Deployment Mission 2
11 Feb 2016

Pilot Marie

Science
// Science Bowmore OSNAP dep 11th Feb 2016
// Low-ish res sampling for passage leg to OSNAP line.
//for std glider w/ CT, WET Labs BBFL2VMT, Aanderaa optode
//depth  time    sample  gcint
10       25      100      120
1000     25      100      300


Targets
/ Targets for Bowmore mission 2
/ Deployment NW of Tiree, 11th Feb 2016
BARRA_S lat=5625.0 lon=-00746.0 radius=500 goto=SC_SHELF
SC_SHELF lat=5642.0 lon=-00900.0 radius=2000 goto=AD_SOUTH
AD_SOUTH lat=5712.0 lon=-01110.0 radius=2000 goto=GBB_SE
GBB_SE lat=5830.0 lon=-01300 radius=2000 goto=GBB_SE

cmdfile
$MISSION,2
$D_TGT,15
$T_DIVE,5
$T_MISSION,8
$SM_CC,250
$MAX_BUOY,75
$C_VBD,2900
$C_PITCH,2750
$C_ROLL_DIVE,3000
$C_ROLL_CLIMB,3000
$T_RSLEEP,2
$NAV_MODE,0
$N_DIVES,10
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,2
$ALTIM_SENSITIVITY,3
$ALTIM_PULSE,3
$COMPASS_USE,0
$HEAD_ERRBAND,10
$D_NO_BLEED,14
$CAPUPLOAD,1
$MASS,53502
$QUIT


MASS has been changed to match the trim sheet, most other values have been set to reflect the previous mission

Put into water at 13:32 GMT
RESUME in place at 13:40 
Picked up at 13:43
QUIT in place 13:44

After dive 1
I couldn't get the Matlab scripts to run properly and so had a quick look at the first plot and sent her diving with some small adjustments
value of $C_VBD will change from 2900 to 3000
value of $C_PITCH will change from 2750 to 2550

RESUME in place 14:25
QUIT 14:28
Removed MASS and D_ABORT from cmdfile


After dive 2
Didn't over shoot so sent to 30m 
value of $D_TGT will change from 15 to 30
value of $T_DIVE will change from 5 to 10
value of $C_VBD will change from 3000 to 2900

Looks slightly too heavy so lowered C_VBD

RESUME picked up at 14:57
Quit at 14:58


After dive 3
Looking good after dive 3
Send the glider deeper and try out the altimeter
value of $D_TGT will change from 30 to 60
value of $T_DIVE will change from 10 to 20
value of $T_MISSION will change from 15 to 25
could not parse line 12: $N_DIVES,10
value of $ALTIM_PING_DEPTH will change from 50 to 40
value of $D_NO_BLEED will change from 14 to 50

Picked up RESUME at 15:28

After dive 4
The last cmdfile didn't parse correctly
so try again
Pitch is looking too steep still

value of $C_PITCH will change from 2550 to 2500
value of $D_TGT will change from 30 to 90
value of $T_DIVE will change from 10 to 30
value of $T_MISSION will change from 15 to 45
could not parse line 12: $N_DIVES,10
value of $D_NO_BLEED will change from 14 to 50
$QUIT given - will enter or continue in recovery

RESUME in place at 15:56
QUIT in place at 15:58

%------------------ Loic 11/02 ----------------%
After dive 5 

$D_TGT will change from 90 to 110
$C_PITCH will change from 2500 to 2440

RESUME in place at: 16:59
GO in place at: 17:05


After dive 7 (forgot to change T_DIVE and T_MISSION after dive 5)
value of $D_TGT will change from 110 to 120
value of $T_DIVE will change from 30 to 40
value of $T_MISSION will change from 45 to 60

After dive 9
value of $C_VBD will change from 2900 to 2850
value of $HEADING will change from -1 to 90
value of $ALTIM_PING_DEPTH will change from 50 to 20
# change alti and heading to go east of the seamount 

After dive 10
$C_VBD 2800
$HEADING 160

After dive 11
$C_PITCH 2452

Afer dive 12
$C_VBD 2750
$N_DIVES 20

After dive 13
$C_ROLL_DIVE 2600
$C_ROLL_CLIMB 2600
$N_DIVES 25

After dive 14
$C_VBD 2700

After dive 15
$C_ROLL_DIVE 2400
$C_ROLL_CLIMB 2400

After dive 16
value of $D_TGT will change from 150 to 120
value of $T_DIVE will change from 50 to 40
value of $T_MISSION will change from 75 to 60
$N_DIVES,30
value of $ALTIM_SENSITIVITY will change from 3 to 2
# altimeter didnt see the bottom: change the sensibility as it was during mission 1
# D_TGT change for the night to a shallower depth in case the altimeter didn't work well

After dive 25
value of $D_TGT will change from 120 to 132
value of $T_DIVE will change from 40 to 44
value of $T_MISSION will change from 60 to 66
value of $MAX_BUOY will change from 75 to 120
value of $C_VBD will change from 2700 to 2650
value of $HEADING will change from 160 to 190
value of $D_NO_BLEED will change from 50 to 70
$N_DIVES, 35

