Section: Sensors

Group: imu

• IMUCommand
  • required IMUCommandType type
    • TAKE_READING = 0
    • START_WAVE_HEIGHT_SAMPLING = 1
    • STOP_WAVE_HEIGHT_SAMPLING = 2
    • START_BOTTOM_TYPE_SAMPLING = 3
    • STOP_BOTTOM_TYPE_SAMPLING = 4
• IMUData
  • optional EulerAngles euler_angles
    • optional double heading
    • optional double pitch
    • optional double roll
  • optional Acceleration linear_acceleration
    • optional double x
    • optional double y
    • optional double z
  • optional Acceleration gravity
    • optional double x
    • optional double y
    • optional double z
  • optional CalibrationStatus calibration_status
    • optional int32 sys
    • optional int32 gyro
    • optional int32 accel
    • optional int32 mag
  • optional double significant_wave_height
  • optional double max_acceleration
• IMUIssue
  • required SolutionType solution
    • STOP_BOT = 0
    • USE_COG = 1
    • USE_CORRECTION = 2
    • RESTART_BOT = 3
    • REBOOT_BOT = 4
    • REPORT_IMU = 5
    • RESTART_IMU_PY = 6

Group: pressure_temperature

• PressureTemperatureData
  • required double pressure_raw
  • optional double temperature
    • * Description: Measured in Celcius
  • required string version

Group: pressure_adjusted

• PressureAdjustedData
  • required double pressure_raw
  • optional double pressure_adjusted
  • optional double pressure_raw_before_dive
  • optional double calculated_depth
    • Description: Measured in Meters

Group: salinity

• SalinityData
  • required double conductivity_raw
    • Description: Measured in μS/cm
  • required double conductivity (beta)
    • Description: Conductivity at 25 °C using temperature compensation measured in μS/cm
  • required double total_dissolved_solids (beta)
    • Description: Measured in ppm
  • required double salinity_raw (beta)
    • Description: Measured in PSU (ppt)
  • required double salinity (beta)
    • Description: Measured in PSU (ppt)

Section: Low Control

Group: low_control

• LowControl
  • required uint32 id
  • required uint32 vehicle
  • required uint64 time
  • optional ControlSurfaces control_surfaces
    • required sint32 motor
    • required sint32 port_elevator
    • required sint32 stbd_elevator
    • required sint32 rudder
    • required sint32 timeout
    • required bool led_switch_on

Group: control_ack

• LowControlAck
  • required uint32 id
  • required uint32 vehicle
  • required uint64 time
  • required uint64 command_time
  • required GeographicCoordinate location
    • required double lat
    • required double lon
  • optional double range
  • optional double speed
  • optional double eps

Section: DCCL Intervehicle

Group: bot_status

• BotStatus
  • required uint32 bot_id
  • required uint64 time
  • optional uint64 last_command_time
  • optional goby.middleware.protobuf.HealthState health_state
  • repeated Error error (Reused see Error in Reused Messages Section)
  • repeated Warning warning (Reused see Warning in Reused Messages Section)
  • optional GeographicCoordinate location
    • required double lat
    • required double lon
  • optional double depth
  • optional Attitude attitude
    • optional double roll
    • optional double pitch
    • optional double heading
    • optional double course_over_ground
  • optional Speed speed
    • optional double over_ground
    • optional double over_water
  • optional MissionState mission_state
  • optional int32 active_goal
  • optional double distance_to_active_goal
  • optional uint32 active_goal_timeout
  • optional double salinity
    • Description: Measured in PSS
  • optional double temperature
    • Description: Measured in Celcius
  • optional double battery_percent
  • optional IMUData.CalibrationStatus calibration_status
  • optional double hdop
  • optional double pdop
  • optional int32 data_offload_percentage
  • optional int32 wifi_link_quality_percentage

