////////////////////////////////////////////////////////////////
//
// PURPOSE: This contains SensorModule parameters for Tethys class vehicles.
//
// NOTES: All values (except "strings") must be followed by
// a unit abbreviation (or one of the unit-like
// abbreviations: n/a, bool, enum, count).
//
////////////////////////////////////////////////////////////////
AHRS_M2.loadAtStartup = 1 bool;
AHRS_M2.simulateHardware = 1 bool;
AHRS_M2.boresightMatrix = "f0.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f-1.0 f0.0 f0.0" // default LRAUV vertical mounting configuration (connector down, flat-rib back)
AHRS_M2.magDeviation = 0.0 degree;
AHRS_M2.minNumPointsCal = 4 count; // Number of cal points required for the field calibration to start (4-32)
AHRS_M2.power = 0.06 watt;
AHRS_M2.readAccelerations = 0 bool;
AHRS_M2.readAngularVelocities = 0 bool;
AHRS_M2.readMagnetics = 0 bool;
AHRS_M2.verbosity = 0 count;
AMEcho.loadAtStartup = 0 bool;
AMEcho.simulateHardware = 1 bool;
AMEcho.enabled = 1 bool;
AMEcho.depthThreshold = 20.0 meter; // don't run altimeter above this depth
AcousticModem_Benthos_ATM900.loadAtStartup = 0 bool;
AcousticModem_Benthos_ATM900.simulateHardware = 1 bool;
AcousticModem_Benthos_ATM900.txPower = 8 enum;
AcousticModem_Benthos_ATM900.localAddress = 0 count;
AcousticModem_Benthos_ATM900.sbdAddress = -1 enum;
AcousticModem_Benthos_ATM900.transponderAddress = 0 enum;
AcousticModem_Benthos_ATM900.sendExpress = 0 bool;
AcousticModem_Benthos_ATM900.surfaceThreshold = 0.5 m;
AcousticModem_Benthos_ATM900.verbosity = 1 count;
BackseatComponent.loadAtStartup = 0 bool;
BackseatComponent.simulateHardware = 0 bool;
BackseatComponent.shutdownCmd = "shutdown";
BackseatComponent.lcmListenerTimeout = 2.5 second;
BackseatComponent.verbosity = 0 count;
BackseatComponent.alwaysOn = 0 bool; // Keeps BSC powered when true
BackseatComponent.needs24v = 0 bool; // Requests 24v power when true
// The second generation 4 chan mux to the Ocean Server IBPS
BPC1.loadAtStartup = 1 bool;
BPC1.simulateHardware = 1 bool;
BPC1.batteryMissingStickThreshold = 0 count; // Number of missing sticks allowed (set to 0, to require ALL batt sticks report in)
BPC1.batteryMuxCycleTime = 10 minute; // Time it takes OceanServer to mux over all battry banks
BPC1.batterySamplingInterval = 1 hour; // Time between battery status checks
BPC1.batteryStickCommsTimeout = 6 hour; // Max time allowed between batt stick check-ins (comp. will throw a fault if it
// doesn't hear from a batt stick after timeout is exceeded)
BR_Ping1D.loadAtStartup = 0 bool;
BR_Ping1D.interval = 500 millisecond;
BR_Ping1D.simulateHardware = 0 bool;
BR_Ping1D.verbosity = 0 count;
BR_Ping1D.minRange = 0 meter;
BR_Ping1D.maxRange = 30 meter;
BR_Ping1D.soundSpeed = 1500 m/s;
BR_Ping1D.autoMode = 1 bool;
BR_Ping1D.gainIndex = 4 count;
BR_Ping1D.minConfidence = 100 percent;
BR_Ping1D.pingEnable = 1 bool;
BR_Ping1D.writeUniversal = 0 bool;
DataOverHttps.loadAtStartup = 1 bool;
DataOverHttps.connectionTimeout = 30 second; // If transaction takes this long, try again.
DataOverHttps.period = 30 second; // How often to check in with server.
DataOverHttps.power = 0.001 watt; // Not actual hardware
DataOverHttps.timeout = 3 minute; // If not connected for this period of time, fall over to the next comms channel.
