# pausehld.mi
#
# A mission that is suppose to hang around the same spot on the
# earth and wait for someone to pick it up.  It initially stays
# on the surface for 10 minutes.
#
# There's an inner watch circle where it's suppose to surface in.
# There's an outer watch circle where it starts diving when it
#   gets there.
#
# This is a good candidate for initial.mi, the mission that is
# run after reset.
#
# 09-May-02 tc@DinkumSoftware.com Initial, cloned from hold.mi 06-May-02
# 05-Aug-02 trcrawford@malvernsoft.com force_iridium_use for test
# 23-Oct-02 tc@DinkumSoftware.com thermal development: removed b_arg: d_thr_reqd_vol
# 28-Oct-02 tc@DinkumSoftware.com thermal development: b_arg: max_charge_time -> max_pumping_charge_time
# 04-Mar-03 tc@DinkumSoftware.com Removed default b_args
#                                 No longer force iridium use
# 2012-02-29 lcooney@teledyne.com Changed the bottom surface keystroke_wait_time b_arg from 600s to 300s, 
#                                 to keep keystroke_wait_time < c_iridium_no_char_timeout(mins) 10 
#                                 Resolves M#0001259
# 2013-05-2013 ballsup@teledyne.com 1 hr overtime 
# Initially stays on the surface for 10 minutes
# Holds at location where mission started
# inner watch circle: 10m
# outer watch circle: 100m
# surface with no comms time: 20 minutes

# 3m to 20m(3m)

sensor: c_science_send_all(bool)		   			0
sensor: u_dbd_sensor_list_xmit_control(enum)    	3   


# ABORT BEHAVIOR
behavior: abend
    # OVERDEPTH: glider finds itself in > 204m of water
    b_arg: overdepth(m)                     		31
    b_arg: overdepth_sample_time(sec)       		60
	
	# OVERTIME: mission has run too long: 30 min
	b_arg: overtime(sec)                  			900

    # COP TICKLE: watchdog not tickled for 12.5% before hardware jumper
    b_arg: no_cop_tickle_percent(%)         		-1
	b_arg: no_cop_tickle_for(sec)      				21600.0
    
    # SAMEDEPTH: 15 min every 60 seconds
    b_arg: samedepth_for(sec)               		900.0
    b_arg: samedepth_for_sample_time(sec)   		60.0
    # STALLED FOR: 15 min every 60 seconds
    b_arg: stalled_for(sec)                 		900.0
    b_arg: stalled_for_sample_time(sec)     		60.0
    
    # HARDWARE: vacuum, battery    
    b_arg: undervolts(volts)                		9.5
    b_arg: undervolts_sample_time(sec)      		60.0
    b_arg: vacuum_max(inHg)                 		12.0
    b_arg: vacuum_sample_time(sec)          		60.0
	
	# BUSY CPU CHECK
	b_arg: max_allowable_busy_cpu_cycles(cycles)	75
	
	# USE THRUSTER DURING ABORT
	# b_arg: use_thruster_for_ascent(bool)			1



# Surface every 1 hour
behavior: surface
    b_arg: start_when(enum)          	9 		# 9-every when_secs
	b_arg:  when_secs(sec)          	3600

    # Flight Controls
        b_arg:  c_use_bpump(enum)       2
        b_arg:  c_bpump_value(X)        1000
        b_arg:  c_use_pitch(enum)       3       # servo, rad, >0 = climb
        b_arg:  c_pitch_value(X)        0.4528  # 26 degrees
        
    # Surface Timeouts & Other Params
        b_arg: report_all(bool)             0       # F->just gps
        b_arg: end_action(enum)             1       # Surface menu
        b_arg: gps_wait_time(sec)           600     # GPS wait
        b_arg: keystroke_wait_time(sec)     300     # Surface time
        b_arg: printout_cycle_time(sec)     40.0    # Surface menu print rate
        b_arg: force_iridium_use(nodim)     1

		
behavior: goto_list
    b_arg: start_when(enum)      	0
	b_arg: end_action(enum)			0	
    b_arg: num_waypoints(nodim)  	4
    b_arg: num_legs_to_run(nodim) 	-1
    b_arg: initial_wpt(enum)      	-1


    # Stopping condition applied to all of waypoints in the list
    b_arg: list_stop_when(enum)  	7	# choices = stop_when([1, 2, 5, 7])
    b_arg: list_when_wpt_dist(m) 	10	# min = 10.0

    # 500 m box around 0,0
    b_arg: wpt_units_0(enum) 0                     	#! ignore=True
    b_arg: wpt_x_0(X)        -250      				# The waypoint (east or lon)
    b_arg: wpt_y_0(X)        -250     				#              (north or lat)

    b_arg: wpt_units_1(enum) 0                     	#! ignore=True
    b_arg: wpt_x_1(X)        -250
    b_arg: wpt_y_1(X)        250

    b_arg: wpt_units_2(enum) 0                     	#! ignore=True
    b_arg: wpt_x_2(X)        250
    b_arg: wpt_y_2(X)        250

    b_arg: wpt_units_3(enum) 0                     #! ignore=True
    b_arg: wpt_x_3(X)        250
    b_arg: wpt_y_3(X)        -250


behavior: yo
    b_arg: start_when(enum)      			2   	# 2-depth idle
	b_arg: end_action(enum) 				2     	# 0-quit, 2 resume
    b_arg: num_half_cycles_to_do(nodim) 	-1		# infinite

   # Dive To
    b_arg: d_target_depth(m)		25   
    b_arg: d_target_altitude(m)		4
	b_arg:  d_use_pitch(enum)		3
	b_arg:  d_pitch_value(X)		-0.454
	b_arg:  d_stop_when_stalled_for(sec)    120
	b_arg:  d_stop_when_hover_for(sec)      120

  # Climb To
    b_arg: c_target_depth(m)		4
    b_arg: c_target_altitude(m)  	-1
    b_arg: c_use_pitch(enum)      	3
    b_arg: c_pitch_value(X)    		0.454
	b_arg:  c_stop_when_stalled_for(sec)    120
	b_arg:  c_stop_when_hover_for(sec)      120




behavior: prepare_to_dive
    b_arg: start_when(enum)   0     # 0-immediately, 1-stack idle 2-depth idle
    b_arg: wait_time(s)     720     # 12 minutes, how long to wait for gps


behavior: sensors_in            
    # <0 off, 0 as fast as possible, N, sample every N secs