ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 209

cmdfile edit log

Dive 352
Dive 345
    $EXEC_T,5151800
Dive 272
Dive 271
    $C_VBD,2900
    $D_TGT,990
    $LOITER_N_DIVE,0
    $T_DIVE,330
    $T_LOITER,0
    $T_MISSION,420
Dive 270
    $ESCAPE_HEADING,0
    $ICE_FREEZE_MARGIN,0.06
Dive 215
    $D_BOOST,110
    $ESCAPE_HEADING,20
    $FIX_MISSING_TIMEOUT,3
    $LOITER_DBDW,200
    $LOITER_D_NO_PUMP,500
    $LOITER_W_DBAND,1
    $T_BOOST,0
Dive 214
    $CF8_MAXERRORS,20
    $FIX_MISSING_TIMEOUT,2
    $PITCH_MAXERRORS,3
    $VBD_MAXERRORS,5
    $VBD_PUMP_AD_RATE_APOGEE,1.5
Dive 209
    $SURFACE_URGENCY,0
    $SURFACE_URGENCY_FORCE,100
    $SURFACE_URGENCY_TRY,100
Dive 188
    $UPLOAD_DIVES_MAX,4
Dive 181
    $D_TGT,990
    $T_DIVE,360
    $T_MISSION,420
Dive 137
    $D_TGT,600
    $ICE_FREEZE_MARGIN,0.1
    $T_DIVE,200
    $T_MISSION,240
Dive 130
    $ALTIM_PING_DELTA,6
    $UPLOAD_DIVES_MAX,3
Dive 128
    $UPLOAD_DIVES_MAX,7
Dive 126
    $UNCOM_BLEED,200
Dive 98
    $ALTIM_TOP_TURN_MARGIN,7
Dive 95
    $T_BOOST,10
Dive 90
    $UPLOAD_DIVES_MAX,5
Dive 68
    $ALTIM_PING_FIT,883
    $D_TGT,990
    $GLIDE_SLOPE,45
    $T_DIVE,330
    $T_MISSION,360
Dive 67
    $D_TGT,600
    $T_DIVE,180
    $T_MISSION,240
Dive 65
    $GO
Dive 59
    $D_TGT,990
    $NAV_MODE,0
    $SURFACE_URGENCY,25
    $SURFACE_URGENCY_FORCE,50
    $SURFACE_URGENCY_TRY,25
    $T_DIVE,350
    $T_MISSION,390
    $T_RSLEEP,10
    $T_RSLEEP,2
Dive 56
    $D_TGT,300
    $T_DIVE,100
    $T_MISSION,130
Dive 55
    $D_TGT,450
    $NAV_MODE,0
    $NAV_MODE,2
    $N_NOCOMM,3
    $QUIT
    $RESUME
    $SURFACE_URGENCY,25
    $SURFACE_URGENCY_FORCE,50
    $SURFACE_URGENCY_TRY,25
    $T_DIVE,150
    $T_MISSION,180
    $USE_BATHY,0
    /
    / Initial incursion into cavity
Dive 54
    $ALTIM_PULSE,1
    $ALTIM_SENSITIVITY,4
    $N_NOCOMM,0
Dive 53
    $ALTIM_TOP_MIN_OBSTACLE,1.8
    $ALTIM_TOP_TURN_MARGIN,10
    $CALL_TRIES,3
    $CALL_WAIT,45
    $CAPMAXSIZE,10000
    $D_NO_BLEED,500
    $D_OFFGRID,990
    $D_SAFE,500
    $D_TGT,990
    $ESCAPE_HEADING,0
    $ESCAPE_HEADING_DELTA,10
    $FILEMGR,2
    $FIX_MISSING_TIMEOUT,1
    $ICE_FREEZE_MARGIN,0.15
    $MAXI_10V,2.0
    $MAXI_24V,2.0
    $MINV_10V,0
    $MINV_24V,0
    $PITCH_AD_RATE,20
    $PITCH_TIMEOUT,40
    $ROLL_AD_RATE,50
    $ROLL_MAXERRORS,0
    $ROLL_TIMEOUT,30
    $T_DIVE,350
    $T_GPS,3
    $T_MISSION,390
    $UPLOAD_DIVES_MAX,3
    /
    / Updated for under ice - okay to leave set in open water
    / sens/puls still TBD
Dive 51
    $ALTIM_PULSE,2
Dive 46
    $C_VBD,2715
    $HD_A,1.77e-03
    $HD_B,1.33e-02
Dive 45
    $ALTIM_SENSITIVITY,3
    $N_NOCOMM,3
    $RAFOS_PEAK_OFFSET,-1.0
Dive 42
    $ALTIM_PULSE,1
    $ALTIM_SENSITIVITY,4
Dive 41
    $ALTIM_BOTTOM_TURN_MARGIN,10