Group: hub_command

• Command
  • required uint32 bot_id
  • required uint64 time
  • required CommandType type
    • MISSION_PLAN = 1
    • ACTIVATE = 2
    • START_MISSION = 3
    • MISSION_PLAN_FRAGMENT = 4
    • NEXT_TASK = 10
    • RETURN_TO_HOME = 11
    • STOP = 12
    • REMOTE_CONTROL_SETPOINT = 20
    • REMOTE_CONTROL_TASK = 21
    • REMOTE_CONTROL_RESUME_MOVEMENT = 22
    • RECOVERED = 30
    • SHUTDOWN = 31
    • RETRY_DATA_OFFLOAD = 32
    • RESTART_ALL_SERVICES = 40
    • REBOOT_COMPUTER = 41
    • SHUTDOWN_COMPUTER = 42
  • oneof command_data
    • MissionPlan plan
      • optional MissionStart start
        • START_IMMEDIATELY = 1
        • START_ON_COMMAND = 2
      • optional MovementType movement
        • TRANSIT = 1
        • REMOTE_CONTROL = 2;
      • repeated Goal goal
        • optional string name
        • required GeographicCoordinate location
        • optional MissionTask task
        • optional bool moveWptMode
      • optional Recovery recovery
        • optional bool recover_at_final_goal
        • optional GeographicCoordinate location
      • optional Speeds speeds
        • optional double transit
        • optional double stationkeep_outer
      • optional uint32 fragment_index
      • optional uint32 expected_fragments
      • optional uint32 repeats
    • RemoteControl rc
    • MissionTask rc_task
• CommandForHub
  • required uint32 hub_id
  • required uint64 time
  • required HubCommandType type
    • SCAN_FOR_BOTS = 5
    • RESTART_ALL_SERVICES = 40
    • REBOOT_COMPUTER = 41
    • SHUTDOWN_COMPUTER = 42
  • optional uint32 scan_for_bot_id

Group: task_packet

• TaskPacket
  • required uint32 bot_id
  • required uint64 start_time
  • required uint64 end_time
  • required MissionTask.TaskType type
  • optional DivePacket dive
    • required double dive_rate
    • optional double unpowered_rise_rate
    • optional double powered_rise_rate
    • required double depth_achieved
    • repeated Measurements measurement
      • optional double mean_depth
        • Description: Measured in Meters
      • optional double mean_temperature
        • Description: Measured in Celcius
      • optional double mean_salinity
        • Description: Measured in PSS
    • optional GeographicCoordinate start_location
    • optional double duration_to_acquire_gps
    • optional bool bottom_dive
    • optional bool reached_min_depth
    • optional BottomType bottom_type
      • HARD = 1
      • SOFT = 2
    • optional double max_acceleration
  • optional DriftPacket drift
    • optional int32 drift_duration
    • optional EstimatedDrift estimated_drift
      • required double speed
      • optional double heading
    • optional GeographicCoordinate start_location
    • optional GeographicCoordinate end_location
    • optional double significant_wave_height

Group: engineering_command

• Engineering
  • required uint32 bot_id
  • optional uint64 time
  • optional PIDControl pid_control
  • optional bool query_engineering_status
  • optional bool query_bot_status
  • optional bool engineering_messages_enabled
  • optional BotStatusRate bot_status_rate
    • BotStatusRate_2_Hz = 0
    • BotStatusRate_1_Hz = 1
    • BotStatusRate_2_SECONDS = 2
    • BotStatusRate_5_SECONDS = 3
    • BotStatusRate_10_SECONDS = 4
    • BotStatusRate_20_SECONDS = 5
    • BotStatusRate_40_SECONDS = 6
    • BotStatusRate_60_SECONDS = 7
    • BotStatusRate_NO_RF = 8
  • optional GPSRequirements gps_requirements
    • optional double transit_hdop_req
    • optional double transit_pdop_req
    • optional double after_dive_hdop_req
    • optional double after_dive_pdop_req
    • optional uint32 transit_gps_fix_checks
    • optional uint32 transit_gps_degraded_fix_checks
    • optional uint32 after_dive_gps_fix_checks
  • optional RFDisableOptions rf_disable_options
    • optional bool rf_disable
    • optional int32 rf_disable_timeout_mins
  • optional BottomDepthSafetyParams bottom_depth_safety_params
    • optional double constant_heading
    • optional int32 constant_heading_time
    • optional double constant_heading_speed
    • optional double safety_depth
  • optional uint32 flag

Group: engineering_status

• Engineering (Reused see engineering_command group)

Section: DCC Interprocess

Group: hub_command_full

• Command (Reused see hub_command group)
• CommandForHub (Reused see hub_command group)

Section: High Control

Group: desired_setpoints

• DesiredSetpoints
  • required SetpointType type
    • SETPOINT_STOP = 0
      
      • Description: no actuator movement - drift
    • SETPOINT_IVP_HELM = 1
      
      • Description: IvPHelm setpoints (helm_course)
    • SETPOINT_REMOTE_CONTROL = 2
      • Description: fixed heading, speed, etc. for a given duration
    • SETPOINT_DIVE = 3
      • Description: Inverse drive control (dive_depth)
    • SETPOINT_POWERED_ASCENT = 4
      • Description: Power ascent to surface
  • oneof setpoint_data
    • goby.middleware.frontseat.protobuf.DesiredCourse helm_course
      • required double time
      • optional double heading
      • optional double speed
      • optional double depth
      • optional double pitch
      • optional double roll
      • optional double z_rate
      • optional double altitude
    • RemoteControl remote_control
      • required int32 duration
      • optional double heading
      • optional double speed
    • double dive_depth

