# N1 	Pilot Pc
# N2	Co-Pilot Pc
# N3 	Science Pc
# N4	Pilot active chair TSC
# N5 	Co-Pilot TSC
# N6	Pilot TSC
#
# Control System Configuration File
#
# Soil Machine Dynamics Ltd
# Wincomblee Rd, Low Walker
# Newcastle-upon-Tyne,   UK
# NE6 3QS.
# Tel: +00 44 (0)191-234-2222
# Fax: +00 44 (0)191-234-0444
#
# This file is used to define the configuration
# of the control system for which it is intended
# Note: no spaces after the '=' for text items.
#		this bug to be sorted. 
#
# General System Definitions
#

[SYSTEM]
TimeZone=UTC00
Operator=MBARI
MachineType=Rov 
ProjectTitle=C903
SupportVessel=
MaxChannels=760
CycleTime=65000000
CycleTimeout=200
MaxServerDataItems=0
AlarmSourceID=3
AlarmSourceText=Rov
WatchDogChannel=0
Simulator=0
Performance=1

# Process Specific Definitions
[DATA_MANAGER]
ProcessName=dataman
RegisterName=/SMD/DMAN_RV_S04
ConfigFileName=rov.ini
PartNo=pe4332
Priority=15
Schedule=
RemoteIOnid=0
Node=
Verbose=1
#Pressure reduction in Reduced Power and Deck Checks as %
PressureReduction=10
MaxMotorCurrent=17.5
#How many cycles to ramp up the pumps
LoadUpTime=10
# Aft lateral demand is reduced by this amount to stop rotational
# effect from different drag and thrust centres. Min=0%, Max=50%
AftLatReduction=0
# max rate of change of thruster demand, 1 to 100% per cycle
ThrustMaxRateOfChange=25

[AUTO_SETTINGS]
ROV_MaxSpeed=2.0
ROV_MoveSpeed=0.5
ROV_RotationLimit=10.0
ROV_TrackStep=1.0
ROV_Step_X=1.0
ROV_Step_Y=1.0
ROV_StepAlt=0.1
ROV_StepDepth=1.0
ROV_StepRot=1.0
GPS_Weighting=1
INS_Weighting=1
DVL_Weighting=1
RouteFile=pipe1.dbs
TargetFile=debris.tgt
AutoHead_P=280.0
AutoHead_I=0.0
AutoHead_D=450.0
AutoAlt_P=33.0
AutoAlt_I=1.0
AutoAlt_D=2.0
AutoDepth_P=3.0
AutoDepth_I=4.0
AutoDepth_D=5.0
AutoFA_P=45.0
AutoFA_I=0.0
AutoFA_D=230.0
AutoPS_P=45.0
AutoPS_I=0.0
AutoPS_D=230.0
AutoOS=0.5
NavUpdateRate=2.0
AutoRev_X=1.0
AutoRev_Y=-1.0
AutoRotate=45.0
AutoRev_FA=-1.0
AutoRev_PS=1.0
AutoPwrRate=15.0
AutoPwrStep=0.50
AutoPwrLimit=20.0

[SERVER_MANAGER]
ProcessName=serverman
RegisterName=/SMD/DMAN_SERV
ConfigFileName=rov.svr
PartNo=pe4333
Priority=15
Schedule=DECAY
Verbose=0

[FILE_MANAGER]
ProcessName=fileman
RegisterName=/SMD/FMAN_RV
ConfigFileName=rov.mch
PartNo=pe4338
Priority=15
Schedule=DECAY
Verbose=0

[HARDWARE_READ]
ProcessName=io_read
RegisterName=
ConfigFileName=
PartNo=pe4334
Priority=15
Schedule=DECAY
Verbose=0

[HARDWARE_WRITE]
ProcessName=io_write
RegisterName=
ConfigFileName=
PartNo=pe4335
Priority=15
Schedule=DECAY
Verbose=0

[SCALE_ALARM]
ProcessName=scaler
RegisterName=/SMD/SCALE_RV
ConfigFileName=
PartNo=pe4336
Priority=15
Schedule=DECAY
Verbose=0

[DATA_SERVER]
ProcessName=data_server
RegisterName=/SMD/DS
ConfigFileName=rov.ini
PartNo=pe4736
Priority=15
Schedule=DECAY
Verbose=0
Debug=0
UpdateRate=1
# set operating mode.
# NORMAL   - takes sources directly from list below
# AUTO     - searches for sources automatically
RunMode=AUTO