After dive 27
value of $D_TGT will change from 132 to 150
value of $T_DIVE will change from 44 to 40
value of $T_MISSION will change from 66 to 50
value of $MAX_BUOY will change from 120 to 150
value of $C_VBD will change from 2650 to 2600
$N_DIVES, 40

After dive 30
$C_PITCH 2475
$N_NOSURFACE will change from 0 to 3
$D_FINISH,4
$T_TURN_SAMPINT will change from 5 to -5 (because of the 20s dive bug for Bowmore when NO_SURFACE is used

After dive 31
value of $N_NOSURFACE will change from 0 to -3
value of $D_FINISH will change from 4 to 60

After dive 36
$N_DIVE, 45
value of $D_TGT will change from 150 to 180
value of $T_DIVE will change from 40 to 60
value of $T_MISSION will change from 50 to 75
value of $NAV_MODE will change from 0 to 1
value of $HEADING will change from 190 to -1
($KALMAN_USE, 2)
value of $C_PITCH will change from 2475 to 2480
value of $C_ROLL_DIVE will change from 2400 to 2350
value of $C_ROLL_CLIMB will change from 2400 to 2350
+ pdos: target BARRA_S

After dive 39
$MAX_BUOY, 150->100 

After dive 45
value of $D_FINISH will change from 60 to 100
value of $C_PITCH will change from 2480 to 2484
value of $C_ROLL_DIVE will change from 2350 to 2300
value of $C_ROLL_CLIMB will change from 2350 to 2300
$N_DIVES,60

After dive 49
$N_DIVES,70

After dive 63
$N_DIVES,80
$C_PITCH,2495

After dive 66
$SM_CC,260

After dive 69
$SM_CC,240
$MAX_BUOY,100

After dive 72
value of $D_FINISH will change from 100 to 80
value of $T_DIVE will change from 60 to 40
$N_DIVES,100

After dive 75
$SM_CC,220
$MAX_BUOY,80

# got an alert about critical line in .cap file due to a T_DIVE too low. I attended to make the glider dive at 15cm/s by putting T_DIVE at 40 but didn't seem to work... I just put back T_DIVE to 60 corresponding to an equivalent of w of 10cm/s:

After dive 78
$T_DIVE 60 

After dive 81
$MAX_BUOY, 120

After dive 84
value of $N_NOSURFACE will change from -3 to -5
value of $D_FINISH will change from 80 to 50
value of $D_TGT will change from 180 to 150
value of $T_DIVE will change from 60 to 50
N_DIVES,120

After dive 95 
N_DIVES,150

After dive 110
$SM_CC,240

After dive 125
value of $D_TGT will change from 150 to 180
value of $T_DIVE will change from 50 to 60
value of $C_PITCH will change from 2495 to 2530
$N_DIVES,180

pdos: resend_dive /c 119 00

After dive 130
$N_NOSURFACE -3 

After dive 135
$C_PITCH,2520

#########Karen pilot###########

After dive 138
value of $D_FINISH will change from 50 to 15
could not parse line 17: $N_DIVES,200
value of $ALTIM_PULSE will change from 3 to 2
value of $CAPUPLOAD will change from 1 to 0


After dive 147
could not parse line 17: $N_DIVES,220
value of $ALTIM_PULSE will change from 2 to 1

After dive 162
value of $SM_CC will change from 240 to 200
value of $HEADING will change from -1 to 190
could not parse line 16: $N_DIVES,220

After dive 198
value of $C_PITCH will change from 2520 to 2528
could not parse line 16: $N_DIVES,250

After 204
value of $SM_CC will change from 200 to 190
value of $HEADING will change from -1 to 310

After 219
value of $C_PITCH will change from 2528 to 2531
value of $HEADING will change from 310 to 320

After 225
value of $HEADING will change from 320 to 300
could not parse line 14: $N_DIVES,250

After dive 249
value of $C_PITCH will change from 2531 to 2535
could not parse line 14: $N_DIVES,300

After dive 258
value of $C_PITCH will change from 2535 to 2539
value of $HEADING will change from 300 to 280
could not parse line 14: $N_DIVES,320

After dive 294
value of $HEADING will change from 280 to 250
could not parse line 14: $N_DIVES,320

After dive 306
value of $SM_CC will change from 190 to 180

After dive 315
value of $N_NOSURFACE will change from -3 to 0
value of $T_TURN_SAMPINT will change from -5 to 5
could not parse line 14: $N_DIVES,370

After dive 321
value of $MAX_BUOY will change from 120 to 100

After dive 325
value of $MAX_BUOY will change from 100 to 80
value of $C_ROLL_DIVE will change from 2300 to 2350
value of $C_ROLL_CLIMB will change from 2300 to 2320
could not parse line 12: $N_DIVES,370
value of $ALTIM_PING_DEPTH will change from 600 to 700

