Skip to content
Page auto-generated from this source.

Maintenance/ballast_and_trim.tl

Mission ID: ballast_and_trim

Mission Path: Maintenance/ballast_and_trim.tl

(No description)

Arguments

MissionTimeout

MissionTimeout = 90 minute

Maximum duration of mission

SkipComms

SkipComms = false

Skip communications at start of mission.

Depth1

Depth1 = 35 meter

Depth2

Depth2 = NaN meter

DepthDeadband

DepthDeadband = 0.1 meter

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

ApproachSpeed

ApproachSpeed = 1 meter_per_second

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

ApproachDepthTimeout

ApproachDepthTimeout = 20 minute

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

ApproachDepthRate

ApproachDepthRate = 0.4 meter_per_second

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

ApproachPitchLimit

ApproachPitchLimit = 20 degree

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

ApproachSettleTimePreDive

ApproachSettleTimePreDive = 0 minute

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

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 = 0.5 millimeter

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

BuoyEstimationErrorBound

BuoyEstimationErrorBound = 25 cubic_centimeter

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

EstimationConfidence

EstimationConfidence = 98.0 percent

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

massDeadband

massDeadband = 0.25 millimeter

Degree of rounding in mass-shifter command output values.

MinAltitude

MinAltitude = 5 meter

MaxDepth

MaxDepth = 52 meter

MinOffshore

MinOffshore = 2 kilometer

CheckDepths

CheckDepths = 1 bool

Output

None defined

Inserts

Insert/Science.tl

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Insert/BackseatDriver.tl

Insert/BallastAndTrim.tl

redefineArg InsertDepthDeadband = DepthDeadband
redefineArg InsertApproachSpeed = ApproachSpeed
redefineArg InsertApproachDepthRate = ApproachDepthRate
redefineArg InsertApproachPitchLimit = ApproachPitchLimit
redefineArg InsertApproachSettleTimePreDive = ApproachSettleTimePreDive
redefineArg InsertApproachDepthTimeout = ApproachDepthTimeout
redefineArg InsertSettleTime = SettleTime
redefineArg EstTimeout = EstimationTimeout
redefineArg MinEstTime = MinEstimationTime
redefineArg MassEstErrorBound = MassEstimationErrorBound
redefineArg BuoyEstErrorBound = BuoyEstimationErrorBound
redefineArg EstConfidence = EstimationConfidence
redefineArg InsertMassDeadband = massDeadband

Invoked Module Behaviors

Guidance:Execute