////////////////////////////////////////////////////////////////
//
// PURPOSE: This contains SimulatorModule parameters for Tethys.
//
// NOTES: All values (except "strings") must be followed by
// a unit abbreviation (or one of the unit-like
// abbreviations: n/a, bool, enum, count).
//
////////////////////////////////////////////////////////////////
ExternalSim.loadAtStartup = 0 bool;
ExternalSim.SimDaemonServer = "tellum.shore.mbari.org";
// ExternalSim.SimDaemonServer = "tethyscode.shore.mbari.org";
ExternalSimIgnition.loadAtStartup = 1 bool;
InternalSim.loadAtStartup = 0 bool;
NavigationSim.loadAtStartup = 0 bool;
InternalEnvSim.loadAtStartup = 0 bool;
InternalEnvSim.nc3File = "";
// Format of var# entires: "[standard variable name]:[LRAUV unit]"
InternalEnvSim.var1 = "";
InternalEnvSim.var2 = "";
InternalEnvSim.var3 = "";
InternalEnvSim.var4 = "";
InternalEnvSim.var5 = "";
InternalEnvSim.var6 = "";
// Format of att# setting/override entires: "[global attribute name]:[double value]"
InternalEnvSim.att1 = "";
InternalEnvSim.att2 = "";
InternalEnvSim.att3 = "";
InternalEnvSim.att4 = "";
InternalEnvSim.att5 = "";
InternalEnvSim.att6 = "";
// If timeAdjust is non-NaN, set first sim time to start of vehicle time plus this value
InternalEnvSim.timeAdjust = nan second;
// Vehicle Initial Conditions:
Simulator.initLat = 36.8034 arcdeg; // Initial latitude
Simulator.initLon = -121.8222 arcdeg; // Initial longitude
// Initial Position Vector
Simulator.initPitch = 000.0000 arcdeg; // Pitch wrto LV
Simulator.initRoll = 000.0000 arcdeg; // Roll wrto LV
Simulator.initYaw = 000.0000 arcdeg; // Yaw wrto LV
Simulator.initZ = 0.000000 m; // Initial depth
// Initial Rate Vector
Simulator.initP = 000.0000 rad/s; // Pitch rate wrto LV
Simulator.initQ = 000.0000 rad/s; // Roll rate wrto LV
Simulator.initR = 000.0000 rad/s; // Yaw rate wrto LV
Simulator.initU = 0.000000 m/s; // vel x wrto B
Simulator.initV = 0.000000 m/s; // vel y wrto B
Simulator.initW = 0.000000 m/s; // vel z wrto B
// Initial Vehicle Configuration
Simulator.initMassPosition = 0.000000 cm; // centered
Simulator.initBuoyancyPosition = 955.0000 cc; // full inflated
// Mass Properties:
Simulator.mass = 147.8671 kg; //Flooded Vehicle mass ( x 9.80665 m/s2 = 1450.0 N)
Simulator.volume = 0.144260585365854 m3; //m3 (equals 1450 N buoyancy in 1025 kg/m3 water)
//excludes buoyancy bladder at default setting
// Stability Derivatives:
Simulator.effDragCoef = .21 n/a; //veh drag in x; related to Xuu
Simulator.Xuabu = -6.2282 kg/m; //Force Derivative, > -6.98 kg/m because fin drag added separately
// Geometric Parameters (Used only by the simulation)
Simulator.centerOfMassX = 0.1181 m;
Simulator.centerOfMassY = -0.000236 m;
Simulator.centerOfMassZ = 0.006794 m;
Simulator.centerOfBuoyX = 0.1181 m;
Simulator.centerOfBuoyY = 0.0 m;
Simulator.centerOfBuoyZ = 0.0 m;
// Simple geometric model of vehicle (Used at the surface)
Simulator.cylinderLength = 2 m;
Simulator.cylinderRadius = 6 in;
