Slocum G2 Glider Operators Training Guide
Mission Files (.mi and .ma)
32
TELEDYNE WEBB RESEARCH
Rev. 06/12
# 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"
