<!-- ====================================================================== -->
<!-- Baseline Rover configuration settings -->
<!-- -->
<RoverConfig>

<!-- ====================================================================== -->
<!-- General configuration settings -->
	<General>

		<!--Use simulated drivers? (True of False)-->
		<SimulatedDrivers	value="False" units="Bool" comment=""></>

		<!--Number of Movement-Measurement cycles to execute during a short, or test mission -->
		<ShortCycles	value="3"	units="Scalar" comment=""></>

		<!--Number of Movement-Measurement cycles to execute during a deployment, or long mission -->
		<LongCycles	value="10"	units="Scalar" comment=""></>

		<!--Log directory names will be prefixed with this string. If empty, the Mission start date is used -->
		<LogDirPrefix	value=""	units="String" comment="Non-value is valid"></>

		<!--Interval (seconds) between checking modem for abort command from surface -->
		<SurfaceAbortCheckInterval	value="600"	units="seconds" comment=""></>

		<!--Interval (seconds) between sending status reports to surface -->
		<StatusReportInterval	value="600"	units="seconds" comment=""></>

		<!--Interval (seconds) between checking internal abort flag -->
		<AbortCheckInterval	value="300"	units="seconds" comment=""></>

		<!--Seconds to wait for dust to settle after arriving at a Measurement site -->
		<DustSettleTime	value="400" units="seconds" comment=""></>

		<!--Seconds to wait for dust to settle after arriving at a Measurement site -->
		<VideoIPAddr	value="192.168.0.90" units="String" comment="dot notation"></>

	</General>
<!-- ====================================================================== -->

<!-- ====================================================================== -->
<!-- Instrumentation Information -->
	<Instruments>

		<!-- Configuration item name (e.g., "ref_optode") matches the serial port name of the device -->
		<!-- The serial port name is used by the device driver to look-up the configuration for that instrument -->

		<ref_optode comment="Reference optode" model="Aanderra Oxygen Optode 3830" sn="849"></>

		<chamber_optode1 comment="Chamber 1 optode" model="Aanderra Oxygen Optode 3830" sn="850"></>

		<chamber_optode2 comment="Chamber 2 optode" model="Aanderra Oxygen Optode 3830" sn="851"></>

		<acm comment="Current meter" model="Falmouth 2DACM-CBP-D" sn="1864 25OCT06"></>

	</Instruments>
<!-- ====================================================================== -->

<!-- ====================================================================== -->
<!-- Launch phase configuration settings -->
	<Launch>

		<!-- Duration of the Launch phase in minutes -->
		<LaunchDuration value="150" units="minutes" comment=""></>

		<!-- Camera lights blink to provide feedback that mission is running. Define interval (seconds) between blinks here -->
		<LightBlinkInterval	value="90" units="seconds" comment=""></>

		<!-- Minimum Launch Duration in minutes before mission will bother to blink lights -->
		<MinDurationForBlinks	value="20" units="minutes" comment=""></>

	</Launch>
<!-- ====================================================================== -->

<!-- ====================================================================== -->
<!-- Measurement phase configuration settings -->
	<Measurement>

		<!-- Interval (in minutes) between status reports -->
		<MeasurementReportInterval	value="10" units="minutes" comment=""></>

		<!-- The number of recording iterations during a Measurement phase -->
		<RecordingIterations value="3" units="Scalar" comment=""></>

		<!--Duration in seconds of optode recordings-->
		<RecordingDuration	value="60" units="seconds" comment=""></>

		<!--Interval in minutes between optode reads-->
		<RecordingInterval	value="14" units="minutes" comment=""></>

		<!--Interval in seconds between checks on progress of Measurement process -->
		<MeasurementProgressCheckInterval	value="60" units="seconds" comment=""></>

		<!--Length of time in minutes before we assume a problem with Measurement process -->
		<MeasurementTimeout	value="100" units="minutes" comment=""></>

		<!--Number of data recording iterations to perform on a short, or test mission -->
		<ShortIterations	value="1" units="Scalar" comment=""></>

		<!--Number of data recording iterations to perform on a long mission -->
		<LongIterations	value="144" units="scalar" comment=""></>

		<!-- Seconds to allow video server to boot -->
		<VideoBootTime	value="30" units="seconds" comment=""></>

	</Measurement>
<!-- ====================================================================== -->

<!-- ====================================================================== -->
<!-- Movement phase configuration settings -->
    <Movement>

		<!-- Distance in meters to move between measurement cycles, Simple mode, no detectable current -->
		<SimpleForwardDistance	value="1600" units="counts" comment="800 counts per meter"></>

		<!-- Heading (0-359) to move between measurement cycles-->
		<Heading	value="90" units="degrees" comment=""></>

		<!-- Distance in meters to move between measurement cycles, Normal mode -->
		<Distance	value="8000" units="meters" comment=""></>

		<!-- Time (in minutes) to allow for move before timing-out -->
		<MoveTimeout	value="470" units="seconds" comment="Not counting turns"></>

		<!-- Time (in seconds) between checks to see if move complete (should be less than MoveTimeout) -->
		<MoveCheckInterval	value="30" units="seconds" comment=""></>

		<!-- Drive motors pid gains -->
		<MotorPGain	value="1000" units="scalar" comment="" ></>

		<!-- Drive motors pid gains -->
		<MotorIGain	value="0" units="scalar" comment="" ></>

		<!-- Drive motors pid gains -->
		<MotorDGain	value="1000" units="scalar" comment="" ></>

		<!-- Drive motors velocity (counts/sec) -->
		<MotorVelocity	value="1000" units="counts/sec" comment=""></>

		<!-- Drive motors counts per meter ratio (counts/m) -->
		<MotorCountsPerMeter	value="800" units="counts/meter" comment=""></>

		<!-- Drive motors counts per degree ratio, turning with tracks moving in opposite direction (counts/degree) -->
		<MotorCountsPerDegree	value="10" units="counts/degree" comment=""></>

		<!-- Number of turning attempts to make before giving up and just move forward -->
		<MaxTurnAttepmts	value="3" units="scalar" comment=""></>

		<!-- Allowed Heading Error before stopping to make a correction (degrees)  -->
		<AllowedHeadingError	value="10" units="degrees" comment=""></>

		<!-- Interval in milliseconds for reading current meter data -->
		<CMReadInterval	value="1000" units="milliseconds" comment=""></>

		<!-- We'll wait this many minutes for the current to move in the direction we want -->
		<CurrentDirectionTimeout	value="10" units="minutes" comment=""></>

    </Movement>
<!-- ====================================================================== -->

<!-- -->
</RoverConfig>
