cmdfile edit log
Dive 962
$CALL_TRIES,5
$SIM_W,0.08
$SIM_W,0.085
$T_RSLEEP,-10
$T_RSLEEP,-20
Dive 961
$D_FINISH,0
$MINV_10V,0.0
$MINV_24V,0.0
$SIM_W,0.09
$USE_ICE,0
Dive 958
$MINV_10V,4.0
$MINV_24V,4.0
Dive 957
$MINV_10V,5.0
$MINV_10V,5.5
$MINV_24V,5.0
$MINV_24V,5.5
$T_LOITER,3600
$T_MISSION,270
Dive 956
$HEADING,0
$T_LOITER,1200
$T_MISSION,235
$T_RSLEEP,-60
Dive 955
$D_TGT,450
$T_DIVE,150
$T_LOITER,900
$T_MISSION,215
Dive 954
$ALTIM_PING_DELTA,0
$ALTIM_PING_FIT,0
$HEADING,270
$LOGGERS,0
$LOGGERS,1
$MINV_10V,5.8
$MINV_24V,5.8
$QUIT
$RESUME
$T_RSLEEP,-30
$T_RSLEEP,-60
Dive 953
$GO
Dive 952
$D_TGT,300
$EXEC_N,0
$EXEC_P,0
$LOITER_N_DIVE,1
$MINV_10V,6.7
$MINV_24V,6.5
$PROTOCOL,9
$QUIT
$RESUME
$T_DIVE,100
$T_LOITER,3600
$T_MISSION,190
$T_RSLEEP,-10
$T_RSLEEP,-12
$T_RSLEEP,-15
$T_RSLEEP,-8
$T_RSLEEP,20
$UPLOAD_DIVES_MAX,3
$UPLOAD_DIVES_MAX,6
Dive 951
$ALTIM_PING_DELTA,6
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_TOP_TURN_MARGIN,7
$COMPASS_USE,4
$C_PITCH,2775
$C_VBD,3492
$D_NO_BLEED,500
$D_SAFE,500
$D_TGT,990
$EXEC_N,13
$EXEC_P,65
$EXEC_T,9.3
$FIX_MISSING_TIMEOUT,1
$LOITER_N_DIVE,0
$NAV_MODE,2
$N_NOCOMM,3
$PHONE_DEVICE,49
$RAFOS_PEAK_OFFSET,0
$ROLL_TIMEOUT,30
$SURFACE_URGENCY,25
$SURFACE_URGENCY_FORCE,50
$SURFACE_URGENCY_TRY,25
$T_ABORT,1440
$T_DIVE,330
$T_LOITER,0
$T_MISSION,420
$T_RSLEEP,10
$T_TURN_SAMPINT,-5
$UPLOAD_DIVES_MAX,5
Dive 911
$C_ROLL_CLIMB,3600
$C_ROLL_DIVE,3600
$D_FINISH,10
$D_TGT,90
$EXEC_N,0
$EXEC_P,0
$EXEC_T,0
$HEAD_ERRBAND,170
$ICE_FREEZE_MARGIN,0.1
$LOITER_N_DIVE,1
$MAX_BUOY,100
$NAV_MODE,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_FORCE,100
$SURFACE_URGENCY_TRY,100
$T_DIVE,40
$T_LOITER,237600
$T_MISSION,65
/ setup 2.75 day loiters with wings locked for corkscrew dives
/ this file triggered by escape condition - clear the exec timers
Dive 859
$EXEC_N,13
$EXEC_P,65
$EXEC_T,9.3
Dive 857
$PHONE_DEVICE,49
Dive 756
$T_MISSION,420
Dive 751
$LOITER_N_DIVE,0
$T_LOITER,0
Dive 749
$D_TGT,990
$T_DIVE,330
$T_MISSION,380
Dive 740
$T_LOITER,21600
$T_MISSION,820
Dive 738
$D_TGT,780
$LOITER_N_DIVE,1
$T_DIVE,260
$T_LOITER,14400
$T_MISSION,700
Dive 719
$UPLOAD_DIVES_MAX,5
Dive 644
$D_NO_BLEED,500
$FIX_MISSING_TIMEOUT,1
$T_ABORT,1440
Dive 635
$ALTIM_PING_DELTA,6
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_TOP_TURN_MARGIN,7
$D_SAFE,500
$N_NOCOMM,3
$RAFOS_PEAK_OFFSET,0
$ROLL_TIMEOUT,30
$SURFACE_URGENCY,25
$SURFACE_URGENCY_FORCE,50
$SURFACE_URGENCY_TRY,25
$T_RSLEEP,10
$T_TURN_SAMPINT,-5
Dive 572
$C_PITCH,2775
$C_VBD,3492
$HD_A,4.23e-3
$HD_B,8.5e-3
$UPLOAD_DIVES_MAX,4
Dive 513
$NAV_MODE,2
Dive 509
$COMPASS_USE,4
$D_TGT,990
$LOITER_N_DIVE,0
$T_DIVE,330
$T_LOITER,0
