Bermuda Mar14 * SG035 * Dive index * Mission links * Dive 82

Dive 142
Dive 141
    $C_ROLL_CLIMB,2000
    $C_ROLL_DIVE,2000
Dive 140
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2100
    $KALMAN_USE,12
    $QUIT
    $RESUME
Dive 137
    $T_ABORT,3660
    $T_DIVE,3600
    $T_MISSION,3630
Dive 132
    $MINV_24V,18
Dive 127
    $D_NO_BLEED,200
    $W_ADJ_DBAND,2
Dive 123
    $T_ABORT,3060
    $T_DIVE,3000
    $T_MISSION,3030
Dive 120
    $C_VBD,2000
    $SM_CC,250
Dive 119
Dive 118
    $C_VBD,2400
    $MINV_24V,18.5
    $RESUME
    $SM_CC,350
Dive 113
    $D_ABORT,5500
Dive 111
    $D_TGT,5400
    $T_ABORT,2550
    $T_DIVE,2500
    $T_MISSION,2520
Dive 107
    $GO
Dive 106
    $QUIT
    $RESUME
Dive 100
    $C_VBD,2200
    $T_ABORT,2060
    $T_DIVE,2000
    $T_MISSION,2030
Dive 87
    $ALTIM_PING_DEPTH,3500
    $GO
    $T_RSLEEP,12
Dive 86
    $QUIT
    $RESUME
    $T_RSLEEP,7
Dive 83
    $GO
Dive 82
    $ALTIM_PING_DEPTH,3000
    $D_TGT,4800
    $QUIT
    $RESUME
    $T_ABORT,1650
    $T_DIVE,1600
    $T_MISSION,1620
Dive 67
    $GO
Dive 66
    $C_ROLL_CLIMB,2300
    $C_ROLL_DIVE,1800
    $QUIT
    $RESUME
Dive 65
    $KALMAN_USE,13
Dive 64
    $KALMAN_USE,0
Dive 63
    $ALTIM_PING_DEPTH,2000
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,1900
Dive 60
    $ALTIM_BOTTOM_TURN_MARGIN,30
    $D_TGT,3600
    $T_DIVE,1200
    $T_MISSION,1260
Dive 58
    $D_TGT,1800
    $T_DIVE,600
    $T_MISSION,630
Dive 54
    $GO
Dive 53
    $D_TGT,900
    $HEADING,-1
    $QUIT
    $RESUME
    $T_ABORT,1500
    $T_DIVE,300
    $T_MISSION,330
Dive 52
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $D_TGT,3600
    $HEADING,135
    $KALMAN_USE,2
    $NAV_MODE,1
    $T_DIVE,1200
    $T_MISSION,1260
    $T_RSLEEP,12
Dive 51
    $D_TGT,360
    $T_DIVE,120
    $T_MISSION,140
Dive 49
    $ALTIM_PING_DEPTH,50
    $D_TGT,180
    $T_DIVE,60
    $T_MISSION,75
Dive 48
    $GO
Dive 47
    $ALTIM_PING_DEPTH,40
    $D_TGT,90
    $T_DIVE,30
    $T_MISSION,45
Dive 46
Dive 45
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,30
    $D_TGT,60
    $T_DIVE,20
    $T_MISSION,30
Dive 44
    $KALMAN_USE,0
    $NAV_MODE,0
Dive 43
    $HEADING,90
Dive 42
    $ALTIM_PING_DELTA,1
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_PING_DEPTH,5
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,3050
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2100
    $C_VBD,2000
    $D_TGT,15
    $D_TGT,3600
    $HEADING,-1
    $HEADING,150
    $KALMAN_USE,13
    $KALMAN_USE,2
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $PITCH_GAIN,26
    $QUIT
    $RESUME
    $SM_CC,300
    $T_DIVE,1200
    $T_DIVE,5
    $T_MISSION,1260
    $T_MISSION,15
    $T_RSLEEP,12
Dive 30
Dive 29
    $D_TGT,90
    $T_DIVE,30
    $T_MISSION,45
Dive 28
Dive 27
    $ALTIM_PING_DEPTH,30
    $HEADING,90
Dive 26
    $ALTIM_PING_DELTA,5
    $ALTIM_PING_DEPTH,40
    $ALTIM_TOP_PING_RANGE,0
    $C_PITCH,3050
    $C_ROLL_CLIMB,2100
    $C_ROLL_DIVE,2100
    $C_VBD,2200
    $D_TGT,45
    $HEADING,150
    $KALMAN_USE,14
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,2.5
    $PITCH_ADJ_GAIN,0.02
    $PITCH_GAIN,26
    $QUIT
    $RESUME
    $SM_CC,300
    $T_DIVE,15
    $T_MISSION,30
    $T_RSLEEP,12
Dive 20
Dive 19
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,1
    $C_PITCH,3300
    $C_ROLL_CLIMB,1735
    $C_ROLL_DIVE,1735
    $C_VBD,2276
    $D_ABORT,5000
    $D_NO_BLEED,200
    $D_TGT,45
    $KALMAN_USE,1
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,24
    $PITCH_VBD_SHIFT,0
    $QUIT
    $SM_CC,580
    $TGT_DEFAULT_LAT,32.30833
    $TGT_DEFAULT_LON,-64.6
    $T_DIVE,15
    $T_MISSION,30
    $USE_BATHY,-15
Dive 4
Dive 3
    $C_ROLL_CLIMB,3800
    $C_ROLL_DIVE,3800
    $ROLL_DEG,0
    $T_MISSION,75
Dive 2
    $C_PITCH,3100
    $D_TGT,180
    $SM_CC,300
    $T_DIVE,60
    $T_MISSION,80
    $USE_BATHY,0
Dive 1
    $C_PITCH,3050
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_DEPTH,100
    $ALTIM_TOP_PING_RANGE,20
    $CAPUPLOAD,0
    $CAPUPLOAD,1
    $C_PITCH,3050
    $C_PITCH,3300
    $C_ROLL_CLIMB,1735
    $C_ROLL_DIVE,1735
    $C_VBD,2276
    $D_NO_BLEED,50
    $D_TGT,45
    $D_TGT,60
    $GO
    $KALMAN_USE,1
    $MAX_BUOY,150
    $MAX_BUOY,75
    $MINV_24V,17
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0
    $PITCH_GAIN,24
    $PITCH_VBD_SHIFT,0
    $QUIT
    $RESUME
    $ROLL_DEG,40
    $SIM_PITCH,-20
    $SIM_W,0.1
    $SM_CC,200
    $SM_CC,580
    $T_DIVE,15
    $T_DIVE,20
    $T_MISSION,30
    $T_MISSION,60
    $T_RSLEEP,2
    $USE_BATHY,-15
    // (2*D_TGT/T_DIVE)/60(s/min) -> 0.10m/s