Section: Mission Manager

Group: mission_report

• MissionReport
  • required MissionState state
    • PRE_DEPLOYMENT__STARTING_UP = 0
    • PRE_DEPLOYMENT__IDLE = 1
    • PRE_DEPLOYMENT__SELF_TEST = 2
    • PRE_DEPLOYMENT__FAILED = 3
    • PRE_DEPLOYMENT__WAIT_FOR_MISSION_PLAN = 4
    • PRE_DEPLOYMENT__READY = 5
    • IN_MISSION__UNDERWAY__REPLAN = 100
    • IN_MISSION__UNDERWAY__MOVEMENT__TRANSIT = 110
    • IN_MISSION__UNDERWAY__MOVEMENT__REACQUIRE_GPS = 111
    • IN_MISSION__UNDERWAY__MOVEMENT__REMOTE_CONTROL__SETPOINT = 112
    • IN_MISSION__UNDERWAY__MOVEMENT__REMOTE_CONTROL__STATION_KEEP = 113
    • IN_MISSION__UNDERWAY__MOVEMENT__REMOTE_CONTROL__SURFACE_DRIFT = 114
    • IN_MISSION__UNDERWAY__MOVEMENT__REMOTE_CONTROL__REACQUIRE_GPS = 115
    • IN_MISSION__UNDERWAY__MOVEMENT__IMU_RESTART = 116
    • IN_MISSION__UNDERWAY__TASK__STATION_KEEP = 120
    • IN_MISSION__UNDERWAY__TASK__SURFACE_DRIFT = 121
    • IN_MISSION__UNDERWAY__TASK__REACQUIRE_GPS = 122
    • IN_MISSION__UNDERWAY__TASK__DIVE__PRE_POWERED_DESCENT = 123
    • IN_MISSION__UNDERWAY__TASK__DIVE__POWERED_DESCENT = 124
    • IN_MISSION__UNDERWAY__TASK__DIVE__HOLD = 125
    • IN_MISSION__UNDERWAY__TASK__DIVE__UNPOWERED_ASCENT = 126
    • IN_MISSION__UNDERWAY__TASK__DIVE__POWERED_ASCENT = 127
    • IN_MISSION__UNDERWAY__TASK__DIVE__REACQUIRE_GPS = 128
    • IN_MISSION__UNDERWAY__TASK__DIVE__SURFACE_DRIFT = 129
    • IN_MISSION__UNDERWAY__TASK__DIVE__CONSTANT_HEADING = 130
    • IN_MISSION__UNDERWAY__TASK__CONSTANT_HEADING = 131
    • IN_MISSION__UNDERWAY__TASK__IMU_RESTART = 132
    • IN_MISSION__UNDERWAY__RECOVERY__TRANSIT = 140
    • IN_MISSION__UNDERWAY__RECOVERY__STATION_KEEP = 141
    • IN_MISSION__UNDERWAY__RECOVERY__STOPPED = 142
    • IN_MISSION__UNDERWAY__RECOVERY__REACQUIRE_GPS = 143
    • IN_MISSION__UNDERWAY__RECOVERY__IMU_RESTART = 144
    • IN_MISSION__UNDERWAY__ABORT = 150
    • POST_DEPLOYMENT__RECOVERED = 200
    • POST_DEPLOYMENT__DATA_PROCESSING = 201
    • POST_DEPLOYMENT__DATA_OFFLOAD = 202
    • POST_DEPLOYMENT__IDLE = 203
    • POST_DEPLOYMENT__SHUTTING_DOWN = 204
  • optional int32 active_goal
  • optional GeographicCoordinate active_goal_location
    • required double lat
    • required double lon
  • optional double distance_to_active_goal
  • optional uint32 active_goal_timeout
  • optional int32 data_offload_percentage

Group: mission_ivp_behavior_update

• IvPBehaviorUpdate
  • oneof behavior
    • TransitUpdate transit
      • required bool active
      • optional double x
      • optional double y
      • optional double speed
    • StationkeepUpdate stationkeep
      • required bool active
      • optional double x
      • optional double y
      • optional double outer_speed
      • optional double transit_speed
      • optional bool center_activate
    • ConstantHeadingUpdate constantHeading
      • required bool active
      • optional double heading
    • ConstantSpeedUpdate constantSpeed
      • required bool active
      • optional double speed