$T_MISSION,420
Dive 507
$T_LOITER,43200
Dive 287
Dive 230
$C_VBD,3600
Dive 218
Dive 217
$D_TGT,550
$SURFACE_URGENCY,0
$SURFACE_URGENCY_FORCE,100
$SURFACE_URGENCY_TRY,100
$T_DIVE,190
$T_MISSION,220
Dive 214
$D_TGT,450
$T_DIVE,170
$T_MISSION,200
Dive 211
$D_TGT,390
$T_DIVE,140
$T_MISSION,180
Dive 198
$ALTIM_PING_DELTA,10
$CALL_TRIES,3
$CALL_WAIT,45
$CAPMAXSIZE,10000
$CF8_MAXERRORS,20
$D_OFFGRID,990
$FILEMGR,2
$FIX_MISSING_TIMEOUT,3
$LOITER_D_NO_PUMP,500
$LOITER_W_DBAND,1
$MAXI_10V,2
$MAXI_24V,2
$MINV_10V,0
$MINV_24V,0
$N_NOCOMM,0
$PITCH_AD_RATE,20
$PITCH_TIMEOUT,40
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$T_GPS,3
$UPLOAD_DIVES_MAX,4
Dive 197
$LOITER_DBDW,200
Dive 181
$ICE_FREEZE_MARGIN,0.06
$SURFACE_URGENCY,4
$SURFACE_URGENCY_FORCE,8
$SURFACE_URGENCY_TRY,4
Dive 167
$D_TGT,330
$T_DIVE,110
$T_MISSION,150
Dive 161
$D_TGT,270
$T_DIVE,98
$T_MISSION,120
Dive 155
$D_TGT,210
$T_DIVE,78
$T_MISSION,95
Dive 153
$D_TGT,150
$T_DIVE,56
$T_MISSION,78
Dive 150
$GO
Dive 149
$C_VBD,3400
$D_TGT,93
$ICE_FREEZE_MARGIN,0.08
$T_DIVE,41
Dive 148
$D_BOOST,110
$D_SAFE,150
$D_TGT,90
$QUIT
$RESUME
$SM_CC,300
$T_BOOST,0
$T_DIVE,40
$T_MISSION,65
$VBD_MAXERRORS,5
$VBD_MIN,1900
$VBD_MIN,1950
Dive 147
$D_SAFE,300
$D_TGT,300
$T_DIVE,100
$T_LOITER,0
$T_MISSION,150
Dive 142
$ICE_FREEZE_MARGIN,0.1
$SM_CC,450
Dive 139
$C_VBD,3660
$ICE_FREEZE_MARGIN,0.15
$SM_CC,350
$T_LOITER,64800
$T_MISSION,1500
Dive 137
$ALTIM_PING_DELTA,20
$C_VBD,3645
$SM_CC,450
$T_LOITER,0
$T_MISSION,1140
Dive 135
$C_VBD,3640
$T_LOITER,21600
$T_MISSION,780
Dive 130
$C_VBD,3620
Dive 128
$C_VBD,3600
Dive 125
$C_VBD,3580
Dive 123
$C_VBD,3540
$D_TGT,900
$LOITER_DBDW,300
$LOITER_W_DBAND,1
$T_DIVE,320
$T_MISSION,610
Dive 118
$C_VBD,3600
Dive 116
$T_BOOST,0
Dive 115
$C_VBD,3500
$T_LOITER,14400
$T_MISSION,500
Dive 113
$C_VBD,3450
$T_LOITER,7200
$T_MISSION,420
Dive 112
$GO
Dive 111
$C_VBD,3350
$D_TGT,650
$HEADING,-1
$LOITER_DBDW,400
$LOITER_D_NO_PUMP,300
$LOITER_N_DIVE,1
$LOITER_W_DBAND,2
$NAV_MODE,2
$QUIT
$RESUME
$T_DIVE,240
$T_LOITER,3600
$T_MISSION,430
Dive 109
$HD_A,0.00184
$HD_B,0.0133
$HEADING,0
$MAX_BUOY,150
$NAV_MODE,0
Dive 106
$C_VBD,3070
$HD_A,9.59506e-04
$HD_B,3.44385e-02
$UNCOM_BLEED,200
Dive 95
$T_BOOST,20
Dive 90
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$GLIDE_SLOPE,45
Dive 89
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_PUMP_AD_RATE_SURFACE,1
Dive 88
$MAX_BUOY,125
$T_BOOST,15
Dive 77
$D_NO_BLEED,400
Dive 73
$ALTIM_PING_FIT,883
Dive 72
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$D_TGT,990
$MAX_BUOY,175
$T_DIVE,360
$T_MISSION,400
Dive 61
$C_VBD,2865
$HD_A,1.84e-03
$HD_B,1.33e-02
Dive 56
