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Insert/BallastAndTrim.tl

Aggregate ID: BallastAndTrim

Aggregate Path: Insert/BallastAndTrim.tl

Control depth within deadband, settle, and then estimate until measurements converge and report.

Inserted by:

Arguments

InsertDepth

InsertDepth = 25 meter

Depth to run ballast and trim at.

InsertApproachSpeed

InsertApproachSpeed = 0 meter_per_second

Enables vehicle thruster at the commanded speed to reach target depth (set to 0 m/s to drift).

InsertApproachDepthRate

InsertApproachDepthRate = 0.4 meter_per_second

Descent depth rate (Positive depth rate means going down).

InsertApproachPitchLimit

InsertApproachPitchLimit = 20 degree

Max vehicle pitch (+/-) when decending from the surface.

InsertApproachSettleTimePreDive

InsertApproachSettleTimePreDive = 0 minute

Time duration for the vehicle to pump down the VBS BEFORE leaving the surface.

InsertApproachDepthTimeout

InsertApproachDepthTimeout = 20 minute

Maximum wait time for the vehicle to reach the targeted depth.

InsertSettleTime

InsertSettleTime = 10 minute

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

EstTimeout

EstTimeout = 45 minute

Timeout for ballast and trim estimation.

MinEstTime

MinEstTime = 10 minute

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

MassEstErrorBound

MassEstErrorBound = 0.25 millimeter

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

BuoyEstErrorBound

BuoyEstErrorBound = 15 cubic_centimeter

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

EstConfidence

EstConfidence = 99.9 percent

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

InsertDepthDeadband

InsertDepthDeadband = 1 meter

How much vertical drift from the specified depth is allowed.

InsertMassDeadband

InsertMassDeadband = 0.25 millimeter

Degree of rounding in mass-shifter command output values.

Output

None defined

Invoked Module Behaviors

Estimation:BallastAndTrim

Guidance:Buoyancy

Guidance:Execute

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Wait