Group: mission_ivp_behavior_report

• IvPBehaviorReport
  • oneof behavior
    • TransitReport transit
      • optional bool waypoint_reached

Group: powerstate_command

• Engineering (Reused see engineering_command group)
• Command (Reused see hub_command group)
• CommandForHub (Reused see hub_command group)

Group: mission_dive

• DivePowerDescentDebug
  • optional double current_depth
  • optional double last_depth
  • optional double goal_depth
  • optional double depth_eps
  • optional uint64 last_depth_change_time
  • optional double bottoming_timeout
  • optional bool depth_reached
  • optional bool depth_changed
  • optional bool depth_change_timeout
• DiveHoldDebug
  • optional double current_depth
  • optional double hold_timeout
  • optional bool dive_complete
  • optional bool hold_complete
• DiveUnpoweredAscentDebug
  • optional double current_depth
  • optional double depth_eps
  • optional double unpowered_ascent_timeout
  • optional bool unpowered_ascent_timed_out
  • optional bool surfaced
• DivePoweredAscentDebug
  • optional double current_depth
  • optional double depth_eps
  • optional bool surfaced

Group: mission_tpv_meets_gps_req

• MissionTpvMeetsGpsReq
  • optional goby.middleware.protobuf.gpsd.TimePositionVelocity tpv (Reused see TimePositionVelocity in Reused Messages Section)

Section: Hub Manager

Group: hub_status

• HubStatus
  • required uint32 hub_id
  • required uint32 fleet_id
  • required uint64 time
  • optional goby.middleware.protobuf.HealthState health_state
    • HEALTH__OK = 1
    • HEALTH__DEGRADED = 2
    • HEALTH__FAILED = 3
  • repeated Error error (Reused see Error in Reused Messages Section)
  • repeated Warning warning (Reused see Warning in Reused Messages Section)
  • optional GeographicCoordinate location
  • repeated uint32 bot_ids_in_radio_file
  • optional LinuxHardwareStatus linux_hardware_status

Section: Health

Group: linux_hardware_status

• LinuxHardwareStatus (Reused see Reused Messages Section)

Group: time_status

• optional NTPPeer system_sync_peer
  • required TallyCode tally_code
    • PEER_CODE_UNKNOWN = -1
    • PEER_NOT_VALID = 0x20
      • Description: ' '
    • PEER_DISCARDED_BY_INTERSECTION = 0x78
      • Description: 'x'
    • PEER_DISCARDED_BY_TABLE_OVERFLOW = 0x2E
      • Description: '.'
    • PEER_DISCARDED_BY_CLUSTER_ALGORITHM = 0x2D
      • Description: '-'
    • PEER_INCLUDED_IN_COMBINE = 0x2B
      • Description: '+'
    • PEER_ALTERNATIVE_BACKUP = 0x23
      • Description: '#'
    • PEER_SYSTEM_SYNC_SOURCE = 0x2A
      • Description: '*'
    • PEER_PPS_SYNC = 0x6F
  • required string remote
  • required string refid
  • optional int32 stratum
  • optional int32 when
  • optional int32 poll
  • optional int32 reach
  • optional float delay
  • optional float offset
  • optional float jitter
• repeated NTPPeer peer

Group: systemd_report

• SystemdStartReport
  • required Error clear_error (Reused see Error in Reused Messages Section)
• SystemdStopReport
  • required ServiceResult result
    • SERVICE_RESULT_UNKNOWN = 0
    • SERVICE_RESULT_SUCCESS = 1
    • SERVICE_RESULT_PROTOCOL = 2
    • SERVICE_RESULT_TIMEOUT = 3
    • SERVICE_RESULT_EXIT_CODE = 4
    • SERVICE_RESULT_SIGNAL = 5
    • SERVICE_RESULT_CORE_DUMP = 6
    • SERVICE_RESULT_WATCHDOG = 7
    • SERVICE_RESULT_START_LIMIT_HIT = 8
    • SERVICE_RESULT_RESOURCES = 9
  • required Error error (Reused see Error in Reused Messages Section)
  • optional string journal_dump_file

Group: systemd_report_ack

• SystemdReportAck
  • required Error error_ack (Reused see Error in Reused Messages Section)

