////////////////////////////////////////////////////////////////
//
// 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";
InternalSim.loadAtStartup = 1 bool;
NavigationSim.loadAtStartup = 0 bool;
// Mass Properties:
mass = 147.8671 kg; //Flooded Vehicle mass ( x 9.80665 m/s2 = 1450.0 N)
volume = 0.144260585365854 m3; //m3 (equals 1450 N buoyancy in 1025 kg/m3 water)
//excludes buoyancy bladder at default setting
// Stability Derivatives:
effDragCoef = .21 n/a; //veh drag in x; related to Xuu
Xuabu = -6.2282 kg/m; //Force Derivative, > -6.98 kg/m because fin drag added separately
// Geometric Parameters (Used only by the simulation)
centerOfMassX = 0.1181 m;
centerOfMassY = -0.000236 m;
centerOfMassZ = 0.006794 m;
centerOfBuoyX = 0.1181 m;
centerOfBuoyY = 0.0 m;
centerOfBuoyZ = 0.0 m;
// Simple geometric model of vehicle (Used at the surface)
cylinderLength = 2 m;
cylinderRadius = 6 in;
lowerRudX = -1.973 m;
lowerRudY = 0.012 m;
lowerRudZ = -0.152 m;
upperRudX = -1.973 m;
upperRudY = 0.012 m;
upperRudZ = 0.152 m;
portElevX = -1.973 m;
portElevY = -0.152 m;
portElevZ = 0.0 m;
stbdElevX = -1.973 m;
stbdElevY = 0.152 m;
stbdElevZ = 0.0 m;
// Thruster parameters
designOmega = 300 rpm; //Nominal prop rotation rate
designPropEff = 0.86 n/a; //Nominal prop efficiency
designSpeed = 1.0 m/s; //Nominal speed
designThrust = 6.98 N; //Thrust at nominal omega
designTorque = 0.23 N-m; //Thrust at nominal thrust
// Dropweight1 parameters
dropWt1Mass = 1.0 kg; //Mass of the drop weight #1, kg
dropWt1Volume = 0.0000881 m3; //Volume of the drop weight #1, m3
dropWt1X = 0.1655 m; //X location of the drop weight #1, m
dropWt1Y = 0.0 m; //Y location of the drop weight #1, m
dropWt1Z = -0.20 m; //Z location of the drop weight #1, m
// Mass shift control values
movableMass = 26 kg; // Kilograms of movable mass (~ 1/3 of vehicle mass )
centerOfMovableMassX = 0.1181 m;
centerOfMovableMassY = -0.000236 m;
centerOfMovableMassZ = 0.006794 m;
// Mass Properties:
Ixx = 3.000000 kg-m2; // Ixx, kg-m^2.
Iyy = 41.980233 kg-m2; // Iyy, kg-m^2.
Izz = 41.980233 kg-m2; // Izz, kg-m^2.
// Added Mass:
Kpdot = 0.000000 kg-m2; // Kpdot, kg-m^2.
Kvdot = 0.000000 kg-m; // Kvdot, kg-m.
Mqdot = -33.463086 kg-m2; // Mqdot, kg-m^2.
Mwdot = 7.117842 kg-m; // Mwdot, kg-m.
Nrdot = -33.463086 kg-m2; // Nrdot, kg-m^2.
Nvdot = -7.117842 kg-m; // Nvdot, kg-m.
Xudot = -4.876161 kg; // Xudot, kg.
Ypdot = 0.000000 kg-m; // Ypdot, kg-m.
Yrdot = -7.117842 kg-m; // Yrdot, kg-m.
Yvdot = -126.324739 kg; // Yvdot, kg.
Zqdot = 7.117842 kg-m; // Zqdot, kg-m.
Zwdot = -126.324739 kg; // Zwdot, kg.
