# General idea is that the setup of the Floe Navigation system
# will change with time. e.g. by changing the AIS base stations,
# adjusting headings etc. The configuration therefore has to be
# provided in certain periods, with all config data. A new period
# has to be added, if the configuration changes


# List of mmsi allocated to basestations and mobile stations
# as well as the labels according to the official
# frequency allocation
#
# NOTE: This list can be expected to be fixed and will
#       not change during MOSAiC
mmsis:

  basestations:
    - mmsi: 211003810 
      label: TEST-MOSAIC-B01
      dship_id: !!null
    - mmsi: 211003811 
      label: TEST-MOSAIC-B02
      dship_id: !!null
    - mmsi: 211003812
      label: TEST-MOSAIC-B03
      dship_id: AIS.FLOEN.03
    - mmsi: 211003813
      label: TEST-MOSAIC-B04
      dship_id: AIS.FLOEN.04
    - mmsi: 211003814 
      label: TEST-MOSAIC-B05
      dship_id: AIS.FLOEN.05
    - mmsi: 211003820 
      label: TEST-MOSAIC-B06
      dship_id: AIS.FLOEN.06
    - mmsi: 211003821 
      label: TEST-MOSAIC-B07
      dship_id: AIS.FLOEN.07
    - mmsi: 211003822 
      label: TEST-MOSAIC-B08
      dship_id: AIS.FLOEN.08
    - mmsi: 211003823 
      label: TEST-MOSAIC-B09
      dship_id: AIS.FLOEN.09

  mobilestations:
    - mmsi: 211003815 
      label: TEST-MOSAIC-M01
    - mmsi: 211003816 
      label: TEST-MOSAIC-M02
    - mmsi: 211003817 
      label: TEST-MOSAIC-M03
    - mmsi: 211003818 
      label: TEST-MOSAIC-M04
    - mmsi: 211003819 
      label: TEST-MOSAIC-M05
    - mmsi: 211003824
      label: TEST-MOSAIC-M06
    - mmsi: 211003825 
      label: TEST-MOSAIC-M07
    - mmsi: 211003826 
      label: TEST-MOSAIC-M08
    - mmsi: 211003827 
      label: TEST-MOSAIC-M09
    - mmsi: 211003828 
      label: TEST-MOSAIC-M10
    - mmsi: 211003829 
      label: TEST-MOSAIC-M11
    - mmsi: 211003830 
      label: TEST-MOSAIC-M12
    - mmsi: 211003831 
      label: TEST-MOSAIC-M13
    - mmsi: 211003832 
      label: TEST-MOSAIC-M14
    
  
# FloeNavi periods as a list 
periods:

  # NOTE: There were two experimental setup before the start of the operational phase. These are 
  # ignored here, because their position with respect to the later maintained base stations is
  # difficult to measure (basestation were moved without overlap, while the ship itself was moving) 
  # 
  # First experimental setup: Two station with one on starboard and one to bow
  #
  # Seconds experimental setup: One station at the orginal power hub and one 500 m to the starboard
  #    side with bearing 090. The ship turned shortly afterwards, so that this location is now
  #    longer at a bearing 090. 

  # ---- 

  # Initial setup in final floenavi configuration consisting of the origin basestation (211003814) 
  # at the Polarstern power hub (moved location after breakup at the bow) and the Ocean city power 
  # hub station (211003821). 
  # NOTE: The short-lived base station at ROV city is ignored
  - id: 03-org-oc
    cfg_num: 3
    valid_since: 2019-10-16T00:00:00
    valid_until: 2019-10-20T23:59:59
    basestations:
      - mmsi: 211003814
        pos: [0.0, 0.0]
      - mmsi: 211003821
        pos: [284.0, 0.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # ----

  # Adding the base stations at remote sensing (211003822)
  # and MET city (211003822). The configuration ended
  # with the failure of the origin base station (211003814)
  - id: 04-org-oc-rs-met
    cfg_num: 4
    valid_since: 2019-10-21T00:00:00
    valid_until: 2019-10-27T23:59:59
    basestations:
      - mmsi: 211003814
        pos: [0.0, 0.0]
      - mmsi: 211003821
        pos: [284.0, 0.0]
      - mmsi: 211003822
        pos: [263.0, 43.0]
      - mmsi: 211003823
        pos: [449.0, 200.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # No base station at the origin (failure of 211003814). Grid has to
  # be computed from station at ocean city, remote sensing at ROV city
  - id: 05-oc-rs-met
    cfg_num: 5
    valid_since: 2019-10-28T00:00:00
    valid_until: 2019-11-05T23:59:59
    basestations:
      - mmsi: 211003821
        pos: [284.0, 0.0]
      - mmsi: 211003822
        pos: [263.0, 43.0]
      - mmsi: 211003823
        pos: [449.0, 200.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0
      