Section: Metadata

Group: metadata

• DeviceMetadata
  • required string name
  • required Version jaiabot_version
  • required string goby_version
  • required string moos_version
  • optional string ivp_version
  • optional string xbee_node_id
  • optional string xbee_serial_number
• QueryDeviceMetaData
  • optional bool query_metadata_status

Section: MOOS

Group: moos

• MOOSMessage
  • required Type type
    • TYPE_DOUBLE = 0x44
    • TYPE_STRING = 0x53
    • TYPE_BINARY_STRING = 0x42
  • required string key
  • oneof value
    • string svalue
    • string dvalue
    • string bvalue
  • required double unixtime
  • required int32 id
  • required string source
  • optional string source_aux
  • required string community

Group: helm_ivp

• HelmIVPStatus
  • optional string helm_ivp_state
  • optional bool helm_ivp_desired_speed
  • optional bool helm_ivp_desired_heading
  • optional bool helm_ivp_desired_depth
  • optional bool helm_ivp_data

Section: Subscriptions

Group: intervehicle_subscribe_request

• extend goby.acomms.protobuf.ModemTransmission
  • optional Transmission transmission
    • optional HubInfo hub
      • optional int32 hub_id
      • optional int32 modem_id
      • optional bool changed

Section: Arduino

Group: arduino_from_pi

• ArduinoCommand
  • optional ArduinoSettings settings
    • required sint32 forward_start
    • required sint32 reverse_start
  • optional ArduinoActuators actuators = 2
    • required sint32 motor
    • required sint32 port_elevator
    • required sint32 stbd_elevator
    • required sint32 rudder
    • required sint32 timeout
    • required bool led_switch_on

Group: arduino_to_pi

• ArduinoResponse
  • required sint32 status_code
  • optional float thermocouple_temperature_C
  • optional float vccvoltage
  • optional float vcccurrent
  • optional float vvcurrent
  • optional uint32 crc
  • optional uint32 calculated_crc
  • optional uint32 version

Section: Serial

Group: serial_out

• IOData
  • optional int32 index
  • oneof src
    • UDPEndPoint udp_src
      • required string addr
      • required uint32 port
    • TCPEndPoint tcp_src
      • optional string addr
      • optional uint32 port
      • optional bool all_clients
  • oneof dest
    • UDPEndPoint udp_src
      • required string addr
      • required uint32 port
    • TCPEndPoint tcp_src
      • optional string addr
      • optional uint32 port
      • optional bool all_clients
  • optional bytes data

Section Goby

Group: configuration

• Refer to templates directory in the jaiabot repository
  • jaiabot/config/templates

Group: datum_update

• DatumUpdate
  • required .goby.middleware.protobuf.LatLonPoint datum (Reused see LatLonPoint in Reused Messages Section)

Group: health report

• VehicleHealth
  • required uint64 time
  • required string platform
  • required HealthState state
    • HEALTH__OK
    • HEALTH__DEGRADED
    • HEALTH__FAILED
  • repeated ProcessHealth process
    • required string name
    • optional uint32 pid
    • required ThreadHealth main (Reused see ThreadHealth in Reused Messages Section)

Group: health response

• ProcessHealth
  • required string name
  • optional uint32 pid
  • required ThreadHealth main (Reused see ThreadHealth in Reused Messages Section)

Group: logger request

• LoggerRequest
  • required State requested_state
    • START_LOGGING = 1
    • STOP_LOGGING = 2
    • ROTATE_LOG = 3

Group: middleware frontseat desired_course

• DesiredCourse
  • required double time
  • optional double heading
  • optional double speed
  • optional double depth
  • optional double pitch
  • optional double roll
  • optional double z_rate
  • optional double altitude

Group: middleware frontseat helm_state

• HelmStateReport
  • required HelmState state
    • HELM_NOT_RUNNING = 0
    • HELM_DRIVE = 1
    • HELM_PARK = 2

