FLS 25 C_BB2FLS_ON
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# BB2FLSV2 26 C_BB2FLSV2_ON
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# OXY3835_WPHASE 27 C_OXY3835_WPHASE_ON
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# AUVB 28 C_AUVB_ON
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# BB2FV2 29 C_BB2FV2_ON
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# TARR 30 C_TARR_ON
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# BBFL2SV2 31 C_BBFL2SV2_ON
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# GLBPS 32 C_GLBPS_ON
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# SSCSD 33 C_SSCSD_ON
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# BB2FLSV3 34 C_BB2FLSV3_ON
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# FIRE 35 C_FIRE_ON
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# OHF 36 C_OHF_ON !!DELETED!!
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# BB2FLSV4 37 C_BB2FLSV4_ON
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# BB2FLSV5 38 C_BB2FLSV5_ON
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# LOGGER 39 C_LOGGER_ON
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# BBAM 40 C_BBAM_ON
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# UMODEM 41 C_UMODEM_ON
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# RINKOII 42 C_RINKOII_ON
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# DVL 43 C_DVL_ON
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# BB2FLSV6 44 C_BB2FLSV6_ON
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# FLBBRH 45 C_FLBBRH_ON
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# FLUR 46 C_FLUR_ON
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# BB2FLSV7 47 C_BB2FLSV7_ON
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# FLBBCD 48 C_FLBBCD_ON
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# DMON 49 C_DMON_ON
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# C3SFL 50 C_C3SFL_ON
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# SUNA 51 C_SUNA_ON
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# SATPAR 52 C_SATPAR_ON
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# VSF 53 C_VSF_ON
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# OXY4 54 C_OXY4_ON
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# GAMMA_RAD5 55 C_GAMMA_RAD5_ON !!DELETED!!
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# BSIPAR 56 C_BSIPAR_ON
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# FLBB 57 C_FLBB_ON
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# VR2C 58 C_VR2C_ON
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# CTD41CP2 59 C_CTD41CP2_ON
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# ECHOSNDR853 60 C_ECHOSNDR853_ON
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# FLRH 61 C_FLRH_ON
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# BB2FLSV8 62 C_BB2FLSV8_ON
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# UVILUXPAH 63 C_UVILUXPAH_ON
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# AD2CP 64 C_AD2CP_ON
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# MINIPROCO2 65 C_MINIPROCO2_ON
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# PCO2 66 C_PCO2_ON
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# SEAOWL 67 C_SEAOWL_ON
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# AZFP 68 C_AZFP_ON
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# UBAT 69 C_UBAT_ON
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# LISST 70 C_LISST_ON
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# LMS 71 C_LMS_ON
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# SVS603 72 C_SVS603_ON
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# MICRORIDER 73 C_MICRORIDER_ON
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# BB2FLSV9 74 C_BB2FLSV9_ON
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# SBE41N_PH 75 C_SBE41N_PH_ON
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# FL2URRH 76 C_FL2URRH_ON
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# FLBBBBV1 77 C_FLBBBBV1_ON
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# FLBBBBV2 78 C_FLBBBBV2_ON
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# OBSVR 79 C_OBSVR_ON
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# This is a bit-field, combine:
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# 8 on_surface, 4 climbing, 2 hovering, 1 diving
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b_arg: state_to_sample(enum) 1 # 0 none
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# 1 diving
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# 2 hovering
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# 3 diving|hovering
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# 4 climbing
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# 5 diving|climbing
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# 6 hovering|climbing
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# 7 diving|hovering|climbing
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# 8 on_surface
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# 9 diving|on_surface
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# 10 hovering|on_surface
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# 11 diving|hovering|on_surface
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# 12 climbing|on_surface
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# 13 diving|climbing|on_surface
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# 14 hovering|climbing|on_surface
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# 15 diving|hovering|climbing|on_surface
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b_arg: intersample_time(s) 0 # if < 0 then off, if = 0 then
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# as fast as possible, and if
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# > 0 then that many seconds
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# between measurements
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b_arg: nth_yo_to_sample(nodim) 1 # After the first yo, sample only
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# on every nth yo. If argument is
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# negative then exclude first yo.
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b_arg: intersample_depth(m) -1 # supersedes intersample_time
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# by dynamically estimating
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# and setting intersample_time
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# to sample at the specified
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# depth interval. If <=0 then
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# then sample uses
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# intersample_time, if > 0 then
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# that many meters between
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# measurements
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b_arg: min_depth(m) -5 # minimum depth to collect data, default
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# is negative to leave on at surface in
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# spite of noise in depth reading
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b_arg: max_depth(m) 2000 # maximum depth to collect data
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<end:b_arg>