############################
# Stefan piloting since
# 22/02/2016 1230
############################

# Slightly too fast on dive, too fast on climb.
# Consider reducing MAX_BUOY, but for now just tweak
$C_VBD,2610 # (was 2600, make slightly heavier)

#after d. 328
# Looking good, but still a bit fast on climb,
# so lower C_VBD again to make her heavier and
# also reduce MAX_BUOY a tiny amount
$MAX_BUOY,75 # was 80
$C_VBD,2620  # was 2610
# Also, dives still hovering around 25 deg dive/climb
# so lengthen T_DIVE and T_MISSION accordingly.
$T_DIVE,340  # was 330
$T_MISSION,360 # was 350
# and bottom coming up again - terrace seamount?, so set
#$ALTIM_PING_DEPTH,600 # (was 700)
# But that seems pretty shalllow for the seamount, so might
# be a false return.  Yes, coincident with a very strong
# thermocline, so most likely a false return esp. relative
# to the map.  Keep at 700, and wait a dive or two more.

# after d. 333
$ALTIM_PING_DEPTH,0 # False returns at depth.
$C_VBD,2630         # (was 2620) make heavier: slow dive and fast climb
                    # See how this goes before reducing max_buoy more.
$T_DIVE,350         # (was 340) pitching ~25 deg down, 27-28 deg up.
$T_MISSION,370      # (was 360)

# after d. 334
# Changes above had the desired effect.  Looks like I can't reduce max_buoy
# much more (or risk getting lower than 10 cm/s vertical velocity), but since
# a touch too slow on the dive, make a further increase in C_VBD.
$C_VBD,2640   # (was 2630)
# Also, need to keep lengthening the times as the dive pitch is 25deg and
# the climb pitch is 27deg or so.
$T_DIVE,360   # (was 350)
$T_MISSION,380 # (was 370)
# Still using an awful lot of energy - 0.06-0.07% capacity per dive.
# Strange because MAX_BUOY, SM_CC are on the low side of Bowmore M1.
# (but not as low as they can go).  Not excited about taking SM_CC
# much lower because on dive 327, surf min cc is ~168.
# GCINT in science seems to be the standard 120/300 split.
# No clear culprit is obvious to me when looking at the energy usage plots.
$C_PITCH,2533   # (was 2539, suggested by pitch plot)

# after d.336
# Keep moving in same direction for all trims
$C_VBD,2650    # (was 2640)
$C_PITCH,2529  # (was 2533)
$T_DIVE,380    # (was 360) Do a bigger jump this time, 10 min
$T_MISSION,400 # (was 380) does not seem to make a big impact.

# after d.338
# Feel like VBD is good for now.  Roll needs trimming:
$C_ROLL_DIVE,2400 # (was 2350)
$C_ROLL_CLIMB,2400 # (was 2320)

# after d.340
# 5 roll retries on d.340, so send the cap file in pdoscmds.bat:
resend_dive /c 340
# Loosen up the heading error band
$HEAD_ERRBAND,12  #(was 10)
# Lower the amount of roll on each correction
# since it appears she's over correcting and rolling
# too much.
$ROLL_DEG,35 #(was 40)
# Keep lengthening the dives
$T_DIVE,400  #(was 380)
$T_MISSION,420 #(was 400)

# after d.341
$HEADING,350  # (was 290) I want to make lots of Northward
	      # progress before getting too close to AD as
	      # well as before getting stuck in the southward
	      # limb of this eddy.
# Removed the cap file upload for d.340 (7 roll errors!)
# Don't upload any more for the time being since look at
# d.340 first.

# after d.342
# In cap file for d.340, looks like each roll retry is a separate
# event, each associated with the different attemtpt to move the
# roll.  In call cases, the roll movement was completed, it's just
# that there was an isolated retry associated with that movement.
# The other worrying thing is that power consumption (TT8?) seems
# to be steadily increasing on each dive, more so than it normally
# does.
# Lots of bang-bang rolling (overcompensating?), so lower ROLL DEG
# even more.
$ROLL_DEG,30 # (was 35)
$T_DIVE,410  # (was 400, could still lengthen dive a bit)
$T_MISSION,430 # (was 420)

#after d.344
# Could be a touch lighter
$C_VBD,2640 # (was 2650)
# Another dive with 7 roll errors.  Upload cap file for 344 to check
# same situation as d.340.  Could be play in the roll mechanism or
# something worse. pdoscmds.bat:resend_dive /c 344
$T_DIVE,430    # (was 410, could be longer still)
$T_MISSION,450 # (was 430)

#after d.346
# cap file d.344 uploaded (7 errors), d.345 has 8 errors!
# Similar symptoms as d.340.  Here are the details:
#
# For d. 344: all roll errors are isolated for
# a single roll movement.  Most errors (except 1) are when moving from
# high AD to low AD counts.  It appears that most of the roll
# errors are during the climb OR the very first roll movement
# at the beginning of the dive.
#
# For d. 340: all roll errors are isolated for a single movement, too.
# But, in this case, all but 1 of the roll errors were during the dive
# and going from low to high AD counts (the reverse of d.344).
#
# The atitude/position of the glider seems to be related to the
# roll erros, but it's not consistent dive to dive.  Upload the
# cap file for d.345 to check this pattern with 8 errors.
# pdoscmds.bat:resend_dive /c 345
#
# Turn on the altimeter as it looks like we're headed straight for AD
$ALTIM_PING_DEPTH,700  # (was 0, will need to make this 500 near top of AD
 	               # but no point in doing that quite yet)
# Wait for next dive before modifying any of the trims.