Group: middleware frontseat node_status

• NodeStatus
  • required double time
  • optional string name
  • optional VehicleType type
    • UNKNOWN = 0
    • AUV = 10
    • GLIDER = 11
    • USV = 20
    • USV_POWERED = 21
    • USV_SAILING = 22
    • ROV = 30
    • TARGET = 50
    • BUOY = 60
    • MOORING = 61
    • MOORING_SUBSURFACE = 62
    • MOORING_SURFACE = 63
    • SHIP = 100
    • OTHER = -1
  • required .goby.middleware.protobuf.LatLonPoint global_fix (Reused see LatLonPoint in Reused Messages Section)
  • optional CartesianCoordinate local_fix
    • required double x
    • required double y
    • optional double z
  • required EulerAngles pose
    • optional double roll
    • optional double pitch
    • optional double heading
    • optional double course_over_ground
    • optional double roll_rate
    • optional double pitch_rate
    • optional double heading_rate
  • required Speed speed
    • required double over_ground
    • optional double over_water
  • optional Source source
    • optional Sensor position
      • GPS = 1
      • USBL = 2
      • LBL = 3
      • INERTIAL_NAVIGATION_SYSTEM = 4
      • PRESSURE = 10
      • DVL = 20
      • RPM_LOOKUP = 30
      • MAGNETIC_COMPASS = 40
    • optional Sensor depth
    • optional Sensor speed
    • optional Sensor heading

Group: middleware groups gpsd sky

• SkyView
  • optional string device
  • optional double time
  • optional double gdop
  • optional double hdop
  • optional double pdop
  • optional double tdop
  • optional double vdop
  • optional double xdop
  • optional double ydop
  • optional double nsat
  • optional double usat
  • repeated Satellite satellite
    • required int32 prn
    • optional double az
    • optional double el
    • optional double ss
    • optional bool used
    • optional int32 gnssid
    • optional int32 svid
    • optional int32 sigid
    • optional int32 freqid
    • optional int32 health

Group: middleware groups gpsd tpv

• TimePositionVelocity (Reused see TimePositionVelocity in Reused Messages Section)

