CPF Configuration¶

Overview¶

The CPF stores its configuration as an XML file at \SD\config.xml on the SD card. On startup, SystemConfigManager reads this file and populates all mission and hardware parameters in memory. If the file does not exist, a new one is created from the built-in defaults.

SystemConfigManager is a singleton that extends MissionConfig. MissionConfig defines all properties and their validation limits. SystemConfigManager adds file I/O, the default values, and the sleep/wake persistence logic.

File Format¶

The config file is a flat XML document. Each parameter is a single <item> element with key and value attributes, all wrapped in a <cpf> root element:

<?xml version="1.0" encoding="utf-8"?>
<cpf>
  <item key="platformname" value="CPF003" />
  <item key="engrloggerverbositylevel" value="4" />
  <item key="missionparkdepth" value="150.00" />
  ...
</cpf>

Keys are case-insensitive on read. Values are always stored as strings and parsed back to their appropriate type on load.

Loading and Saving¶

The default config path is \SD\config.xml. It is loaded automatically at startup. If the file is missing or corrupt, the firmware recreates it from defaults and logs the event.

To save a modified config from within a running mission, call SaveConfigFile() on the SystemConfigManager instance. The resetprofile factory mode command loads defaults, resets sleep state, and saves the file in one step.

The config is also saved automatically by the state machine before the system goes to sleep, capturing the current state for wake-up resumption.

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Parameter Reference¶

Parameters are grouped by function. The Key column is the exact string used in the XML file.

System¶

Key	Type	Default	Limits	Description
platformname	string	CPF003	—	Unique identifier for this float. Used in log file names and remote logins. No spaces. Example: CPF001.
engrloggerverbositylevel	int	4	0–5	Verbosity of engineering log messages sent to the Bluetooth console. 0 = silent, 1 = minimum, 5 = maximum.
debuggerverbositylevel	int	4	0–5	Verbosity of messages sent to an attached software debugger. Has no effect during normal operation.
systemdatasampleperiod	int (sec)	10	1–1200	Period in seconds between acquisition of core vehicle health data (voltage, current, pressure).
premissiondelayperiod	int (sec)	30	0–1200	Delay in seconds before the mission state machine begins after power-on.

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Bellows Calibration¶

The string potentiometer ADC reading is converted to bellows fill percentage using a linear calibration:

fill% = (ADC_counts - StringPotIntercept) / StringPotInverseSlope

Key	Type	Default	Limits	Description
stringpotinverseslope	float	7668560.96	none	Inverse slope for converting ADC counts to percent fill. Saved to 4 decimal places.
stringpotintercept	float	18.706119	none	Intercept for the string pot voltage-to-fill conversion. Saved to 4 decimal places.

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Bellows Limits & Buoyancy Control¶

Key	Type	Default	Limits	Description
bellowslowerlimit	float (%)	3.0	0–100	Minimum allowed bellows fill in percent. The pump will not drive below this.
bellowsupperlimit	float (%)	97.0	0–100	Maximum allowed bellows fill in percent. The pump will not drive above this.
sosetbellowsposition	float (%)	45.0	0–100	Target bellows fill when entering Surface Ops mode.
sosetbellowsjv	int (JV)	200000	±200000	Elmo jog velocity used for bellows adjustments during Surface Ops.
rmsetbellowsposition	float (%)	5.0	0–100	Target bellows fill when entering Recovery mode.
abretractfastjv	int (JV)	200000	±200000	Pump speed during fast air-bladder retract phase.
abretractslowjv	int (JV)	200000	±200000	Pump speed during slow air-bladder retract phase.
abpressurethreshold	float (dbar)	0.3	0–10	Minimum pressure in decibars to transition from AB-retract state to Descend.

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Anchoring & Deanchoring¶

These parameters tune the detection of bottom contact (anchoring) and departure from bottom (deanchoring).

