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/PowerOnly.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