<!-- ====================================================================== 

-->
<!-- Baseline Rover configuration settings 

-->
<!-- 

-->
<RoverConfig>

	    <!-- ====================================================================== 
  
  -->
	    <!-- Mission State used for re-starting. Items in this section are read/write by
             the control system. 
  
  -->
	<State>
		
		        <!-- Phase (Launch | Movement | Measure | Done 
    
    -->
		<SavedPhase units='' value='Done' comment=''/>
		
		        <!-- Current Cycle 
    
    -->
		<SavedCycle units='Scalar' value='1' comment=''/>
		
		        <!-- Current Measurement iteration 
    
    -->
		<SavedIteration units='Scalar' value='1' comment=''/>
		
		        <!-- Current data log directory 
    
    -->
		<SavedLogDir units='String' value='/cf/rover/logs/2008.09.29.0' comment=''/>

		        <!-- Mission Start Time (used to determine mission duration) 
    
    -->
		<MST units='seconds' value='1222699642' comment='Seconds since 1970'/>
		
	</State>
	    <!-- ====================================================================== 
  
  -->
	
    <!-- ====================================================================== 
  
  -->
    <!-- General configuration settings 
  
  -->
	<General>

		        <!-- Mission Time Out 
    
    -->
		<Mission units='hours' value='0' comment=''/>

		        <!--Power Off when sleeping for long periods? 
    
    -->
		<PowerOffSleeps units='Bool' value='False' comment=''/>
		
		        <!--Exit mission after last cycle (do not linger in modem loop)? 
    
    -->
		<ExitOnCompletion units='Bool' value='True' comment=''/>
		
		        <!--Number of Movement-Measurement cycles to execute during a mission 
    
    -->
		<NumCycles units='Scalar' value='1' comment=''/>
		
		        <!--Log directory names will be prefixed with this string. If empty, the Mission start date is used 
    
    -->
		<LogDirPrefix units='String' value='Standard_' comment='Non-value is valid'/>

		        <!--Interval (seconds) between checking modem for command from surface 
    
    -->
		<SurfaceCommandCheckInterval units='seconds' value='30' comment=''/>

		        <!--Interval (seconds) between sending status reports to surface 
    
    -->
		<StatusReportInterval units='seconds' value='900' comment='15 minutes'/>

		        <!--Interval (seconds) between checking internal abort flag 
    
    -->
		<AbortCheckInterval units='seconds' value='120' comment=''/>

		        <!--Seconds to wait for dust to settle after arriving at a Mission Measurement site 
    
    -->
		<DustSettleTime units='minutes' value='0.5' comment=''/>

		        <!--Seconds to wait for dust to settle after arriving at a Measurement site 
    
    -->
		<VideoIPAddr units='String' value='134.89.12.147' 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 sn='849' comment='Reference optode' model='Aanderra Oxygen Optode 3830'/>

		<port_optode sn='850' comment='Port optode' model='Aanderra Oxygen Optode 3830'/>

		<starboard_optode sn='851' comment='Starboard optode' model='Aanderra Oxygen Optode 3830'/>

		<acm rate='1' sn='1864 25OCT06' comment='Current meter' model='Falmouth 2DACM-CBP-D'/>

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

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

		        <!-- Duration of the Launch phase in minutes 
    
    -->
		<LaunchDuration units='minutes' value='0.25' comment=''/>

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

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

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

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

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

		        <!--Interval in seconds between checks on progress of Measurement process 
    
    -->
		<MeasurementProgressCheckInterval units='minutes' value='0.5' comment=''/>
		
		        <!--Length of time in minutes before we assume a problem with Measurement process 
    
    -->
		<MeasurementTimeout units='minutes' value='10' comment=''/>
		
		        <!-- The number of recording iterations during a Measurement phase 
    
    -->
		<RecordingIterations units='Scalar' value='2' comment=''/>

		        <!--Duration in seconds of optode recordings
    
    -->
		<RecordingDuration units='minutes' value='1' comment=''/>

		        <!--Interval in minutes between optode reads
    
    -->
		<RecordingInterval units='minutes' value='1' comment=''/>

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

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

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

		        <!-- Simple move, just move forward with no turns 
    
    -->
		<SimpleMove units='boolean' value='True' comment=''/>

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

		        <!-- Distance in meters to move between measurement cycles, Normal mode 
    
    -->
		<Distance units='meters' value='0' comment=''/>

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

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

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

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

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

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

		        <!-- Drive motors counts per meter ratio (counts/m) 
    
    -->
		<MotorCountsPerMeter units='counts/meter' value='854.7' comment=''/>

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

		        <!-- Number of turning attempts to make before giving up and just move forward 
    
    -->
		<MaxTurnAttempts units='scalar' value='5' comment=''/>

		        <!-- We'll wait this many minutes for the current to move in the direction we want 
    
    -->
		<CurrentDirectionTimeout units='minutes' value='240' comment=''/>
		
		        <!-- Current direction can be +/- this amount 
    
    -->
		<CurrentDeviation units='degrees' value='28' comment=''/>
		
    </Movement>
    <!-- ====================================================================== 
  
  -->

    <!-- 
  
  -->
</RoverConfig>


