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