  # 211003814 has been re-deployed at the approximated old (500, 0) site 
  # and 211003820 has been deployed at ROV City. 
  # NOTE: 2011003813 has also been active at the approximated origin station
  #       however it is not listed here, as there is some significant 
  #       position scatter at certain periods
  - id: 06-oc-rs-met-rov-500m
    cfg_num: 6
    valid_since: 2019-11-06T00:00:00
    valid_until: 2019-11-12T23:59:59
    basestations:
      - mmsi: 211003814
        pos: [449.0, 6.0]
      - mmsi: 211003820
        pos: [134.0, 138.0]
      - mmsi: 211003821
        pos: [284.0, 0.0]
      - mmsi: 211003822
        pos: [263.0, 43.0]
      - mmsi: 211003823
        pos: [449.0, 200.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0
  
  # 211003814 has been removed from the (500, 0) site since there was no power
  # NOTE: 2011003813 has also been active at the approximated origin station
  #       however it is not listed here, as there is some significant 
  #       position scatter at certain periods
  - id: 07-oc-rs-met-rov
    cfg_num: 7
    valid_since: 2019-11-13T00:00:00
    valid_until: 2019-11-15T23:59:59
    basestations:
      - mmsi: 211003820
        pos: [134.0, 138.0]
      - mmsi: 211003821
        pos: [284.0, 0.0]
      - mmsi: 211003822
        pos: [263.0, 43.0]
      - mmsi: 211003823
        pos: [449.0, 200.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # Period of strong movement in the ice (mid-November shear event)
  # Only the origin station (211003813) and the station at Ocean City
  # (211003821) can be considered to have stayed on their position
  # in the floenavi grid
  - id: 08-orig-oc
    cfg_num: 8
    valid_since: 2019-11-16T00:00:00
    valid_until: 2019-11-20T23:59:59
    basestations:
      - mmsi: 211003813
        pos: [22.0, -17.0]
      - mmsi: 211003821
        pos: [284.0, 0.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # Previous setup supported by an additional battery-powered basestation
  # at the unfinished watchtower tower. Basestation at the other side of the
  # shear zone are not considered stable at this point and ignored in this
  # period
  - id: 09-orig-oc-watchtower
    cfg_num: 9
    valid_since: 2019-11-21T00:00:00
    valid_until: 2019-11-22T23:59:59
    basestations:
      - mmsi: 211003813
        pos: [22.0, -17.0]
      - mmsi: 211003821
        pos: [284.0, 0.0]
      - mmsi: 211003814
        pos: [181.0, -234.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # Basestation at Ocean City (211003821) has been moved
  - id: 10-orig-watchtower
    cfg_num: 10
    valid_since: 2019-11-23T00:00:00
    valid_until: 2019-11-24T23:59:59
    basestations:
      - mmsi: 211003813
        pos: [22.0, -17.0]
      - mmsi: 211003814
        pos: [181.0, -234.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # Ocean city base station (211003821) is active 
  # again at new location
  - id: 11-orig-oc-watchtower
    cfg_num: 11
    valid_since: 2019-11-25T00:00:00
    valid_until: 2019-11-28T23:59:59
    basestations:
      - mmsi: 211003813
        pos: [22.0, -17.0]
      - mmsi: 211003814
        pos: [181.0, -234.0]
      - mmsi: 211003821 
        pos: [293.0, -44.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # Origin base station has been removed ánd the grid is held
  # by Ocean City (211003821) and the watch tower station
  # (211003814)
  - id: 12-oc-watchtower
    cfg_num: 12
    valid_since: 2019-11-29T00:00:00
    valid_until: 2019-11-30T23:59:59
    basestations:
      - mmsi: 211003814
        pos: [181.0, -234.0]
      - mmsi: 211003821 
        pos: [293.0, -44.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # New origin (again at another location) added (211003820)
  - id: 13-orig-oc-watchtower
    cfg_num: 13
    valid_since: 2019-12-01T00:00:00
    valid_until: 2019-12-03T23:59:59
    basestations:
      - mmsi: 211003814
        pos: [181.0, -234.0]
      - mmsi: 211003820
        pos: [63.0, -20.0]
      - mmsi: 211003821 
        pos: [293.0, -44.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # Watch tower station replaced (211003814 -> 211003813)
  - id: 14-orig-oc-watchtower
    cfg_num: 14
    valid_since: 2019-12-04T00:00:00
    valid_until: 2019-12-05T23:59:59
    basestations:
      - mmsi: 211003813
        pos: [181.0, -234.0]
      - mmsi: 211003820
        pos: [63.0, -20.0]
      - mmsi: 211003821 
        pos: [293.0, -44.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # Bow station stable
  - id: 15-orig-oc-watchtower-bowstations
    cfg_num: 15
    valid_since: 2019-12-06T00:00:00
    valid_until: 2019-12-13T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [-286.0, 244.0]
      - mmsi: 211003813
        pos: [181.0, -234.0]
      - mmsi: 211003820
        pos: [63.0, -20.0]
      - mmsi: 211003821 
        pos: [293.0, -44.0]
      - mmsi: 211003822
        pos: [133.0, 238.0]
      - mmsi: 211003823 
        pos: [22.0, 286.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # Bow station unstable again
  - id: 16-orig-oc-watchtower
    cfg_num: 16
    valid_since: 2019-12-14T00:00:00
    valid_until: 2019-12-14T23:59:59
    basestations:
      - mmsi: 211003813
        pos: [181.0, -234.0]
      - mmsi: 211003820
        pos: [63.0, -20.0]
      - mmsi: 211003821 
        pos: [293.0, -44.0]
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # Bow station stable again
  - id: 17-orig-oc-watchtower-bowstations
    cfg_num: 17
    valid_since: 2019-12-15T00:00:00
    valid_until: 2019-12-15T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [-291.0, 253.0]    
      - mmsi: 211003813
        pos: [181.0, -234.0]
      - mmsi: 211003820
        pos: [63.0, -20.0]
      - mmsi: 211003821 
        pos: [293.0, -44.0]
      - mmsi: 211003822
        pos: [130.0, 240.0]
