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missions/s1_alpha/alpha.moos
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218
missions/s1_alpha/alpha.moos
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//-------------------------------------------------
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// NAME: M. Benjamin, MIT CSAIL
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// FILE: alpha.moos
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//-------------------------------------------------
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ServerHost = localhost
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ServerPort = 9000
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Community = alpha
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MOOSTimeWarp = 1
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// Forest Lake
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LatOrigin = 43.825300
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LongOrigin = -70.330400
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// MIT Sailing Pavilion (use this one)
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// LatOrigin = 42.358456
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// LongOrigin = -71.087589
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//------------------------------------------
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// Antler configuration block
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ProcessConfig = ANTLER
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{
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MSBetweenLaunches = 200
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Run = MOOSDB @ NewConsole = false
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Run = pLogger @ NewConsole = false
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Run = uSimMarineV22 @ NewConsole = false
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Run = pMarinePIDV22 @ NewConsole = false
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Run = pHelmIvP @ NewConsole = false
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Run = pMarineViewer @ NewConsole = false
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Run = uProcessWatch @ NewConsole = false
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Run = pNodeReporter @ NewConsole = false
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Run = pRealm @ NewConsole = false
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}
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//------------------------------------------
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// pLogger config block
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ProcessConfig = pLogger
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{
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AppTick = 8
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CommsTick = 8
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AsyncLog = true
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// For variables that are published in a bundle on their first post,
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// explicitly declare their logging request
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Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC
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Log = REPORT @ 0 NOSYNC
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Log = BHV_SETTINGS @ 0 NOSYNC
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LogAuxSrc = true
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WildCardLogging = true
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WildCardOmitPattern = *_STATUS
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WildCardOmitPattern = DB_VARSUMMARY
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WildCardOmitPattern = DB_RWSUMMARY
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WildCardExclusionLog = true
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}
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//------------------------------------------
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// uProcessWatch config block
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ProcessConfig = uProcessWatch
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{
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AppTick = 4
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CommsTick = 4
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watch_all = true
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nowatch = uPokeDB*
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nowatch = uQueryDB*
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nowatch = uXMS*
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nowatch = uMAC*
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}
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//------------------------------------------
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// uSimMarineV22 config block
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ProcessConfig = uSimMarineV22
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{
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AppTick = 4
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CommsTick = 4
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start_pos = x=0, y=-20, heading=180, speed=0
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prefix = NAV
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turn_rate = 40
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thrust_map = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5
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//thrust_reflect = true
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}
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//------------------------------------------
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// pHelmIvP config block
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ProcessConfig = pHelmIvP
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{
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AppTick = 4
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CommsTick = 4
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behaviors = alpha.bhv
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domain = course:0:359:360
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domain = speed:0:4:41
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}
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//------------------------------------------
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// pMarinePID config block
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ProcessConfig = pMarinePIDV22
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{
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AppTick = 20
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CommsTick = 20
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verbose = true
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depth_control = false
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// SIM_INSTABILITY = 20
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// Yaw PID controller
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yaw_pid_kp = 1.2
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yaw_pid_kd = 0.0
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yaw_pid_ki = 0.3
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yaw_pid_integral_limit = 0.07
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// Speed PID controller
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speed_pid_kp = 1.0
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speed_pid_kd = 0.0
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speed_pid_ki = 0.0
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speed_pid_integral_limit = 0.07
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//MAXIMUMS
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maxrudder = 100
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maxthrust = 100
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// A non-zero SPEED_FACTOR overrides use of SPEED_PID
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// Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
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speed_factor = 20
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}
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//------------------------------------------
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// pMarineViewer config block
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ProcessConfig = pMarineViewer
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{
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AppTick = 4
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CommsTick = 4
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tiff_file = forrest19.tif
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//tiff_file = MIT_SP.tif
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set_pan_x = -90
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set_pan_y = -280
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zoom = 0.65
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vehicle_shape_scale = 1.5
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hash_delta = 50
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hash_shade = 0.22
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hash_viewable = true
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trails_point_size = 1
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//op_vertex = x=-83, y=-47, lwidth=1,lcolor=yellow,looped=true,group=moa
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//op_vertex = x=-46.4, y=-129.2, lwidth=1,lcolor=yellow,looped=true,group=moa
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//op_vertex = x=94.6, y=-62.2, lwidth=1,lcolor=yellow,looped=true,group=moa
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//op_vertex = x=58, y=20, lwidth=1,lcolor=yellow,looped=true,group=moa
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// Appcast configuration
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appcast_height = 75
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appcast_width = 30
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appcast_viewable = true
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appcast_color_scheme = indigo
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nodes_font_size = xlarge
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procs_font_size = xlarge
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appcast_font_size = large
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// datum_viewable = true
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// datum_size = 18
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// gui_size = small
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// left_context[survey-point] = DEPLOY=true
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// left_context[survey-point] = MOOS_MANUAL_OVERRIDE=false
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// left_context[survey-point] = RETURN=false
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right_context[return] = DEPLOY=true
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right_context[return] = MOOS_MANUAL_OVERRIDE=false
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right_context[return] = RETURN=false
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scope = RETURN
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scope = WPT_STAT
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scope = VIEW_SEGLIST
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scope = VIEW_POINT
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scope = VIEW_POLYGON
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scope = MVIEWER_LCLICK
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scope = MVIEWER_RCLICK
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button_one = DEPLOY # DEPLOY=true
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button_one = MOOS_MANUAL_OVERRIDE=false # RETURN=false
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button_two = RETURN # RETURN=true
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button_three = SLOWER # WPT_UPDATE=speed=1.5
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button_four = FASTER # WPT_UPDATE=speed=3.5
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action = MENU_KEY=deploy # DEPLOY = true # RETURN = false
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action+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false
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action = RETURN=true
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action = UPDATES_RETURN=speed=1.4
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}
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//------------------------------------------
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// pNodeReporter config block
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ProcessConfig = pNodeReporter
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{
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AppTick = 2
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CommsTick = 2
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platform_type = kayak
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platform_color = yellow
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platform_length = 4
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}
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