# after d.346
# Cap file from d.345:
# All 8 retries on isolated roll movements, all on the climb,
# all high to low AD, many of them are adjacent at the same time.
# This does sound like a "slack in the roll drive" kind of problem.
# Check with Estelle before making any changes.
# Otherwise, trim seems OK, will wait to see if false returns on
# first ping, and if so, will attempt to tune altimeter for AD.
# Looks like she's going be caught in same southward current as
# Eltanin, so change heading to crab:
$HEADING,290

# after d.347
# False return on altimeter consistent on previous dives, so 
# require a wider pulse envelope.  Set ping depth for above
# shallowest part of AD.
$ALTIM_PULSE,2
$ALTIM_PING_DEPTH,550

# after d.349
# Processing not working, possibly due to missing .asc, .eng. files
# pdoscmds.bat:resend_dive /d 349 01
# saw interrupted comms on data segment 01.
# Altim change seems to have picked up a possible bottom fix, so 
# keep as is for now.
# Looks like sea state will be calmer in a couple hours than 
# now, so no point to increasing SM_CC.
# No major errors, etc., so carry on.

#after d.350
# rest od d.349 xfered, processing fine, web fine.
# looks like altim is good, too, remove 50 m margin
$ALTIM_PING_DEPTH,600 #(was 550)

#after d.352
# Good bottom ping pick ups, looks like Altimeter is in good shape.
# This dive and last dive have some fairly big vertical velocity
# anomalies - breaking internal waves?  Might be a paper in the making,
# esp. since we have Eltanin data not far away, in slighly deeper water.
# Expect to join northward current soon, so go full eastward
$HEADING,270
# Otherwise, all seems good, fewer roll errors than previous dives,
# but that might be partly because these last couple dives have
# been shallower.

#after d.353
# Looks like we're past AD seamout, turn off altimeter
$ALTIM_PING_DEPTH,0
# Lots of negative degree roll, so reduce roll centers on both dive and climb
# to bias a bit more negative.
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2350

#after d.356
# Would have expected more progress?  Just to be certain,
# set nav_mode to what I know best:
$NAV_MODE,0    # (was 1)
# What is going on here? I made a small change to roll and
# bias in the roll has flip-flopped completely.

# after d.357
# Two dives in a row. So, probably due to currents?
# Plots suggest going back to 2400/2400 and bias is
# more positive, so make higher AD counts:
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2400



##### 29/02/26 Pilot: ED ####

# After d. 358:
pdos:
resend_dive /c 353
resend_dive /c 356


# After d. 362:
$HEADING,320
$N_DIVES,400


# After d. 363:
$ALTIM_PING_DEPTH,800

targets
GBB_SE lat=5830.0 lon=-01300 radius=2000 goto=GBB_SW
GBB_SW lat=5830.0 lon=-01430 radius=5000 goto=EAST
EAST lat=5800.0 lon=-1442.0 radius=2000 goto=M4
M4 lat=5800.0 lon=-2108.6 radius=2000 goto=EAST
WEST_M4 lat=5800.0 lon=-2200.0 radius=2000 goto=M4


# After d. 366:
pdos: resend_dive /d 364

started being pushed SW overnight, it looks like we're in the clockwise current going 
around the Rockall Bank... Lats dive (365) current speed ~20cm/s, not too bad, try to fight 
through it.
$SM_CC,180
$D_TGT,990
$T_DIVE,390
$T_MISSION,410
$MAX_BUOY,100
$C_ROLL_DIVE,2450
$HEAD_ERRBAND,15
$ROLL_DEG,40


# After d. 369:
Current seems to have dropped a bit, now going West. Try heading NE and increasing speed to 
get away from Rockall Bank and approach via the Rockall / George Bligh Bank gap
$T_DIVE,330
$T_MISSION,350
$MAX_BUOY,120
$HEADING,30
$C_ROLL_DIVE,2380
And also set altim shallower in case she ends up further West
$ALTIM_PING_DEPTH,600
$ALTIM_PING_DELTA,5


# After d. 371:
$ALTIM_PING_DEPTH,750
Resend one dive that didn't make it through + 2 more cap files for roll errors
pdos: 
resend_dive /d 367
resend_dive /c 365
resend_dive /c 361


# After d. 377:
Possible network problem over the week-end (work planned tonight on the UHI network) so will 
take Speed home. Change ALT_NUM:
pdos: writenv altnum 441631562098 

###########karen##########

after dive 381
value of $T_DIVE will change from 330 to 390
value of $T_MISSION will change from 350 to 410
value of $MAX_BUOY will change from 120 to 100
value of $HEADING will change from 30 to -1
could not parse line 12: $N_DIVES,400

After dive 383
value of $C_PITCH will change from 2529 to 2527
could not parse line 12: $N_DIVES,400

After dive 934
change to target GBB_SW
could not parse line 12: $N_DIVES,450
value of $ROLL_AD_RATE will change from 350 to 300
value of $HEAD_ERRBAND will change from 15 to 20

Roll errors increased back to 7, may be due to change in current direction.