      - mmsi: 211003823 
        pos: [18.0, 294.0]        
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # everything moving
  - id: 18-oc-watchtower-bowstations
    cfg_num: 18
    valid_since: 2019-12-16T00:00:00
    valid_until: 2019-12-17T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [-291.0, 253.0]    
      - mmsi: 211003813
        pos: [181.0, -234.0]
      - mmsi: 211003821 
        pos: [293.0, -44.0]
      - mmsi: 211003822
        pos: [130.0, 240.0]
      - mmsi: 211003823 
        pos: [18.0, 294.0]        
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # everything moving (watch tower station acting out)
  - id: 19-oc-bowstations
    cfg_num: 19
    valid_since: 2019-12-18T00:00:00
    valid_until: 2019-12-19T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [-291.0, 253.0]    
      - mmsi: 211003821 
        pos: [293.0, -44.0]
      - mmsi: 211003822
        pos: [130.0, 240.0]
      - mmsi: 211003823 
        pos: [18.0, 294.0]        
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # added origin station again (211003820)
  - id: 20-orig-oc-bowstations
    cfg_num: 20
    valid_since: 2019-12-20T00:00:00
    valid_until: 2019-12-23T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [-291.0, 253.0]    
      - mmsi: 211003820 
        pos: [58.0, -18.0]        
      - mmsi: 211003821 
        pos: [293.0, -44.0]
      - mmsi: 211003822
        pos: [130.0, 240.0]
      - mmsi: 211003823 
        pos: [18.0, 294.0]        
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # added origin station again (211003820)
  - id: 21-orig-oc-bowstations-reduced
    cfg_num: 21
    valid_since: 2019-12-24T00:00:00
    valid_until: 2019-12-30T23:59:59
    basestations:
      - mmsi: 211003820 
        pos: [58.0, -18.0]        
      - mmsi: 211003821 
        pos: [293.0, -44.0]
      - mmsi: 211003822
        pos: [130.0, 240.0]
      - mmsi: 211003823 
        pos: [18.0, 294.0]        
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # added 211003812 station again (211003812)
  - id: 22-orig-oc-bowstations-watchtower
    cfg_num: 22
    valid_since: 2019-12-31T00:00:00
    valid_until: 2020-01-12T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [213.0, -248.0]   
      - mmsi: 211003820 
        pos: [58.0, -18.0]        
      - mmsi: 211003821 
        pos: [293.0, -44.0]
      - mmsi: 211003822
        pos: [130.0, 240.0]
      - mmsi: 211003823 
        pos: [18.0, 294.0]        
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # origin station (211003820) seems to move independently from the rest
  - id: 23-oc-bowstations-watchtower
    cfg_num: 23
    valid_since: 2020-01-13T00:00:00
    valid_until: 2020-01-16T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [213.0, -248.0]   
      - mmsi: 211003821 
        pos: [293.0, -44.0]
      - mmsi: 211003822
        pos: [130.0, 240.0]
      - mmsi: 211003823 
        pos: [18.0, 294.0]        
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # origin station (211003820) seems to have solidified again
  - id: 24-origin-oc-bowstations-watchtower
    cfg_num: 24
    valid_since: 2020-01-17T00:00:00
    valid_until: 2020-03-10T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [213.0, -248.0]   
      - mmsi: 211003820
        pos: [61.0, -18.0]
      - mmsi: 211003821 
        pos: [293.0, -44.0]
      - mmsi: 211003822
        pos: [130.0, 240.0]
      - mmsi: 211003823 
        pos: [18.0, 294.0]        
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # strong ice movement towards the ships bow. 
  - id: 25-origin-oc-watchtower
    cfg_num: 25
    valid_since: 2020-03-11T00:00:00
    valid_until: 2020-03-17T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [213.0, -248.0]   
      - mmsi: 211003820
        pos: [61.0, -18.0]
      - mmsi: 211003821 
        pos: [293.0, -44.0]     
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # added another station
  - id: 26-origin-oc-watchtower-frontstarboard
    cfg_num: 26
    valid_since: 2020-03-18T00:00:00
    valid_until: 2020-03-22T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [213.0, -248.0]   
      - mmsi: 211003820
        pos: [61.0, -18.0]
      - mmsi: 211003821 
        pos: [293.0, -44.0]     
      - mmsi: 211003823
        pos: [148.0, 280.0] 
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # another one bite the dust (211003820)
  - id: 27-origin-oc-frontstarboard
    cfg_num: 27
    valid_since: 2020-03-23T00:00:00
    valid_until: 2020-03-30T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [213.0, -248.0]   
      - mmsi: 211003820
        pos: [61.0, -18.0]    
      - mmsi: 211003823
        pos: [148.0, 280.0] 
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # another one bite the dust
  - id: 28-origin-oc-front
    cfg_num: 28
    valid_since: 2020-03-23T00:00:00
    valid_until: 2020-03-30T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [213.0, -248.0]   
      - mmsi: 211003820
        pos: [61.0, -18.0]    
      - mmsi: 211003823
        pos: [148.0, 280.0] 
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # replaced a base station (211003821)
  - id: 29-origin-oc-front-starboard
    cfg_num: 29
    valid_since: 2020-03-31T00:00:00
    valid_until: 2020-04-02T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [213.0, -248.0]   
      - mmsi: 211003820
        pos: [61.0, -18.0]
      - mmsi: 211003821
        pos: [295.0, -45.0]  
      - mmsi: 211003823
        pos: [148.0, 280.0] 
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # Note: The gap here is caused by the absence of basestation files
  #       on the ICE VM. It is assumed that the data is available in 
  #       DSHIP. From the following data no change in the floenavi 
  #       configuration is apparent. 

