cmdfile edit log

Dive 19
    $QUIT
Dive 18
    $ALTIM_PING_DEPTH,0
    $D_TGT,100
    $T_DIVE,22
    $T_MISSION,30
    $USE_BATHY,-6
Dive 16
    $ALTIM_BOTTOM_TURN_MARGIN,15
    $ALTIM_PING_DEPTH,100
    $ALTIM_PULSE,4
    $ALTIM_SENSITIVITY,3
    $C_PITCH,2930
    $C_ROLL_CLIMB,2500
    $C_ROLL_DIVE,2600
    $C_VBD,3640
    $D_SURF,5
    $D_TGT,200
    $GO
    $MAX_BUOY,150
    $PITCH_GAIN,27
    $PITCH_VBD_SHIFT,0.0004
    $ROLL_DEG,30
    $SM_CC,580
    $T_DIVE,80
    $T_MISSION,100
    $T_RSLEEP,3
    $USE_BATHY,0
Dive 15
    $QUIT
Dive 14
    $KALMAN_USE,0
Dive 13
    $KALMAN_USE,2
Dive 10
    $CAPUPLOAD,0
    $D_NO_BLEED,50
    $D_TGT,10
    $GO
    $KALMAN_USE,0
    $MAX_BUOY,5
    $ROLL_DEG,40
    $SIM_PITCH,-20
    $SIM_W,0.1
    $SM_CC,150
    $T_DIVE,3
    $T_MISSION,5
    $T_RSLEEP,1
    // 0 - reset
    // 1 - compute all components
    // 2 - disable
    // (2*D_TGT/T_DIVE)/60(s/min) -> 0.10m/s
    // 0 or 12 is a one-shot so subsequent commands are line 1 or 13 respectively
    // 12 - reset, compute mean only
    // 12, 13, 13, 14, 12, 13, ...
    // 13 - compute mean
    // 14 - disable
    // Kalman experiments
    // moving from 14 to 12 did not reset
Dive 9
    $ALTIM_PING_DEPTH,100
    $ALTIM_PULSE,4
    $ALTIM_SENSITIVITY,3
    $C_PITCH,2930
    $C_ROLL_CLIMB,2500
    $C_ROLL_DIVE,2600
    $C_VBD,3640
    $D_SURF,5
    $D_TGT,250
    $GO
    $MAX_BUOY,150
    $PITCH_GAIN,27
    $ROLL_DEG,30
    $SM_CC,550
    $T_DIVE,100
    $T_MISSION,120
    $T_RSLEEP,3
    $USE_BATHY,-6
Dive 8
    $KALMAN_USE,14
Dive 7
    $KALMAN_USE,12
Dive 6
    $KALMAN_USE,14
Dive 4
    // 0 or 12 is a one-shot so subsequent commands are line 1 or 13 respectively
Dive 3
    $KALMAN_USE,12
Dive 2
    $ALTIM_PING_DEPTH,100
    $ALTIM_SENSITIVITY,3
    $C_PITCH,2930
    $C_ROLL_CLIMB,2500
    $C_ROLL_DIVE,2500
    $D_TGT,250
    $KALMAN_USE,14
    $PITCH_GAIN,27
    $T_DIVE,100
    $T_MISSION,120
    $USE_BATHY,-6
Dive 1
    $C_PITCH,2940
    $C_ROLL_CLIMB,2400
    $C_ROLL_DIVE,2400
    $D_SURF,4
    $D_TGT,150
    $SM_CC,550
    $T_DIVE,50
    $T_MISSION,70
    $CAPUPLOAD,0
    $CAPUPLOAD,1
    $COMPASS_USE,4
    $C_PITCH,2925
    $C_PITCH,2940
    $C_ROLL_CLIMB,2224
    $C_ROLL_CLIMB,2400
    $C_ROLL_DIVE,2224
    $C_ROLL_DIVE,2400
    $C_VBD,3640
    $D_BOOST,100
    $D_NO_BLEED,50
    $D_SURF,4
    $D_TGT,10
    $D_TGT,150
    $D_TGT,45
    $GO
    $KALMAN_USE,13
    $MASS,53229
    $MAX_BUOY,100
    $MAX_BUOY,5
    $PITCH_GAIN,20
    $QUIT
    $RESUME
    $ROLL_DEG,40
    $SIM_PITCH,-20
    $SIM_PITCH,0
    $SIM_W,0
    $SIM_W,0.1
    $SM_CC,150
    $SM_CC,550
    $SM_CC,780
    $T_BOOST,2
    $T_DIVE,15
    $T_DIVE,3
    $T_DIVE,50
    $T_MISSION,20
    $T_MISSION,5
    $T_MISSION,70
    $T_RSLEEP,1
    $T_RSLEEP,3
    // 0 - reset
    // 1 - compute all components
    // 2 - disable
    // (2*D_TGT/T_DIVE)/60(s/min) -> 0.10m/s
    // 12 - reset, compute mean only
    // 12, 13, 13, 14, 12, 13, ...
    // 13 - compute mean
    // 14 - disable
    // Kalman experiments
    // moving from 14 to 12 did not reset