After dive 399
value of $HEADING will change from -1 to 300
could not parse line 12: $N_DIVES,450

After dive 403

###Compass cal####
value of $COMPASS_USE will change from 0 to 4
value of $HEAD_ERRBAND will change from 20 to 180
value of $C_ROLL_DIVE will change from 2380 to 190
value of $C_ROLL_CLIMB will change from 2400 to 190
value of $GLIDE_SLOPE will change from 30 to 15
value of $MAX_BUOY will change from 100 to 250
value of $D_TGT will change from 990 to 150
value of $T_DIVE will change from 390 to 65
value of $T_MISSION will change from 410 to 70
value of $HEADING will change from 300 to 270
could not parse line 14: $N_DIVES,450

pdos for xs tcm2mat.605

After dive 404

second compass dive
value of $COMPASS_USE will change from 0 to 4
value of $HEAD_ERRBAND will change from 20 to 180
value of $C_ROLL_DIVE will change from 2380 to 3819
value of $C_ROLL_CLIMB will change from 2400 to 3819
value of $GLIDE_SLOPE will change from 30 to 50
value of $MAX_BUOY will change from 100 to 70
value of $D_TGT will change from 990 to 150
value of $T_DIVE will change from 390 to 60
value of $T_MISSION will change from 410 to 70
value of $HEADING will change from 300 to 270
could not parse line 14: $N_DIVES,450

After dive 405

value of $T_DIVE will change from 65 to 60
could not parse line 14: $N_DIVES,450

Made error with science file so redoing dive 1 with tweeks to dive angle

fter dive 406
redo second dive

After dive 408
Compass cal dives complete return to normal diving
value of $COMPASS_USE will change from 4 to 0
value of $HEAD_ERRBAND will change from 180 to 20
value of $C_ROLL_DIVE will change from 3819 to 2380
value of $C_ROLL_CLIMB will change from 3819 to 2400
value of $GLIDE_SLOPE will change from 50 to 30
value of $MAX_BUOY will change from 70 to 100
value of $D_TGT will change from 150 to 990
value of $T_DIVE will change from 50 to 390
value of $T_MISSION will change from 70 to 410
could not parse line 14: $N_DIVES,450

Science file returned as before. May have missed her last call so one dive mightbe carried out at cal rate.

After dive 411
value of $C_PITCH will change from 2530 to 2525
value of $HEADING will change from 270 to -1
could not parse line 8: $N_DIVES,450


##### 11/03/16 Pilot: ED #####

# After d. 413:
$C_ROLL_DIVE,2330
$C_ROLL_CLIMB,2370
$ROLL_AD_RATE,280


# After d. 425:
Being pushed back East by current, speed her up a bit:
$T_DIVE,340
$T_MISSION,360
$MAX_BUOY,120
$C_VBD,2600
$C_PITCH,2522
$ALTIM_PING_DEPTH,800
No more roll retries since changing the ROLL_AD_RATE, increase back up a bit
$ROLL_AD_RATE,290

And apply new compass calibration file:
pdos: 
ren tcm2mat.605 tcm2mat.old
xr tcm2mat.605
strip1a tcm2mat.605
menu hw/compass/coeff
--> put in recovery mode to check the new file got applied correctly. It did, normal dive mode resumed.

# After d. 426:
$T_RSLEEP,10


# After d. 430:
Looks like Bow is getting false bottom pings (finding bottom at 800m+ when it should be >1000m here)
$C_ROLL_CLIMB,2380
$ALTIM_PING_DEPTH,800
$ALTIM_PULSE,3

No more roll retries, increase AD_RATe back up a bit to get a few and monitor how tehy change:
$ROLL_AD_RATE,295

####### Loic 15/03

No call on velocity for the dive 444 and 445, files certainly on speed.
Call on velocity again for dive 446

# After d.447
value of $SM_CC will change from 503.838 to 180
value of $ALTIM_PING_DEPTH will change from 800 to 400
$N_DIVES,500

# After d.463
value of $C_PITCH will change from 2522 to 2528

# after d.471
value of $T_DIVE will change from 340 to 390
value of $T_MISSION will change from 360 to 410
value of $MAX_BUOY will change from 120 to 100