‎dfo_rosie713/missions/SURFAC01.MA‎

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behavior_name=surface
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# Written by SFMC on UTC: 2019-03-14T18:20:53.385
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# surfac01.ma
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<start:b_arg>
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b_arg: start_when(enum) 8 # BAW_WHEN_HIT_WAYPOINT
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b_arg: end_action(enum) 1 # Wait for Ctrl-C Quit/Resume
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b_arg: gps_wait_time(sec) 300 # Wait 300 seconds for gps
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b_arg: keystroke_wait_time(sec) 300 # Wait 300 seconds for control-C
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b_arg: c_use_pitch(enum) 3 # 3:servo
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b_arg: c_pitch_value(X) 0.4528 # 26 deg
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b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog
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<end:b_arg>

‎dfo_rosie713/missions/SURFAC02.MA‎

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behavior_name=surface
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# climb to surface with ballast pump full out
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# pitch servo'ed to 26 degrees
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# Hand Written
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# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
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# Come up when mission done
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# This is determined by no one steering in x-y plane (no waypoints)
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<start:b_arg>
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b_arg: start_when(enum) 3 # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle
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b_arg: end_action(enum) 0 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
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b_arg: gps_wait_time(s) 300 # how long to wait for gps
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b_arg: keystroke_wait_time(sec) 180 # how long to wait for control-C
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b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if start_when==7
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b_arg: c_use_pitch(enum) 3 # 3:servo
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b_arg: c_pitch_value(X) 0.4538 # 26 deg
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<end:b_arg>
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‎dfo_rosie713/missions/SURFAC03.MA‎

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behavior_name=surface
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# climb to surface with ballast pump full out
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# pitch servo'ed to 26 degrees
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# Hand Written
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# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
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# 08 June 2012 ballsup@webbresearch.com increased surface time to "normal"
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# Come up briefly if "yo" finishes
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# This happens if a bad altimeter hit causes a dive and climb to
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# complete in same cycle, or surfacing for num_half_cycles_to_do
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<start:b_arg>
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b_arg: start_when(enum) 2 # 0-immediately, 1-stack idle 2-pitch idle 3-heading idle
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b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
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b_arg: gps_wait_time(s) 300 # how long to wait for gps
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b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C
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b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if start_when==7
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b_arg: c_use_pitch(enum) 3 # 3:servo
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b_arg: c_pitch_value(X) 0.4538 # 26 deg
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<end:b_arg>
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‎dfo_rosie713/missions/SURFAC04.MA‎

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behavior_name=surface
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# climb to surface with ballast pump full out
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# pitch servo'ed to 26 degrees
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# Hand Written
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# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
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# Come up every way point
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<start:b_arg>
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b_arg: start_when(enum) 8 # 8-when hit waypoint
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b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
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b_arg: gps_wait_time(s) 300 # how long to wait for gps
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b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C
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b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if start_when==7
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b_arg: c_use_pitch(enum) 3 # 3:servo
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b_arg: c_pitch_value(X) 0.4538 # 26 deg
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b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog
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<end:b_arg>
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‎dfo_rosie713/missions/SURFAC05.MA‎

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‎dfo_rosie713/missions/SURFAC06.MA‎

