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Deprecated/Maintenance/tank_ballast_and_trim_backseat.xml

Mission ID: tank_ballast_and_trim_backseat

Mission Path: Deprecated/Maintenance/tank_ballast_and_trim_backseat.xml

(No description)

Arguments

MissionTimeout

MissionTimeout = 120 minute

Maximum duration of mission

SkipComms

SkipComms = false

Skip communications at start of mission.

Depth1

Depth1 = 7 meter

Depth2

Depth2 = NaN meter

DepthDeadband

DepthDeadband = 0.1 meter

How much vertical drift from the specified depth is allowed durnig the mission.

SurfaceThreshold

SurfaceThreshold = 2.5 meter

Surface threshold depth.

MaxWaitOnSurface

MaxWaitOnSurface = 20 minute

Maximum wait time for the vehicle to go under the surface (i.e., reach the surface threshold depth).

SettleTime

SettleTime = 10 minute

How long to wait after reaching target depth before starting ballast and trim.

EstimationTimeout

EstimationTimeout = 45 minute

Timeout for ballast and trim estimation.

MinEstimationTime

MinEstimationTime = 10 minute

Minimum time to run ballast and trim estimation before determining convergence (must be shorter than timeout).

MassEstimationErrorBound

MassEstimationErrorBound = 0.25 millimeter

Desired range of the estimated sample mean from the true mean statistic (smaller values take longer to converge).

BuoyEstimationErrorBound

BuoyEstimationErrorBound = 15 cubic_centimeter

Desired range of the estimated sample mean from the true mean statistic (smaller values take longer to converge).

EstimationConfidence

EstimationConfidence = 99.9 percent

Confidence level that the estimator has reached the desired error range (larger values take longer to converge).

WaitToFloat

WaitToFloat = 5 minute

Output

None defined

Inserts

Insert/Science.tl

Insert/BallastAndTrim.tl

redefineArg InsertDepthDeadband = DepthDeadband
redefineArg InsertApproachDepthTimeout = MaxWaitOnSurface
redefineArg InsertSettleTime = SettleTime
redefineArg EstTimeout = EstimationTimeout
redefineArg MinEstTime = MinEstimationTime
redefineArg MassEstErrorBound = MassEstimationErrorBound
redefineArg BuoyEstErrorBound = BuoyEstimationErrorBound
redefineArg EstConfidence = EstimationConfidence

Invoked Behaviors

Guidance:BackseatDriver

Guidance:Buoyancy

Guidance:Wait