# after d.476
pdoscmds.bat : target M4 (glider stuck very close to EAST for a few dives)


#### Clare pilot 22/3/16

# after d.480
1. depths increasing
$ALTIM_PING_DEPTH,480
2. going down slightly too fast, decrease C_VBD
value of $C_VBD will change from 2600 to 2595

# after d.486
1. $C_PITCH,2530
2. $N_DIVES,520
3. pdoscmds.bat resend_dive /l 483 00

# after d.487
1. increased SM_CC as several calls in for last few dives
$SM_CC,190
2. 483 resent, remove pdoscmds.bat

# after d.493
1. deepening bathy
$ALTIM_PING_DEPTH,550
2. N_DIVES,550
3. pdoscmds.bat resend_dive /l 493 00

# after d. 494
1. removed pdoscmds.bat

# after d.495
1. deepening bathy
$ALTIM_PING_DEPTH,800
2. C_PITCH,2527
3. seems to be calling in ok, decrease SM_CC
$SM_CC,180

# after d.498
1. $ALTIM_PING_DEPTH,0
2. beginning to go off line, try constant heading to SW
$HEADING,225

# after d.502
1. back on 58N, switch off heading
$HEADING,-1
pdoscmds.bat target M4
2. resend dive 500
pdoscmds.bat resend_dive /l 500 00

# after d.503
1. removed pdoscmds.bat

# after d.508
1. $C_PITCH,2525

# after d.511
1. pdoscmds.bat resend_dive /l 510 00

# after d.512
1. removed pdoscmds.bat

###Marie piloting 31/1/16
#After dive 524
I missed the start of the shallow ground so there will be 3 dives in total where she has hit the ground.
$ALTIM_PING_DEPTH,500

#After dive 525
The water might be as shallow as 600m over the next few dives, so set the ping depth shallower
$ALTIM_PING_DEPTH,500

#After dive 529
Looking a little fast on the dive
$MAX_BUOY,90

#After dive 551
After struggling to go west for a few days have just started to go south. Send nw as a premtive strike, don't want pulling into an eddy
$HEADING,300


##### 05/04/16 Pilot: ED #####

# After d. 557:
$C_ROLL_DIVE,2360
$ALTIM_PING_DEPTH,750


# After d. 562:
$HEADING,-1
pdos: target M4


# After d. 567:
Strong currents to the NW, use heading mode:
$HEADING,240


# After d. 571:
$HEADING,-1
$ALTIM_PING_DEPTH,950
pdos: target M4
The salinity has dropped a bit on d. 568's climb, and so has the temp. Both T & S are emaining quite shaky
and lower bet ween ~300m and ~700m, but fairly consistent at depth and near the surface --> looks like it 
might be real data and not a sensor problem?


# After d. 585:
$ALTIM_PING_DEPTH,0
$N_DIVES,620


# After d. 661:
$HEADING,225
$N_DIVES,650


##########Karen###########

After dive 612
value of $MAX_BUOY will change from 90 to 100
could not parse line 11: $N_DIVES,650

After dive 613
value of $HEADING will change from 140 to 120

After dive 614
value of $HEADING will change from 140 to 260
Heading change requested by Loic to get out the northly current and do a fly past of M4

After dive 617
value of $HEADING will change from 260 to 250


After dive 618
value of $HEADING will change from 260 to 210

After dive 625
value of $HEADING will change from -1 to 210

############Stefan#############

Handover from Karen: all quiet, get close to M4.
Roll retries still persistent, so keep an eye on
it, but currently not worried about 'em.

# After d.631
$HEADING,280   (Should be approx. due north of M4,
                aim slightly east and avoid big eddy.)

#after d.633
$HEADING,120	(Made mistake with heading orientation,
                 hopefully dont get stuck in big eddy.)

#after d.634
$HEADING,-1
# resend targets, pdoscmds.bat:target M4
# more likely to get close to M4 this way now close enough.

#after d.637
$SM_CC,185  (was 180, last two dives, 3-4 calls.  Weather OK, but raise a bit.)
$N_DIVES,660 (was 650)
# Removed a couple lines from the cmdfile that are unlikely to be changed.

##########Colin#########

#Handover from Stefan 1500 25th April 2016
#slow slow progress


#changed target during the night 644 M4, 645 East

#after d.651
#roll retires=13
#get cap file

resend_dive /2 651

#after d.659
$N_DIVES_680 (was 660)

#roll retries for last 4 dives 9,7,4,12

#Estelle will contact Frtiz re these retries
#in the meantime

$HEAD_ERRBAND,25 (from 20)

#Bowmore making slow progress against steady westerly flow
#This has been the case for the past 4 days

###-------------- Loic 2/05/16

# after dive 677
$C_PITCH will change from 2525 to 2524
$C_ROLL_DIVE will change from 2360 to 2400
$C_ROLL_CLIMB will change from 2380 to 2330
$N_DIVES,700

# after dive 681
value of $T_DIVE will change from 390 to 340
value of $T_MISSION will change from 410 to 360
value of $MAX_BUOY will change from 90 to 120 # to speed her a bit (NAC branch)

