ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 198

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