Simulator.lowerRudX = -1.973 m;
Simulator.lowerRudY = 0.012 m;
Simulator.lowerRudZ = -0.152 m;
Simulator.upperRudX = -1.973 m;
Simulator.upperRudY = 0.012 m;
Simulator.upperRudZ = 0.152 m;
Simulator.portElevX = -1.973 m;
Simulator.portElevY = -0.152 m;
Simulator.portElevZ = 0.0 m;
Simulator.stbdElevX = -1.973 m;
Simulator.stbdElevY = 0.152 m;
Simulator.stbdElevZ = 0.0 m;
// Thruster parameters
Simulator.designOmega = 300 rpm; //Nominal prop rotation rate
Simulator.designPropEff = 0.86 n/a; //Nominal prop efficiency
Simulator.designSpeed = 1.0 m/s; //Nominal speed
Simulator.designThrust = 6.98 N; //Thrust at nominal omega
Simulator.designTorque = 0.23 N-m; //Thrust at nominal thrust
// Dropweight1 parameters
Simulator.dropWt1Mass = 1.0 kg; //Mass of the drop weight #1, kg
Simulator.dropWt1Volume = 0.0000881 m3; //Volume of the drop weight #1, m3
Simulator.dropWt1X = 0.1655 m; //X location of the drop weight #1, m
Simulator.dropWt1Y = 0.0 m; //Y location of the drop weight #1, m
Simulator.dropWt1Z = -0.20 m; //Z location of the drop weight #1, m
// Mass shift control values
Simulator.movableMass = 26 kg; // Kilograms of movable mass (~ 1/3 of vehicle mass )
Simulator.centerOfMovableMassX = 0.1181 m;
Simulator.centerOfMovableMassY = -0.000236 m;
Simulator.centerOfMovableMassZ = 0.006794 m;
// Mass Properties:
Simulator.Ixx = 3.000000 kg-m2; // Ixx, kg-m^2.
Simulator.Iyy = 41.980233 kg-m2; // Iyy, kg-m^2.
Simulator.Izz = 41.980233 kg-m2; // Izz, kg-m^2.
// Added Mass:
Simulator.Kpdot = 0.000000 kg-m2; // Kpdot, kg-m^2.
Simulator.Kvdot = 0.000000 kg-m; // Kvdot, kg-m.
Simulator.Mqdot = -33.463086 kg-m2; // Mqdot, kg-m^2.
Simulator.Mwdot = 7.117842 kg-m; // Mwdot, kg-m.
Simulator.Nrdot = -33.463086 kg-m2; // Nrdot, kg-m^2.
Simulator.Nvdot = -7.117842 kg-m; // Nvdot, kg-m.
Simulator.Xudot = -4.876161 kg; // Xudot, kg.
Simulator.Ypdot = 0.000000 kg-m; // Ypdot, kg-m.
Simulator.Yrdot = -7.117842 kg-m; // Yrdot, kg-m.
Simulator.Yvdot = -126.324739 kg; // Yvdot, kg.
Simulator.Zqdot = 7.117842 kg-m; // Zqdot, kg-m.
Simulator.Zwdot = -126.324739 kg; // Zwdot, kg.
// Stability Derivatives:
Simulator.Kpabp = -0.191601 kg-m2; // Kp|p| , kg-m^2
Simulator.Mpr = 33.463086 kg-m2; // Mpr , kg-m^2
Simulator.Mqabq = -632.698957 kg-m2; // Mq|q| , kg-m^2
Simulator.Muq = -61.182063 kg-m; // Muq , kg-m
Simulator.Muw = 105.660262 kg; // Muw , kg
Simulator.Mwabw = -58.113144 kg; // Mw|w| , kg
Simulator.Npq = -33.463086 kg-m2; // Npq , kg-m^2
Simulator.Nrabr = -632.698957 kg-m2; // Nr|r| , kg-m^2
Simulator.Nur = -61.182063 kg-m; // Nur , kg-m
Simulator.Nuv = -105.660262 kg; // Nuv , kg
Simulator.Nvabv = 58.113144 kg; // Nv|v| , kg
Simulator.Xqq = 7.117842 kg-m; // Xqq , kg-m
Simulator.Xrr = 7.117842 kg-m; // Xrr , kg-m
Simulator.Xvr = 126.324739 kg; // Xvr , kg
Simulator.Xvv = -54.370919 kg/m; // Xvv , kg/m
Simulator.Xwq = -126.324739 kg; // Xwq , kg
Simulator.Xww = -54.370919 kg/m; // Xww , kg/m
Simulator.Yrabr = 0.000000 n/a; // Yr|r| , ?