# after dive 682
$C_ROLL_DIVE will change from 2400 to 2330
$C_ROLL_CLIMB will change from 2330 to 2420

# after dive 686
$C_PITCH will change from 2524 to 2521
$N_DIVES,720

# after dive 690
$ALTIM_PING_DEPTH will change from 0 to 850
$T_DIVE will change from 340 to 390
$T_MISSION will change from 360 to 410
$MAX_BUOY will change from 120 to 90

# after dive 693
$T_DIVE will change from 390 to 340
$T_MISSION will change from 410 to 360
$MAX_BUOY will change from 90 to 120 #

# after dive 696
value of $HEADING will change from -1 to 135
value of $ALTIM_PING_DEPTH will change from 850 to 600


####Marie piloting 09/05/2016

#After dive 707
Want to try on a heading for a bit
$NAV_MODE,0
$HEADING,130

#After dive 714
Looking better with the direction, flatten out a little 
$HEADING,120
$N_DIVES,750

#After dive 715
$HEADING,110
$MAX_BUOY,110

#After dive 719
Ovenight, is clearly moving in an eddy
$HEADING,80

#After dive 726
The track is looking nice now, slow down to see if can conserve some energy without going off track
value of $T_DIVE will change from 340 to 390
value of $T_MISSION will change from 360 to 400
value of $MAX_BUOY will change from 110 to 95

#After dive 730
Looks to be following the heading so try on way point now
pdoscmds.bat target EAST

Also slow down and increase SM_CC a little as have had to make a few calls
value of $SM_CC will change from 185 to 190
value of $HEADING will change from 80 to -1
value of $MAX_BUOY will change from 95 to 90
could not parse line 12: $N_DIVES,780

#After dive 733
$Starting to be pulled to the north, think it might be the edge of an eddy
$HEADING,110

#After dive 733
$Starting to be pulled to the north, think it might be the edge of an eddy
$HEADING,110

#After dive 733
$Starting to be pulled to the north, think it might be the edge of an eddy
$HEADING,110

#After dive 733
$Starting to be pulled to the north, think it might be the edge of an eddy
$HEADING,110

#After dive 733
$Starting to be pulled to the north, think it might be the edge of an eddy
$HEADING,110

#After dive 733
$Starting to be pulled to the north, think it might be the edge of an eddy
$HEADING,110

#After dive 733
$Starting to be pulled to the north, think it might be the edge of an eddy
$HEADING,110

#After dive 733
$Starting to be pulled to the north, think it might be the edge of an eddy
$HEADING,110

#After dive 738
pdoscmds.bat EAST
$ALTIM_PING_DEPTH,0

#################
# Stefan 16/05/2016
#################

#after d.754
$ALTIM_PING_DEPTH,800

#after d.757
# Lots of one-way rolls on previous few dives
$C_ROLL_DIVE will change from 2330 to 2380
# Just detected bottom at 1020m, move detection horizon up a bit.
$ALTIM_PING_DEPTH will change from 800 to 700
# Removed some lines on cmdfile that I don't expect to change.

#after d.759
$ALTIM_PING_DEPTH,400 (was 700)
$N_DIVES,800 (was 780)

#after d.762
$C_PITCH,2527 (was 2521)

#after d.778
$ALTIM_PIMG_DEPTH,450

#after d.780
#pdoscmds.bat:resend dive /d 770 00



#### 23/05/16 Pilot: ED #####

# After d. 785:
$C_PITCH,2530
$C_VBD,2550
$ALTIM_PING_DEPTH,500
$N_DIVES,850


# After d. 796:
Bow has veered off the line - the currents have switched from tiodal to the clockwise
current going round Rockall Bank it seems.
$T_DIVE,330
$T_MISSION,360
$HEADING,200
$MAX_BUOY,120
$ALTIM_PING_DEPTH,750


# After d. 802:
$T_DIVE,300
$T_MISSION,330
$HEADING,220
$MAX_BUOY,140


# After d. 808:
$ALTIM_PING_DEPTH,0
$HEADING,-1
pdoscmds.bat: target M4


# After d. 813:
Currents weaker, reduce speed
$T_DIVE,330
$T_MISSION,360
$MAX_BUOY,100


# After d. 821:
$MAX_BUOY,90
$C_PITCH,2527
$NAV_MODE,2

pdos:
resend_dive /l 820 00


# After d. 825:
$T_DIVE,360
$T_MISSION,380
$ALTIM_PING_DEPTH,800

######Karen##########

After dive 828
value of $ALTIM_PING_DEPTH will change from 800 to 650

After dive 835
value of $ALTIM_PING_DEPTH will change from 600 to 700
could not parse line 6: $N_DIVES,900

After dive 864
value of $NAV_MODE will change from 2 to 0
value of $HEADING will change from -1 to 250
value of $ALTIM_PING_DEPTH will change from 760 to 780
could not parse line 7: $N_DIVES,900