Section: Reused Messages

• LatLonPoint
  • required double lat
  • required double lon
  • optional double depth
  • optional double altitude
• ThreadHealth
  • required string name
  • optional int32 thread_id
  • optional int32 uid
  • required HealthState state
    • HEALTH__OK
    • HEALTH__DEGRADED
    • HEALTH__FAILED
  • repeated ThreadHealth child
  • optional Error error (Reused see Error in Reused Messages Section)
  • optional string error_message
• TimePositionVelocity
  • optional string device
    • optional double time
    • optional Mode mode
      • ModeNotSeen = 0
      • ModeNoFix = 1
      • Mode2D = 2
      • Mode3D= 3
    • optional LatLonPoint location (Reused see LatLonPoint in Reused Messages Section)
    • optional double altitude
    • optional double track
    • optional double speed
    • optional double climb
    • optional double epc
    • optional double epd
    • optional double eps
    • optional double ept
    • optional double epv
    • optional double epx
    • optional double epy
• LinuxHardwareStatus
  • optional int32 uptime
  • optional Processor processor
    • optional LoadAverages loads
      • required float one_min
      • required float five_min
      • required float fifteen_min
    • optional int32 num_processes
    • optional int32 num_processors
  • optional Memory memory
    • required Information ram
      • required uint64 total
      • required uint64 available
      • required float use_percent
    • required Information swap
  • optional Disk disk
    • optional Information rootfs
    • optional Information data
  • optional WiFi wifi
    • required bool is_connected
    • optional uint32 link_quality
    • optional uint32 link_quality_percentage
    • optional int32 signal_level
    • optional int32 noise_level
• MissionTask
  • optional TaskType type
    • NONE = 0
    • DIVE = 1
    • STATION_KEEP = 2
    • SURFACE_DRIFT = 3
    • CONSTANT_HEADING = 4
  • optional DiveParameters dive
    • optional double max_depth
    • optional double depth_interval
    • optional double hold_time
  • optional DriftParameters surface_drift
    • optional int32 drift_time
  • optional ConstantHeadingParameters constant_heading
    • optional double constant_heading
    • optional int32 constant_heading_time
    • optional double constant_heading_speed
• Error
  • ERROR__TOO_MANY_ERRORS_TO_REPORT_ALL = 0
  • ERROR__FAILED__UNKNOWN = 1
  • ERROR__FAILED__GOBYD = 2
  • ERROR__FAILED__GOBY_LIAISON = 3
  • ERROR__FAILED__GOBY_GPS = 4
  • ERROR__FAILED__GOBY_LOGGER = 5
  • ERROR__FAILED__GOBY_CORONER = 6
  • ERROR__FAILED__GOBY_MOOS_GATEWAY = 7
  • ERROR__FAILED__JAIABOT_HEALTH = 8
  • ERROR__FAILED__JAIABOT_METADATA = 9
  • ERROR__FAILED__JAIABOT_HUB_MANAGER = 10
  • ERROR__FAILED__JAIABOT_WEB_PORTAL = 11
  • ERROR__FAILED__JAIABOT_FUSION = 12
  • ERROR__FAILED__JAIABOT_MISSION_MANAGER = 13
  • ERROR__FAILED__JAIABOT_PID_CONTROL = 14
  • ERROR__FAILED__JAIABOT_BLUEROBOTICS_PRESSURE_SENSOR_DRIVER = 15
  • ERROR__FAILED__JAIABOT_ATLAS_SCIENTIFIC_EZO_EC_DRIVER = 16
  • ERROR__FAILED__JAIABOT_ADAFRUIT_BNO055_DRIVER = 17
  • ERROR__FAILED__JAIABOT_DRIVER_ARDUINO = 18
  • ERROR__FAILED__JAIABOT_ENGINEERING = 19
  • ERROR__FAILED__MOOS_MOOSDB = 20
  • ERROR__FAILED__MOOS_PHELMIVP = 21
  • ERROR__FAILED__MOOS_UPROCESSWATCH = 22
  • ERROR__FAILED__MOOS_PNODEREPORTER = 23
  • ERROR__FAILED__PYTHON_JAIABOT_WEB_APP = 24
  • ERROR__FAILED__PYTHON_JAIABOT_IMU = 25
  • ERROR__FAILED__PYTHON_JAIABOT_PRESSURE_SENSOR = 26
  • ERROR__FAILED__PYTHON_JAIABOT_AS_EZO_EC = 27
  • ERROR__FAILED__JAIABOT_LOG_CONVERTER = 28
  • ERROR__FAILED__JAIABOT_DATA_VISION = 29
  • ERROR__FAILED__JAIABOT_SIMULATOR = 30
  • ERROR__FAILED__MOOS_SIM_MOOSDB = 31
  • ERROR__FAILED__MOOS_SIM_USIMMARINE = 32
  • ERROR__NOT_RESPONDING__UNKNOWN_APP = 100
  • ERROR__NOT_RESPONDING__GOBYD = 101
  • ERROR__NOT_RESPONDING__GOBY_LIAISON = 102