# NORMAL MODE: list source names for stand alone
##MaxSource=4
##SourceName1=/SMD/DMAN_TR_S01
##SourceName2=/SMD/RS485LINK_S02
##SourceName3=/SMD/DEVMAN_S03
##SourceName4=/SMD/DEVMAN_S04

# if running in AUTO mode the source locator
# process is launched by the data server
[SOURCE_LOCATOR]
Verbose=0
Priority=15
UpdateRate=1
# How many nodes are on the network
MaxNodes=20
# Interval in seconds to check for data sources
SourcePollRate=30

[ALARM_SYSTEM]
ProcessName=alarm_man
RegisterName=/SMD/ALARM_MAN
ViewerNameFile=alarm_man.cfg
PartNo=pe5526
Priority=15
Schedule=DECAY
Verbose=0

[ALARM_VIEW_2]
ProcessName=alarm_view
RegisterName=/SMD/AVIEW_C
WindowTitle=CO-PILOT SYSTEM DATA
PartNo=PJ7456
Priority=15
Schedule=DECAY
Verbose=0
# name of relaybox manager/data manager and channel
RelayName=/SMD/DMAN_RV_S04
RelayChannel=239
# Display modes
# NO_ALARMS   - show no alarms
# ALARMS      - show alarms, allowing source selection through omission list
DisplayMode=NO_ALARMS
# Omission of any Sources (DisplayMode=ALARMS only) - comma delimited list
DispOmissions=
# Sounder modes
# NO_ALARMS     - no alarm sounder control
# ALARMS        - sounder control allowing source selection by omission list
SounderMode=ALARMS
# Omission of any Sources (SounderMode=ALARMS only) - comma delimited list
SounderOmissions=
# Used by RDC 
ForceFront=0
BackGroundColour=DBLUE
ForeGroundColour=WHITE
# resolution is 1 (default)=small text, 2=medium, 3=large, 4=XL
Resolution=3
# is the display permanent and fixed size with a title? (only applies when
# alarms are being displayed).
FixedSize=0


# The following sections define the hardware config
# of the system. A max of 16 IO blocks are allowed
# (IO_1 to IO_16) each holding a specific 'type' of
# of device e.g. Ziatech Digital cards [ZT89CT61],
# or Robotrol 7738 AnalogIO cards.
#
# IO addresses start at 1 for each IO type, the
# first digital block defined will start at digital
# channel 1 to the maximum number of channels 
# available for the card type and number of cards.
# The next digital block defined will be mapped in
# at the next free digital channel available. The
# same applies to analog and counter IO. Device IO
# is mapped in a similar way, by blocks based on the
# number of channels each device type occupies. In 
# operation device IO is treated as analog In/Out.
# IO blocks are activated by setting the state for
# the required block to 1.
 
[INPUT_OUTPUT]
IO_1_status=1
IO_2_status=1
IO_3_status=1
IO_4_status=1
IO_5_status=1
IO_6_status=1
IO_7_status=1
IO_8_status=1
IO_9_status=1
IO_10_status=1
IO_11_status=1
IO_12_status=1
IO_13_status=1
IO_14_status=0
IO_15_status=0
IO_16_status=0

[IO_1]
CardType=FB_DIG_PIL
Mode=LOCAL
Node=1
Cards=1
Priority=15
DriverName=/SMD/FBDIG_PIL

[IO_2]
CardType=FB_ANA_PIL
Mode=LOCAL
Node=1
Cards=1
Priority=15
DriverName=/SMD/FBANA_PIL

[IO_3]
CardType=IFG
Mode=LOCAL
Node=1
Cards=1
#base is used for comm port
Base=3
Priority=15
DriverName=/SMD/IFG
ConfigFile=drivers.ini

[IO_4]
CardType=BATHY
Mode=LOCAL 
Node=1
Cards=1
#base is used for comm port
Base=4
Priority=15
DriverName=/SMD/BATHY
ConfigFile=drivers.ini

[IO_5]
CardType=FOG
Mode=LOCAL
Node=1
#cards used for baud rate
Cards=1
#base is used for comm port
Base=5
Priority=15
DriverName=/SMD/FOG
ConfigFile=drivers.ini

[IO_6]
CardType=DVL
Mode=LOCAL
Node=1
#base is used for comm port
Verbose=1
Cards=1
Base=6
Priority=15
DriverName=/SMD/DVL
ConfigFile=drivers.ini