After Dive 854
value of $ALTIM_PING_DEPTH will change from 900 to 0
could not parse line 7: $N_DIVES,900
value of $ROLL_AD_RATE will change from 295 to 280


##### Loic H - 07/06/2016

#after dive 862
$HEADING, 285

#after dive 864
$NAV_MODE, 0
$HEADING, -1
target M4

#after dive 885
value of $T_DIVE will change from 360 to 330
value of $T_MISSION will change from 380 to 360
value of $MAX_BUOY will change from 90 to 120
value of $NAV_MODE will change from 2 to 0
value of $HEADING will change from -1 to 280

###### Marie 14/6/16
#After dive 890
We are heading straight into the current so try a little north
$HEADING,320

We changed the basestation from velocity and vocal. All went well with the change but struggling to get Matlab plots to visualise, flying blind for the next few dives, but do have map updates.
#Emails aren't coming through, os need to look into the ,pagers file
#After dive

###### Colin 20th June 2016

Issues with plots, only a subset coming up.
Crucially no oceanographic plots coming through or the 'dive' plot.
No info coming through email or text.

#after .d942

$ALTIM_PING_DEPTH,650 (from ,0)
$N_DIVES,970 (from ,950)

#after .945
$ALTIM_PING_DEPTH,700 (from, 650)


### Clare 27/6/16 ###

Still problems with no dive plots or email alerts

# after d.953
1. decreased altim_ping_depth as might be going into shallower water...
$ALTIM_PING_DEPTH,650

# after d.963
1. $ALTIM_PING_DEPTH,625
2. $N_DIVES,680

# after d.969
1. $ALTIM_PING_DEPTH,925

# after d.970
1. $ALTIM_PING_DEPTH,0
2. $N_DIVES,685

# after d. 980
1. $N_DIVES,990

# after d.985
1. $N_DIVES,995
2.$ALTIM_PING_DEPTH,900


##### 03/07/16 Estelle:

After d. 985:
added new target next to a planned CTD station on OSNAP line.

targets:
EAST lat=5800.0 lon=-1442.0 radius=2000 goto=M4

pdos:
target RECOV

Recovery planned for Tuesday (TBC, depending on ship's progress).

#####

### clare 4/7/14

#after d.988
1. pdoscmds.bat picked up ok so removed

# after d.990
1. $N_DIVES,1020 %high as going to be doing short dives for recovery

### Clare's home phone 01866 822660
### Clare's office phone 01631 559421
### Clare's mobile 07904 655173

#### 04th Jul 20:20 ED
Thanks for the phone numbers Clare :)

Start to do shallower dives overnight:
$D_TGT,750
$T_DIVE,260
$T_MISSION,280

This should produce ~4 hour dives. Next call should be around 00:40, so next dives should be 
coming in at 04:40 and 08:40.
Aim: have Bow in recovery at 10am tomorrow with recov sometime between 11:00 and 13:00. We'll
do gradually shorter dives, allowing for one missed call each time. Plan:
By 4 AM we need the cmdfile to be switched to 3 hour dives (i.e. if she misses the next call at
7 AM she should still call in at 10 AM (when we'll have the QUIT command in).
By 6 AM --> 2 hours
By 8 AM --> 1 hour
By 9 AM --> 30 min
10 AM: $QUIT

I'm not planning on getting up to edit the cmdfile at 4 AM so I may switch to 3 hour dives before
the 00:40 call. Not sure if I'll be up by 6 either - if that looks unlikely I'll switch to 2 hour
 dives overnight.
Note: I'll switch the cmdfile on Speed on to 1 hour sometime tonight, to avoid having to edit
that cmdfile as well several time. I'll put a QUIT in sometime in the morning.

## Thanks Estelle. I'll make sure I'm in work for 9am tomorrow in case there's any probs. Any issues before that / later tonight - give me a bell on my home phone.

## ED
Thanks Clare. I've just set Bowmore to do 2 hour dives overnight, so nothing to do until the morning.
I'm planning on changing the parameters and put her in recovery myself tomorrow but I'll give you a bell 
if I'm having internet issues. The earliest we could be on site is ~10AM, more likely 11 or 12 I think (we're 
still not sure how long the CTD stations will take overnight).

After d. 991:
$D_TGT,400
$T_DIVE,135
$T_MISSION,145
$N_DIVES,1000

## CJ - in work now if any problems :)
## Lab phones are down at the mo though!

## ED
Awesome, so this means we have no secondary basestation.... Why are there always issues with the
UHI or SAMS network exactly when we do a glider recovery I wonder??

We're scheduled to be on site at 10:15 GMT, and had set the glider to do 30 min dive just before the last call:

# After d. 991:
$D_TGT,60
$T_DIVE,20
$T_MISSION,30

# Put in recovery after d. 992 (ETS ~ 09:45, i.e. ~1/2 hour at the surface before recov):
$SM_CC,490
$T_RSLEEP,3
$QUIT


## Bowmore recovered, on deck at 10:30GMT, in position 57.77588, -16.02080.