  • ERROR__NOT_RESPONDING__GOBY_GPS = 103
  • ERROR__NOT_RESPONDING__GOBY_LOGGER = 104
  • ERROR__NOT_RESPONDING__GOBY_CORONER = 105
  • ERROR__NOT_RESPONDING__JAIABOT_HEALTH = 106
  • ERROR__NOT_RESPONDING__JAIABOT_METADATA = 107
  • ERROR__NOT_RESPONDING__JAIABOT_HUB_MANAGER = 108
  • ERROR__NOT_RESPONDING__JAIABOT_WEB_PORTAL = 109
  • ERROR__NOT_RESPONDING__JAIABOT_FUSION = 110
  • ERROR__NOT_RESPONDING__GOBY_MOOS_GATEWAY = 111
  • ERROR__NOT_RESPONDING__JAIABOT_MISSION_MANAGER = 112
  • ERROR__NOT_RESPONDING__JAIABOT_PID_CONTROL = 113
  • ERROR__NOT_RESPONDING__JAIABOT_BLUEROBOTICS_PRESSURE_SENSOR_DRIVER = 114
  • ERROR__NOT_RESPONDING__JAIABOT_ATLAS_SCIENTIFIC_EZO_EC_DRIVER = 115
  • ERROR__NOT_RESPONDING__JAIABOT_ADAFRUIT_BNO055_DRIVER = 116
  • ERROR__NOT_RESPONDING__JAIABOT_DRIVER_ARDUINO = 117
  • ERROR__NOT_RESPONDING__JAIABOT_ENGINEERING = 118
  • ERROR__NOT_RESPONDING__JAIABOT_SINGLE_THREAD_PATTERN = 119
  • ERROR__NOT_RESPONDING__JAIABOT_MULTI_THREAD_PATTERN = 120
  • ERROR__NOT_RESPONDING__JAIABOT_SIMULATOR = 121
  • ERROR__MISSING_DATA__GPS_FIX = 200
  • ERROR__MISSING_DATA__GPS_POSITION = 201
  • ERROR__MISSING_DATA__PRESSURE = 210
  • ERROR__MISSING_DATA__HEADING = 212
  • ERROR__MISSING_DATA__SPEED = 215
  • ERROR__MISSING_DATA__COURSE = 216
  • ERROR__MISSING_DATA__CALIBRATION_SYS = 217
  • ERROR__MISSING_DATA__CALIBRATION_GYRO = 218
  • ERROR__MISSING_DATA__CALIBRATION_ACCEL = 219
  • ERROR__MISSING_DATA__CALIBRATION_MAG = 220
  • ERROR__NOT_CALIBRATED_SYS = 221
  • ERROR__NOT_CALIBRATED_GYRO = 222
  • ERROR__NOT_CALIBRATED_ACCEL = 223
  • ERROR__NOT_CALIBRATED_MAG = 224
  • ERROR__COMMS__NO_XBEE = 300
  • ERROR__MOOS__HELMIVP_STATE_NOT_DRIVE = 400
  • ERROR__MOOS__HELMIVP_NO_DESIRED_DATA = 401
  • ERROR__MOOS__NO_DATA = 402
  • ERROR__SYSTEM__CANNOT_READ_MEMINFO = 500
  • ERROR__SYSTEM__RAM_SPACE_CRITICAL = 501
  • ERROR__SYSTEM__CANNOT_READ_SYSINFO = 502
  • ERROR__SYSTEM__CPU_LOAD_FACTOR_CRITICAL = 503
  • ERROR__SYSTEM__CANNOT_READ_DISK_USAGE = 504
  • ERROR__SYSTEM__ROOTFS_DISK_SPACE_CRITICAL = 505
  • ERROR__SYSTEM__DATA_DISK_SPACE_CRITICAL = 506
  • ERROR__SYSTEM__NTP_PEERS_QUERY_FAILED = 510
  • ERROR__SYSTEM__NTP_STATUS_QUERY_FAILED = 511
  • ERROR__VEHICLE__VERY_LOW_BATTERY = 600
  • ERROR__VEHICLE__CRITICALLY_LOW_BATTERY = 601
  • ERROR__VEHICLE__MISSING_DATA_BATTERY = 602
  • ERROR__VERSION__MISMATCH_ARDUINO = 700
• Warning
  • WARNING__TOO_MANY_WARNINGS_TO_REPORT_ALL = 0
  • WARNING__NOT_RESPONDING__UNKNOWN_APP = 100
  • WARNING__NOT_RESPONDING__JAIABOT_ATLAS_SCIENTIFIC_EZO_EC_DRIVER = 101
  • WARNING__NOT_RESPONDING__JAIABOT_BLUEROBOTICS_PRESSURE_SENSOR_DRIVER = 102
  • WARNING__NOT_RESPONDING__JAIABOT_ADAFRUIT_BNO055_DRIVER = 103
  • WARNING__MISSING_DATA__PITCH = 200
  • WARNING__MISSING_DATA__ROLL = 201
  • WARNING__MISSING_DATA__TEMPERATURE = 202
  • WARNING__MISSING_DATA__COURSE = 216
  • WARNING__NOT_CALIBRATED_SYS = 221
  • WARNING__IMU_ISSUE = 222
  • WARNING__TEMPERATURE__ARDUINO_TOO_HIGH = 210
  • WARNING__TEMPERATURE__LINUX_TOO_HIGH = 211
  • WARNING__COMMS_LOW_SIGNAL_STRENGTH = 300
  • WARNING__VEHICLE__LOW_BATTERY = 400
  • WARNING__SYSTEM__NTP_NOT_SYNCHRONIZED = 500
  • WARNING__SYSTEM__NTP_OFFSET_HIGH = 501
  • WARNING__SYSTEM__NTP_JITTER_HIGH = 502
  • WARNING__SYSTEM__RAM_SPACE_LOW = 503
  • WARNING__SYSTEM__CPU_LOAD_FACTOR_HIGH = 504
  • WARNING__SYSTEM__ROOTFS_DISK_SPACE_LOW = 505
  • WARNING__SYSTEM__DATA_DISK_SPACE_LOW = 506
  • WARNING__MISSION__INFEASIBLE_MISSION__TRANSIT_MUST_HAVE_A_GOAL = 700
  • WARNING__MISSION__INFEASIBLE_MISSION__TRANSIT_CANNOT_RECOVER_AT_FINAL_GOAL_WITHOUT_A_GOAL = 701
  • WARNING__MISSION__INFEASIBLE_MISSION__MUST_HAVE_RECOVERY_LOCATION_IF_NOT_RECOVERING_AT_FINAL_GOAL = 702
  • WARNING__MISSION__INFEASIBLE_MISSION__MINIMUM_BOTTOM_DEPTH_REACHED = 703
  • WARNING__MISSION__DATA_OFFLOAD_FAILED = 720
  • WARNING__MISSION__DATA__GPS_FIX_DEGRADED = 721