DataOverHttps.verbosity = 0 count; // Actually more like a volume control: >2 logs debug messages as IMPORTANT, 2 as INFO, 1 as DEBUG, and <1 as NONE
DAT.loadAtStartup = 0 bool;
DAT.simulateHardware = 1 bool;
DAT.maxAckTimeouts = 4 count;
DAT.convertPhaseDataToDirection = 0 bool;
DAT.ignoreElevationAngle = 0 bool;
DAT.txPower = 8 enum;
DAT.localAddress = 0 count;
DAT.sbdAddress = -1 enum;
DAT.transponderAddress = 0 enum;
DAT.sendExpress = 0 bool;
DAT.surfaceThreshold = 0.5 m;
DAT.verbosity = 0 count;
DDM.loadAtStartup = 0 bool;
DDM.simulateHardware = 0 bool;
DDM.currentLimit = 60 count; // 0x60 (1.125A)
DDM.PWMLimit = 60 count; // 0x60
DDM.verbosity = 0 count;
DUSBL_Hydroid.loadAtStartup = 0 bool;
DUSBL_Hydroid.simulateHardware = 1 bool;
DUSBL_Hydroid.defaultTurnAroundTime = .05 s; // Turn around time of the transponder being used
DUSBL_Hydroid.defaultSoundSpeed = 1500 m/s; // Speed of sound in water if not measured
DUSBL_Hydroid.detectionThreshold = 75 count; // Ignore singals lower than this value. Max ~64 count", Units::COUNT );
DUSBL_Hydroid.recieveTimeout = 2048 ms; // Time after transmit to listen for replies. Max 4095 ms", Units::MILLISECOND );
DUSBL_Hydroid.transmitLockout = 40 ms; // Time after transmit to ignore replies. Max 50 ms", Units::MILLISECOND );
DUSBL_Hydroid.transponderCode = 2 enum; // Transponder code: 2 for DR1-A, 3 for DR1-B, etc", Units::ENUM );
DUSBL_Hydroid.numberOfPingsRequested = 1 count; // How many pings to request
DUSBL_Hydroid.verbosity = 0 enum; // Verbosity: 0 =concise to 3 =most verbose
DUSBL_Hydroid.xCenter = 0 arcdeg; // X-axis offset, up to +/- 6.35 arcdeg
DUSBL_Hydroid.yCenter = 0 arcdeg; // Y-axis offset, up to +/- 6.35 arcdeg
Depth_Keller.loadAtStartup = 1 bool;
Depth_Keller.simulateHardware = 1 bool;
Depth_Keller.maxPressBound = 500 decibar;
Depth_Keller.minPressBound = -10 decibar;
Depth_Keller.offset = 0 decibar;
Depth_Keller.power = 0.006 watt; // Assumes 1mA + A/D overhead
Depth_Keller.scale = 27.72 micropascal; // per count of A/D
DepthKeller33X.loadAtStartup = 0 bool;
DepthKeller33X.simulateHardware = 1 bool;
DepthKeller33X.maxPressBound = 500 decibar;
DepthKeller33X.minPressBound = -10 decibar;
DepthKeller33X.offset = 0 decibar;
DropWeight.loadAtStartup = 1 bool;
DropWeight.simulateHardware = 1 bool;
DVL_micro.loadAtStartup = 0 bool;
DVL_micro.simulateHardware = 1 bool;
DVL_micro.magDeviation = 0.0 degree;
DVL_micro.pitchOffset = 0.0 degree;
DVL_micro.power = 5.436 watt; // Assumes 75 meter altitude, 2.5 Hz
DVL_micro.rollOffset = 0.0 degree;
//DVL_micro.power_platform_orientation = 0.94 watt;
//DVL_micro.power_platform_magnetic_orientation = 0.94 watt;
//DVL_micro.power_platform_pitch_angle = 0.94 watt;
//DVL_micro.power_platform_roll_angle = 0.94 watt;
GobyModem.loadAtStartup = 0 bool;
GobyModem.simulateHardware = 1 bool;
GobyModem.modemType = "benthos_atm900"; // Either benthos_atm900 or whoi_micromodem
GobyModem.networkIds = "0"; // Comma separated list of IDs of all deployed vehicles with modems
// This must match in all simulataneously deployed vehicles
// Used to allocate transmission time slots
GobyModem.maxDistance = 5 km; // Maximum distance of transmission, used in simulation
GobyModem.transBaud = 30 bps; // Baud rate of transmission, used in simulation
Micromodem.verbosity = 4 enum;
Micromodem.loadAtStartup = 0 bool;
Micromodem.simulateHardware = 1 bool;
Micromodem.localAddress = 0 enum;
Micromodem.destinationAddress = -1 enum;
Micromodem.dataRate = 1 enum;
Micromodem.sendExpress = 0 bool;
Micromodem.acousticResponseTimeout = 20 second; // How long to wait for external responses
Micromodem.resendPeriod = 1 minute; // How long to wait between resend ping
Micromodem.surfaceThreshold = 0.5 m; // Closer to the surface than VerticalControl.surfaceThreshold
Micromodem.pwrampTXLevel = 0 enum; // Set to 3 for test tank, -1 for version 1 modems
Micromodem.centerFrequency = 14500 Hz;
Micromodem.bandwidth = 4000 Hz;
Micromodem.dusblPingCode = "";
Micromodem.rangeTxSeqCode = "";
Micromodem.rangeTxFreq = 10000 Hz;
Micromodem.rangeTxTime = 10 ms;
Micromodem.rangeRxTime = 10 ms;
Micromodem.rangeTAT = 50 ms;
Micromodem.trans1Channel = -1 enum;
Micromodem.trans2Channel = -1 enum;
Micromodem.trans3Channel = -1 enum;
Micromodem.trans4Channel = -1 enum;
NAL9602.loadAtStartup = 1 bool;
NAL9602.simulateHardware = 1 bool;
NAL9602.gpsFailTimeout = 10 min; // Time to wait for GPS prior to throwing a failure
// Based on worst case outside of 5 min 26 seconds for
// acquisition without a backup battery.