Simulator.Yur = 8.719853 kg; // Yur , kg
Simulator.Yuv = -23.954759 kg/m; // Yuv , kg/m
Simulator.Yvabv = -601.274653 kg/m; // Yv|v| , kg/m
Simulator.Ywp = 126.324739 kg-m; // Ywp , kg-m
Simulator.Zqabq = 0.000000 n/a; // Zq|q| , ?
Simulator.Zuq = -8.719853 kg; // Zuq , kg
Simulator.Zuw = -23.954759 kg/m; // Zuw , kg/m
Simulator.Zvp = -126.324739 kg; // Zvp , kg
Simulator.Zwabw = -601.274653 kg/m; // Zw|w| , kg/m
Simulator.Kvt2 = 0.000000 n/a; // ? , ?
// Actuator (Tailcone) Parameters:
Simulator.stallAngle = 30.000000 arcdeg;
Simulator.wideHystRud = 0.000000 arcdeg;
Simulator.centerHystRud = 0.000000 arcdeg;
Simulator.speedRud = 7.5 arcdeg/s
Simulator.wideHystElev = 0.000000 arcdeg;
Simulator.centerHystElev = 0.000000 arcdeg;
Simulator.speedElev = 7.5 arcdeg/s
Simulator.aspectRatio = 6.500000 n/a;
Simulator.finArea = 0.012189 m2;
Simulator.CDc = 0.030000 n/a; // Crossflow Coef. of Drag
Simulator.dCL = 4.130000 n/a; // Coef. of Lift Slope
// Environmental Conditions (nans revert to 4D model):
Simulator.density = nan kg/m3; // i.e., 1025.0 kg/m3 - sea water density.
Simulator.eastCurrent = nan m/s; // vel y wrto LV
Simulator.magneticVariation = nan arcdeg; // i.e., 14.0937 arcdeg - if not specified, calculated from lat & lon
Simulator.mixedLayerDepth = nan meter; // i.e., 40 meter - depth of mixed layer
Simulator.northCurrent = nan m/s; // vel x wrto LV
Simulator.s300 = nan ppt; // i.e., 34.2 ppt - salinity at 300 meters. Linear change from mixed layer depth
Simulator.sMixed = nan ppt; // i.e., 33.5 ppt - salinity at mixed layer depth. Linear change from surface
Simulator.soundSpeed = nan m/s; // i.e., 1490 m/s - if not specified, calculated from density, pressure
Simulator.sss = nan ppt; // i.e., 33.2 ppt - sea surface salinity. Extends to the mixed layer depth
Simulator.sst = nan degC; // i.e., 16.0 degC - sea surface temperature. Extends to the mixed layer depth
Simulator.t300 = nan degC; // i.e., 7.0 degC - temperature at 300 meters. Linear change from mixed layer depth
Simulator.tMixed = nan degC; // i.e., 10.0 degC - temperature at mixed layer depth. Linear change from surface
Simulator.vertCurrent = nan m/s; // vel z wrto LV (positive down)
Simulator.oceanModelData = "Resources/2003080103_mb_l3_las.nc";
Simulator.defaultDensity = 1025.0 kg/m3; // Always specify: used outside of 4D model
Simulator.centerHystMovableMass = 0.000000 mm;
Simulator.speedMovableMass = .70 mm/s
Simulator.wideHystMovableMass = 0.000000 mm;
Simulator.centerHystBuoyancy = 0.000000 cc;
Simulator.speedBuoyancy = 3.0 cc/s
Simulator.wideHystBuoyancy = 00.00000 cc;
Simulator.buoyancyNeutralOffset = 0.00 cc; // Value added to buoyancy in the ExternalSim to achieve "True" neutral
Simulator.entrainedAir = 0.00 cc; // Amount of entrained air in vehicle
Simulator.massPositionOffset = 0.00 mm; // Value added to mass position in the ExternalSim to achieve "True" zero pitch
Simulator.bottomLockGone = 100 meter; // Altitude greater than this value results in loss of bottom lock simulated
Simulator.numberOfHomingTragets = 3 count;
Simulator.homingSensorTat = 0.3 s; // Turn-around time of the DAT homing sonar.