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