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_examples/tank_ballast_and_trim.tl

Mission ID: ballast_and_trim

Mission Path: _examples/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/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

Invoked Module Behaviors

Guidance:Buoyancy

Guidance:Wait