[IO_7]
CardType=ALTIMITER
Mode=REMOTE
Node=3
Cards=1
#base is used for comm port
Base=7 
Priority=15
DriverName=/SMD/ALTIMITER
ConfigFile=drivers.ini

[IO_8]
CardType=FB_DIG_COP
Mode=REMOTE
Node=2
Cards=1
Priority=15
DriverName=/SMD/FBDIG_COP

[IO_9]
CardType=FB_ANA_COP
Mode=REMOTE
Node=2
Cards=1
Priority=15
DriverName=/SMD/FBANA_COP

[IO_10]
CardType=FB_DIG_CHR
Mode=REMOTE
Node=4
Cards=1
Priority=15
DriverName=/SMD/FBDIG_CHR

[IO_11]
CardType=FB_ANA_CHR
Mode=REMOTE
Node=4
Cards=1
Priority=15
DriverName=/SMD/FBANA_CHR

[IO_12]
CardType=FB_DIG_SPARE
Mode=REMOTE
Node=7
Cards=1
Priority=15
DriverName=/SMD/FBDIG_SPARE

[IO_13]
CardType=FB_ANA_SPARE
Mode=REMOTE
Node=7
Cards=1
Priority=15
DriverName=/SMD/FBANA_SPARE



# The following sections define set-up
# parameters for the range of IO Cards
# available.

[FB_DIG_PIL]
Type=DIGITAL
Flow=INOUT
DriverProc=fb_dig
InputChannels=176
OutputChannels=176

[FB_ANA_PIL]
Type=ANALOG
Flow=INOUT
DriverProc=fb_ana
InputChannels=36
OutputChannels=21

[FB_DIG_COP]
Type=DIGITAL
Flow=INOUT
DriverProc=fb_dig
InputChannels=128
OutputChannels=128

[FB_ANA_COP]
Type=ANALOG
Flow=INOUT
DriverProc=fb_ana
InputChannels=32
OutputChannels=31

[FB_DIG_CHR]
Type=DIGITAL
Flow=INOUT
DriverProc=fb_dig
InputChannels=56
OutputChannels=56

[FB_ANA_CHR]
Type=ANALOG
Flow=INOUT
DriverProc=fb_ana
InputChannels=14
OutputChannels=0

[FOG]
Type=ANALOG
Flow=IN
DriverProc=gyro_Octans
InputChannels=13
OutputChannels=0

[BATHY]
Type=ANALOG
Flow=INOUT
DriverProc=digiquartz
InputChannels=5
OutputChannels=3

[DVL]
Type=ANALOG
Flow=INOUT
DriverProc=DVL
InputChannels=35
OutputChannels=6

[ALTIMITER]
Type=ANALOG
Flow=IN
DriverProc=Altimiter
InputChannels=5
OutputChannels=0

[IFG]
Type=ANALOG
Flow=INOUT
DriverProc=gyro_ifog
InputChannels=10
OutputChannels=3

[FB_DIG_SPARE]
Type=DIGITAL
Flow=INOUT
DriverProc=fb_dig
InputChannels=16
OutputChannels=16

[FB_ANA_SPARE]
Type=ANALOG
Flow=INOUT
DriverProc=fb_ana
InputChannels=2
OutputChannels=0


[NON_LINEAR_DATA]
TotalChannels=3
Priority=15
Schedule=DECAY
RegisterName=/SMD/NL_SCALER
Verbose=0
RunMode=SHARED
VisibleAtStart=1
Immortal=0
Printing=1
Password=1342

[NL_1]
ChannelName=TCU PCB Temp AI
TotalPoints=8
Point1=870 -40
Point2=2023 -20
Point3=3607 0
Point4=4975 20
Point5=5845 40
Point6=6324 60
Point7=6569 80
Point8=6696 100

[NL_2]
ChannelName=HCU PCB Temp AI
TotalPoints=8
Point1=870 -40
Point2=2023 -20
Point3=3607 0
Point4=4975 20
Point5=5845 40
Point6=6324 60
Point7=6569 80
Point8=6696 100

[NL_3]
ChannelName=LMP PCB Temp AI
TotalPoints=8
Point1=870 -40
Point2=2023 -20
Point3=3607 0
Point4=4975 20
Point5=5845 40
Point6=6324 60
Point7=6569 80
Point8=6696 100