NAL9602.iridiumMTQueueTimeout = 5 min; // How long to wait for an Iridium session to check for waiting MT SBD messages in the queue
NAL9602.power = 0.35 watt;
NAL9602.power_platform_communications = 0.90 watt;
NAL9602.requestGGA = 0 bool; // If false recommended minimum data will be requested
NAL9602.fastGPSFix = 1 bool; // Leaves the power applied to the NAL in order to allow for faster GPS fixes
NAL9602.maxDownlinkMsgSize = 340 byte; // Maximum size of SBD packets sent from vehicle to shore (no more than 340 byte)
NAL9602.maxUplinkMsgSize = 270 byte; // Maximum size of SBD packets sent from shore to vehicle (no more than 270 byte)
NanoDVR.loadAtStartup = 0 bool;
NanoDVR.simulateHardware = 1 bool;
NanoDVR.sampleTime = 90 second;
Onboard.loadAtStartup = 1 bool;
Onboard.simulateHardware = 1 bool;
OnboardBattery.mainBatterySysNode = "ds2782-0";
OnboardBattery.backupBatterySysNode = "ds2782-1";
OnboardPressure.coefA0 = 1827.50 none;
OnboardPressure.coefB1 = -2.088623 none;
OnboardPressure.coefB2 = -1.041687 none;
OnboardPressure.coefC12 = 0.000710 none;
Onboard.power = 0.010 watt; // Guess
OnboardPressure.intercept = 0.0 psi;
OnboardPressure.slope = 172.62 psi/V;
Power24vConverter.loadAtStartup = 1 bool;
Power24vConverter.simulateHardware = 0 bool;
PowerOnly.loadAtStartup = 0 bool;
PowerOnly.simulateHardware = 1 bool;
PowerOnly.sampleTime = 90 second;
PNI_TCM.loadAtStartup = 0 bool;
PNI_TCM.simulateHardware = 1 bool;
PNI_TCM.magDeviation = 0.0 degree;
PNI_TCM.pitchOffset = 0.0 degree;
PNI_TCM.power = 0.08 watt;
PNI_TCM.readMagnetics = 1 bool;
PNI_TCM.rollOffset = 0.0 degree;
PNI_TCM.verbosity = 0 count;
Radio_Surface.loadAtStartup = 1 bool;
Radio_Surface.simulateHardware = 1 bool;
Radio_Surface.power = 3.50 watt;
RDI_Pathfinder.loadAtStartup = 0 bool;
RDI_Pathfinder.simulateHardware = 1 bool;
RDI_PathfinderUp.loadAtStartup = 0 bool;
RDI_PathfinderUp.simulateHardware = 0 bool;
Rowe_600.loadAtStartup = 0 bool;
Rowe_600.simulateHardware = 0 bool;
Rowe_600.acousticBlankingDistance = 0.5 meter;
Rowe_600.altitudeAccuracy = 0.01 m;
Rowe_600.bottomTrackVelocityAccuracy = 0.002 m/s;
Rowe_600.headingOffset = 45.0 degree;
Rowe_600.maxSpeed = 1.75 m/s;
Rowe_600.numberOfBeams = 4 count;
Rowe_600.numberOfBins = 1 count;
Rowe_600.pausePeriod = 400 ms;
Rowe_600.pitchOffset = 0.0 degree;
Rowe_600.rollOffset = 0.0 degree;
Rowe_600.sampleTime = 15 second; // do we really need this for the rowe?
Rowe_600.verbosity = 0 count;
Rowe_600.waterReferenceLayerBin = 2 count;
Rowe_600.waterTrackVelocityAccuracy = 0.05 m/s;
Rowe_600.writeAmplitudeProfile = 0 bool;
Rowe_600.writeBeamVelocityProfile = 0 bool;
Rowe_600.writeCorrelationProfile = 0 bool;
Rowe_600.writeEarthVelocityProfile = 0 bool;
Rowe_600.writeGoodBeamPingsProfile = 0 bool; // Don't bother enabling this, it is not yet implemented for output to slate.
Rowe_600.writeGoodEarthPingsProfile = 0 bool; // Don't bother enabling this, it is not yet implemented for output to slate.
Rowe_600.writeInstrumentVelocityProfile = 0 bool;
Rowe_600.writeRawEnsemble = 1 bool;
SCPI.loadAtStartup = 0 bool;
SCPI.simulateHardware = 1 bool;
SCPI.sampleTime = 420 second;