Shilshole 12Mar14 * SG212 * Dive index * Mission links * Dive 23

cmdfile edit log

Dive 41
    $KALMAN_USE,14
Dive 40
    $KALMAN_USE,13
    // last was 12 next 14
Dive 39
    $KALMAN_USE,12
Dive 37
    $KALMAN_USE,14
Dive 24
Dive 23
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_PING_DEPTH,0
    $CALL_TRIES,10
    $CALL_WAIT,45
    $C_PITCH,2385
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2300
    $C_VBD,3450
    $D_SURF,5
    $D_TGT,200
    $MAX_BUOY,120
    $PITCH_GAIN,28
    $PITCH_VBD_SHIFT,0.0004
    $QUIT
    $RESUME
    $SM_CC,600
    $T_DIVE,70
    $T_MISSION,80
    $T_RSLEEP,1
    $T_RSLEEP,3
    $USE_BATHY,0
Dive 22
    // 0 - reset
    // 2 - disable
Dive 19
    $KALMAN_USE,12
Dive 8
    $KALMAN_USE,14
    // 12, 13, 13, 14, 12, 13, ...
    // last was 13
    // moving from 14 to 12 did not reset
Dive 7
    $GO
    $KALMAN_USE,13
Dive 6
Dive 5
    $KALMAN_USE,12
Dive 4
    $KALMAN_USE,14
Dive 3
    $C_PITCH,2400
    $C_PITCH,2430
    $C_ROLL_CLIMB,2100
    $C_ROLL_CLIMB,2200
    $C_ROLL_DIVE,2100
    $C_ROLL_DIVE,2300
    $D_SURF,5
    $D_TGT,150
    $D_TGT,180
    $KALMAN_USE,12
    $KALMAN_USE,13
    $PITCH_GAIN,22
    $PITCH_VBD_SHIFT,0.0004
    $RESUME
    $RESUME
    $T_DIVE,50
    $T_DIVE,60
    $T_MISSION,60
    $T_MISSION,80
Dive 2
    $QUIT
Dive 1
    $C_PITCH,2450
    $MAX_BUOY,120
    $PITCH_GAIN,21
    $SM_CC,550
   
    $ALTIM_BOTTOM_TURN_MARGIN,0
    $ALTIM_PING_DEPTH,100
    $CAPUPLOAD,0
    $C_PITCH,2450
    $C_PITCH,2842
    $C_ROLL_CLIMB,2050
    $C_ROLL_DIVE,2050
    $C_VBD,3450
    $D_NO_BLEED,50
    $D_SURF,4
    $D_TGT,45
    $D_TGT,60
    $KALMAN_USE,1
    $MAX_BUOY,100
    $MAX_BUOY,120
    $MAX_BUOY,75
    $PITCH_GAIN,20
    $PITCH_GAIN,21
    $QUIT
    $RESUME
    $RESUME
    $ROLL_DEG,40
    $SIM_PITCH,-20
    $SIM_W,0.1
    $SM_CC,200
    $SM_CC,550
    $SM_CC,730
    $T_DIVE,15
    $T_DIVE,20
    $T_MISSION,20
    $T_MISSION,60
    $T_RSLEEP,2
    $T_RSLEEP,3
    $USE_BATHY,-6
    // 1 - compute all components
    // (2*D_TGT/T_DIVE)/60(s/min) -> 0.10m/s
    // 12 - reset, compute mean only
    // 13 - compute mean
    // 14 - disable
    // Kalman experiments