Key	Type	Default	Limits	Description
deanchorjv	int (JV)	150000	±200000	Elmo jog velocity used during deanchoring.
deanchorvelocitylimit	float (dbar/s)	0.05	-1–1	Minimum upward pressure velocity (dbar/s) to consider the float deanchored.
deanchorpressureminimum	float (dbar)	5.0	0.1–10	Minimum pressure change from the anchored position before deanchoring is tested.
deanchorpressurecountthreshold	int	10	1–200	Number of consecutive samples meeting deanchor criteria before declaring deanchored.
anchorpressurecountthreshold	int	4	1–200	Number of consecutive samples meeting anchor criteria before declaring anchored.
anchorpressureminimum	float (dbar)	4.0	0–10	Minimum pressure at which anchoring detection is active.
anchorvelocitylimit	float (dbar/s)	0.025	-1–1	Maximum vertical velocity when determining the float has reached bottom. Saved to 4 decimal places.
exitanchorpressurethreshold	float (dbar)	5.0	1–10	Maximum tolerated pressure change between sensor updates while anchored. Used to confirm stable bottom contact.
approachvelocity	float (dbar/s)	0.01	-1–1	Target vertical velocity when approaching a depth setpoint.

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CTD (SBE41)¶

Key	Type	Default	Limits	Description
sbe41commandmodesampleperiod	int (ms)	3000	2600–60000	Sample period for the SBE41 in command/sample mode, in milliseconds.
sbe41cpsampleperiod	int (ms)	1000	1000–3000	Sample period for the SBE41 in continuous profile (CP) mode, in milliseconds.
cpmode	int	1	0 or 1	Enables (1) or disables (0) CP mode during the Ascend state.
cppressurecutoff	float (dbar)	1.0	1–20	CP mode stops sampling below this pressure.
cprunpumptime	int (sec)	2	0–1200	Seconds to run the pump before starting CP mode to flush the CTD.

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Mission Parameters¶

Key	Type	Default	Limits	Description
missionparkdepth	float (dbar)	150.0	0–150	Target parking depth in decibars.
missionparktimehours	int (hrs)	2	0–100	Hours component of the park duration. Used together with missionparktimeminutes.
missionparktimeminutes	int (min)	0	0–1000	Minutes component of the park duration.
missionparksampleperiodminutes	int (min)	120	0–1000	Time between instrument samples while parked.
missiondurationhours	int (hrs)	2	0–1000	Maximum total mission duration in hours. The mission ends when this is exceeded.
missionmaxprofiles	int	100	0–1000	Maximum number of profiles to complete before ending the mission.1

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Sleep / Wake Persistence¶

These items are written automatically by the firmware before sleeping and read back on wake-up to resume the mission. Do not edit these manually unless you know what you are doing. The resetprofile factory mode command resets them all to their defaults.

Key	Type	Description
laststate	int	Integer value of the CPFStates enum for the state active when the system slept. 0 = SMNotRunning (clean start).
lastprofilenum	int	Profile number that was active when the system slept.
lastdatadir	string	Path to the working data directory at the time of sleep, e.g. \SD\CPF003_001.
lastparkstarttime	long	DateTime.Ticks value recorded when the park phase began. Used to calculate remaining park time on wake.
nextwakeuptime	long	DateTime.Ticks value of the scheduled next wake-up.
missionstarttime	long	DateTime.Ticks value recorded when the mission was started. Used to track total mission elapsed time.

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Default Values¶

The following defaults are set by SystemConfigManager.CreateStandardConfig() when no config file is present:

platformname             = CPF003
engrloggerverbositylevel = 4
debuggerverbositylevel   = 4
systemdatasampleperiod   = 10 sec
premissiondelayperiod    = 30 sec
stringpotinverseslope    = 7668560.96
stringpotintercept       = 18.706119
bellowslowerlimit        = 3.0 %
bellowsupperlimit        = 97.0 %
sosetbellowsposition     = 45.0 %
sosetbellowsjv           = 200000
rmsetbellowsposition     = 5.0 %
abretractfastjv          = 200000
abretractslowjv          = 200000
abpressurethreshold      = 0.3 dbar
deanchorjv               = 150000
deanchorvelocitylimit    = 0.05 dbar/s
deanchorpressureminimum  = 5.0 dbar
deanchorpressurecountthreshold = 10
anchorpressurecountthreshold   = 4
anchorpressureminimum    = 4.0 dbar
anchorvelocitylimit      = 0.025 dbar/s
exitanchorpressurethreshold    = 5.0 dbar
approachvelocity         = 0.01 dbar/s
cppressurecutoff         = 1.0 dbar
cprunpumptime            = 2 sec
cpmode                   = 1 (enabled)
sbe41commandmodesampleperiod   = 3000 ms
sbe41cpsampleperiod      = 1000 ms
missionparkdepth         = 150 dbar
missionparktimehours     = 2
missionparktimeminutes   = 0
missionparksampleperiodminutes = 120
missiondurationhours     = 2
missionmaxprofiles       = 100