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behavior_name=surface
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# climb to surface with ballast pump full out
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# pitch servo'ed to 26 degrees
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# Hand Written
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# 10 July 2010 ballsup@webbresearch.com based on legacy surfac10.ma
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# Come up every three hours
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<start:b_arg>
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b_arg: start_when(enum) 9 # 9-every when_secs
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b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2 resume, 3 drift til "end_wpt_dist"
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b_arg: when_secs(s) 10800 # How long between surfacing, only if start_when==6 or 9
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b_arg: gps_wait_time(s) 300 # how long to wait for gps
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b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C
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b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface, only if start_when==7
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b_arg: c_use_pitch(enum) 3 # 3:servo
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b_arg: c_pitch_value(X) 0.4538 # 26 deg
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b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog
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<end:b_arg>

‎dfo_rosie713/missions/YO10.MA‎

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behavior_name=yo
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# yo10.ma
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# climb 3m dive 12m alt 9m pitch 26 deg
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# Hand Written
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# 18-Feb-02 tc@DinkumSoftware.com Initial
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# 13-Mar-02 tc@DinkumSoftware.com Bug fix, end_action from quit(0) to resume(2)
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# 09-Apr-03 kniewiad@webbresearch.com Adjusted for Ashumet
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<start:b_arg>
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b_arg: start_when(enum) 2 # pitch idle (see doco below)
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b_arg: num_half_cycles_to_do(nodim) -1 # Number of dive/climbs to perform
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# <0 is infinite, i.e. never finishes
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# arguments for dive_to
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b_arg: d_target_depth(m) 12
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b_arg: d_target_altitude(m) 3
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b_arg: d_use_pitch(enum) 3 # 1:battpos 2:setonce 3:servo
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# in rad rad, <0 dive
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b_arg: d_pitch_value(X) -0.4538 # -26 deg
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# arguments for climb_to
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b_arg: c_target_depth(m) 3
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b_arg: c_target_altitude(m) -1
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b_arg: c_use_pitch(enum) 3 # 1:battpos 2:setonce 3:servo
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# in rad rad, >0 climb
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b_arg: c_pitch_value(X) 0.4538 # 26 deg
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b_arg: end_action(enum) 2 # 0-quit, 2 resume
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<end:b_arg>
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# NOTE: These are symbolically defined beh_args.h
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# b_arg: START_WHEN When the behavior should start, i.e. go from UNITIALIZED to ACTIVE
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# BAW_IMMEDIATELY 0 // immediately
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# BAW_STK_IDLE 1 // When stack is idle (nothing is being commanded)
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# BAW_PITCH_IDLE 2 // When pitch is idle(nothing is being commanded)
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# BAW_HEADING_IDLE 3 // When heading is idle(nothing is being commanded)
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# BAW_UPDWN_IDLE 4 // When bpump/threng is idle(nothing is being commanded)
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# BAW_NEVER 5 // Never stop
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# BAW_WHEN_SECS 6 // After behavior arg "when_secs", from prior END if cycling
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# BAW_WHEN_WPT_DIST 7 // When sensor(m_dist_to_wpt) < behavior arg "when_wpt_dist"
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# BAW_WHEN_HIT_WAYPOINT 8 // When X_HIT_A_WAYPOINT is set by goto_wpt behavior
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# BAW_EVERY_SECS 9 // After behavior arg "when_secs", from prior START if cycling
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# BAW_EVERY_SECS_UPDWN_IDLE 10 // After behavior arg "when_secs", from prior START AND
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# // updown is idle, no one commanding vertical motion
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# BAW_SCI_SURFACE 11 // SCI_WANTS_SURFACE is non-zero
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# BAW_NOCOMM_SECS 12 // when have not had comms for WHEN_SECS secs
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#
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# b_arg: STOP_WHEN
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# 0 complete
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# 1-N same as "start_when"

‎dfo_rosie713/missions/YO14.MA‎

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