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
Dive 55
Dive 54
$N_NOCOMM,3
$RAFOS_PEAK_OFFSET,-1
Dive 51
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
Dive 49
$ALTIM_SENSITIVITY,2
Dive 48
$MAX_BUOY,125
$T_DIVE,300
$T_MISSION,340
Dive 47
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_PING_FIT,783
Dive 39
$MAX_BUOY,150
$T_DIVE,270
$T_MISSION,310
Dive 32
$MAX_BUOY,200
$T_DIVE,220
$T_MISSION,270
Dive 29
$D_CALL,2
$D_FINISH,10
$D_PITCH,3
$RAFOS_PEAK_OFFSET,1.5
$SURFACE_URGENCY,5
$SURFACE_URGENCY_FORCE,10
$SURFACE_URGENCY_TRY,5
$USE_ICE,1
Dive 27
Dive 21
$ALTIM_PING_DELTA,8
$ALTIM_PING_FIT,785
$C_PITCH,2730
$PITCH_ADJ_DBAND,0
$PITCH_ADJ_GAIN,0.0
Dive 16
$ALTIM_PING_FIT,0
$D_TGT,800
$GLIDE_SLOPE,30
$HEAD_ERRBAND,10
$MAX_BUOY,150
$ROLL_DEG,40
$T_DIVE,270
$T_MISSION,310
Dive 15
$C_ROLL_CLIMB,3750
$C_ROLL_DIVE,3750
$GLIDE_SLOPE,50
$MAX_BUOY,70
// Force a static starboard roll on dive and climb
// Steeper pitch dive
Dive 14
$C_ROLL_CLIMB,230
$C_ROLL_DIVE,230
$D_TGT,150
$GLIDE_SLOPE,15
$HEAD_ERRBAND,180
$MAX_BUOY,250
$ROLL_DEG,0
$T_BOOST,0
$T_DIVE,50
$T_MISSION,70
//
// Force a static port roll on dive and climb
// Shallow pitch dive
Dive 12
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_PING_DELTA,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_FIT,785
$C_PITCH,2760
$C_ROLL_CLIMB,2550
$C_ROLL_DIVE,2800
$D_ABORT,1020
$D_OFFGRID,600
$D_TGT,660
$MAX_BUOY,200
$PHONE_DEVICE,49
$PITCH_ADJ_DBAND,1
$PITCH_ADJ_GAIN,0.02
$PITCH_GAIN,22
$PITCH_W_DBAND,0.5
$PITCH_W_GAIN,2.0
$PROTOCOL,9
$SM_CC,350
$T_DIVE,220
$T_MISSION,250
$T_RSLEEP,2
$W_ADJ_DBAND,2
Dive 11
$EXEC_N,12
Dive 10
$C_ROLL_DIVE,2800
$PITCH_W_DBAND,0.5
$PITCH_W_GAIN,2.0
$W_ADJ_DBAND,2
Dive 8
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_PING_DELTA,0
$ALTIM_PING_DEPTH,0
$C_ROLL_DIVE,2700
Dive 5
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_PING_DEPTH,400
$GO
$MAX_BUOY,200
Dive 4
$C_PITCH,2760
$D_ABORT,1020
$D_TGT,660
$N_DIVES,0
$N_DIVES,5
$SM_CC,350
$T_DIVE,220
$T_MISSION,250
Dive 3
$C_ROLL_CLIMB,2550
$C_ROLL_DIVE,2500
$D_TGT,360
$N_DIVES,4
$PITCH_GAIN,22
$QUIT$C_PITCH,2760
$T_DIVE,120
$T_MISSION,150
Dive 2
$D_ABORT,600
$D_TGT,180
$N_DIVES,3
$QUIT$C_PITCH,2800
$SM_CC,450
$T_DIVE,60
$T_MISSION,75
$T_RSLEEP,2
Dive 1
$D_ABORT,200
$D_OFFGRID,600
$D_TGT,90
$N_DIVES,2
$T_DIVE,30
$T_MISSION,45
$ALTIM_PING_DELTA,10
$ALTIM_PING_FIT,785
$C_PITCH,2800
$C_ROLL_CLIMB,2450
$C_ROLL_DIVE,2600
$D_ABORT,100
$D_ABORT,200
$D_OFFGRID,400
$D_OFFGRID,600
$D_TGT,45
$D_TGT,90
$N_DIVES,2
$PHONE_DEVICE,49
$PITCH_ADJ_DBAND,1
$PITCH_ADJ_GAIN,0.02
$PROTOCOL,9
$QUIT
$RESUME
$T_DIVE,15
$T_DIVE,30
$T_MISSION,30
$T_MISSION,45
$T_RSLEEP,1