Maintenance/tank_ballast_and_trim.tl¶
Mission ID: ballast_and_trim
Mission Path: Maintenance/tank_ballast_and_trim.tl
(No description)
Arguments¶
MissionTimeout¶
MissionTimeout = 120 minute
Maximum duration of mission.
Depth1¶
Depth1 = 7 meter
Target depth for ballast and trim.
Depth2¶
Depth2 = NaN meter
Target depth to run a second ballast and trim, skipped if NaN.
DepthDeadband¶
DepthDeadband = 0.1 meter
How much vertical drift from the specified depth is allowed during the mission.
SurfaceThreshold¶
SurfaceThreshold = 2.5 meter
Surface threshold depth, relevant only to the ascent.
TargetDepthTimeout¶
TargetDepthTimeout = 20 minute
Maximum wait time for the vehicle to reach the target ballast and trim 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
Timeout for reaching surface threshold on float ascent, mission will end when reached.
Output¶
None defined
Inserts¶
Insert/Science.tl¶
Insert/BackseatDriver.tl¶
Insert/PowerOnly.tl¶
Insert/BallastAndTrim.tl¶
redefineArg InsertDepthDeadband = DepthDeadband
redefineArg InsertApproachDepthTimeout = TargetDepthTimeout
redefineArg InsertSettleTime = SettleTime
redefineArg EstTimeout = EstimationTimeout
redefineArg MinEstTime = MinEstimationTime
redefineArg MassEstErrorBound = MassEstimationErrorBound
redefineArg BuoyEstErrorBound = BuoyEstimationErrorBound
redefineArg EstConfidence = EstimationConfidence