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