  # continuation
  - id: 30-origin-oc-front-starboard
    cfg_num: 30
    valid_since: 2020-04-08T00:00:00
    valid_until: 2020-04-18T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [213.0, -248.0]   
      - mmsi: 211003820
        pos: [61.0, -18.0]
      - mmsi: 211003821
        pos: [295.0, -45.0]  
      - mmsi: 211003823
        pos: [148.0, 280.0] 
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # bow station (211003821) is unreliable
  - id: 31-origin-oc-starboard
    cfg_num: 31
    valid_since: 2020-04-19T00:00:00
    valid_until: 2020-04-21T23:59:59
    basestations:
      - mmsi: 211003812
        pos: [213.0, -248.0]   
      - mmsi: 211003820
        pos: [61.0, -18.0]
      - mmsi: 211003821
        pos: [295.0, -45.0]  
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # another station (211003812) is unreliable
  - id: 32-origin-starboard
    cfg_num: 32
    valid_since: 2020-04-22T00:00:00
    valid_until: 2020-05-10T23:59:59
    basestations:
      - mmsi: 211003820
        pos: [61.0, -18.0]
      - mmsi: 211003821
        pos: [295.0, -45.0]  
    icecs_transformation:
      heading_axis: "positive x"
      heading_offset_deg: 0.0
      dx: 0.0
      dy: 0.0

  # ----