    $MAX_BUOY,150
    $T_DIVE,280
    $T_MISSION,340
Dive 40
    $ALTIM_PING_FIT,783
    $ALTIM_SENSITIVITY,2
    $MAX_BUOY,200
    $T_DIVE,240
    $T_MISSION,300
Dive 28
    $D_CALL,2
    $D_FINISH,10
    $D_PITCH,3
    $SURFACE_URGENCY,5
    $SURFACE_URGENCY_FORCE,10
    $SURFACE_URGENCY_TRY,5
    $USE_ICE,1
Dive 26
    $GLIDE_SLOPE,30
    $HEAD_ERRBAND,10
    $ROLL_DEG,40
Dive 25
    $C_ROLL_CLIMB,3750
    $C_ROLL_DIVE,3750
    $GLIDE_SLOPE,50
    $GO
    $MAX_BUOY,70
    //
    // Force a static starboard roll on dive and climb
    // Steeper pitch dive
Dive 24
    $C_ROLL_CLIMB,230
    $C_ROLL_DIVE,230
    $D_TGT,150
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,200
    $QUIT
    $RESUME
    $ROLL_DEG,0
    $T_DIVE,50
    $T_MISSION,70
    //
    // Force a static port roll on dive and climb
    // Shallow pitch dive
Dive 22
    $D_TGT,800
    $T_DIVE,280
    $T_MISSION,340
Dive 20
    $ALTIM_PING_DELTA,8
    $ALTIM_PING_FIT,785
    $C_PITCH,2700
    $D_TGT,700
    $MAX_BUOY,150
    $PITCH_ADJ_DBAND,0
    $PITCH_ADJ_GAIN,0.0
    $PITCH_W_DBAND,0.5
    $PITCH_W_GAIN,2.0
    $T_BOOST,0
    $T_DIVE,250
    $T_MISSION,270
    $W_ADJ_DBAND,2
Dive 16
    $GO
Dive 15
Dive 14
    $D_TGT,180
    $QUIT
    $T_DIVE,60
    $T_MISSION,75
Dive 13
    $ALTIM_PING_FIT,0
    $C_ROLL_CLIMB,3750
    $C_ROLL_DIVE,3750
    $D_TGT,90
    $GLIDE_SLOPE,30
    $GLIDE_SLOPE,50
    $HEAD_ERRBAND,10
    $MAX_BUOY,150
    $MAX_BUOY,70
    $RESUME
    $ROLL_DEG,40
    $T_BOOST,0
    $T_BOOST,5
    $T_DIVE,30
    $T_MISSION,40
    // Force a static starboard roll on dive and climb
    // Steeper pitch dive
Dive 12
    $C_ROLL_CLIMB,230
    $C_ROLL_DIVE,230
    $D_TGT,150
    $GLIDE_SLOPE,15
    $HEAD_ERRBAND,180
    $MAX_BUOY,250
    $ROLL_DEG,0
    $T_DIVE,50
    $T_MISSION,70
    //
    // Force a static port roll on dive and climb
    // Shallow pitch dive
Dive 6
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DELTA,0
    $ALTIM_PING_DEPTH,0
Dive 5
    $ALTIM_BOTTOM_TURN_MARGIN,20
    $ALTIM_PING_DEPTH,400
    $GO
Dive 4
    $D_ABORT,1020
    $D_TGT,660
    $N_DIVES,0
    $N_DIVES,5
    $QUIT$C_PITCH,2730
    $RESUME
    $SM_CC,300
    $T_DIVE,220
    $T_MISSION,250
Dive 3
    $C_PITCH,2730
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2500
    $D_TGT,360
    $N_DIVES,4
    $PITCH_GAIN,22
    $QUIT
    $RESUME$PITCH_ADJ_GAIN,0.02
    $SM_CC,350
    $T_DIVE,120
    $T_MISSION,150
Dive 2
    $D_ABORT,600
    $D_TGT,180
    $N_DIVES,3
    $QUIT$PITCH_ADJ_GAIN,0.02
    $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
    $RESUME
    $T_DIVE,30
    $T_MISSION,45
    $ALTIM_PING_DELTA,10
    $ALTIM_PING_FIT,785
    $C_ROLL_CLIMB,2400
    $C_ROLL_DIVE,2350
    $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