// Stability Derivatives:
Kpabp = -0.191601 kg-m2; // Kp|p| , kg-m^2
Mpr = 33.463086 kg-m2; // Mpr , kg-m^2
Mqabq = -632.698957 kg-m2; // Mq|q| , kg-m^2
Muq = -61.182063 kg-m; // Muq , kg-m
Muw = 105.660262 kg; // Muw , kg
Mwabw = -58.113144 kg; // Mw|w| , kg
Npq = -33.463086 kg-m2; // Npq , kg-m^2
Nrabr = -632.698957 kg-m2; // Nr|r| , kg-m^2
Nur = -61.182063 kg-m; // Nur , kg-m
Nuv = -105.660262 kg; // Nuv , kg
Nvabv = 58.113144 kg; // Nv|v| , kg
Xqq = 7.117842 kg-m; // Xqq , kg-m
Xrr = 7.117842 kg-m; // Xrr , kg-m
Xvr = 126.324739 kg; // Xvr , kg
Xvv = -54.370919 kg/m; // Xvv , kg/m
Xwq = -126.324739 kg; // Xwq , kg
Xww = -54.370919 kg/m; // Xww , kg/m
Yrabr = 0.000000 n/a; // Yr|r| , ?
Yur = 8.719853 kg; // Yur , kg
Yuv = -23.954759 kg/m; // Yuv , kg/m
Yvabv = -601.274653 kg/m; // Yv|v| , kg/m
Ywp = 126.324739 kg-m; // Ywp , kg-m
Zqabq = 0.000000 n/a; // Zq|q| , ?
Zuq = -8.719853 kg; // Zuq , kg
Zuw = -23.954759 kg/m; // Zuw , kg/m
Zvp = -126.324739 kg; // Zvp , kg
Zwabw = -601.274653 kg/m; // Zw|w| , kg/m
Kvt2 = 0.000000 n/a; // ? , ?
// Actuator (Tailcone) Parameters:
stallAngle = 30.000000 arcdeg;
wideHystRud = 0.000000 arcdeg;
centerHystRud = 0.000000 arcdeg;
speedRud = 7.5 arcdeg/s
wideHystElev = 0.000000 arcdeg;
centerHystElev = 0.000000 arcdeg;
speedElev = 7.5 arcdeg/s
aspectRatio = 6.500000 n/a;
finArea = 0.012189 m2;
CDc = 0.030000 n/a; // Crossflow Coef. of Drag
dCL = 4.130000 n/a; // Coef. of Lift Slope
// Vehicle Initial Conditions:
// Initial Position Vector
initPitch = 000.0000 arcdeg; // Pitch wrto LV
initRoll = 000.0000 arcdeg; // Roll wrto LV
initYaw = 000.0000 arcdeg; // Yaw wrto LV
initZ = 0.000000 m; // Initial depth
// Initial Rate Vector
initP = 000.0000 rad/s; // Pitch rate wrto LV
initQ = 000.0000 rad/s; // Roll rate wrto LV
initR = 000.0000 rad/s; // Yaw rate wrto LV
initU = 0.000000 m/s; // vel x wrto B
initV = 0.000000 m/s; // vel y wrto B
initW = 0.000000 m/s; // vel z wrto B
// Initial Vehicle Configuration
initMassPosition = 0.000000 cm; // centered
initBuoyancyPosition = 955.0000 cc; // full inflated
// Environmental Conditions (nans revert to 4D model):
density = nan kg/m3; // i.e., 1025.0 kg/m3 - sea water density.
eastCurrent = nan m/s; // vel y wrto LV
magneticVariation = nan arcdeg; // i.e., 14.0937 arcdeg - if not specified, calculated from lat & lon
mixedLayerDepth = nan meter; // i.e., 40 meter - depth of mixed layer
northCurrent = nan m/s; // vel x wrto LV
s300 = nan ppt; // i.e., 34.2 ppt - salinity at 300 meters. Linear change from mixed layer depth
sMixed = nan ppt; // i.e., 33.5 ppt - salinity at mixed layer depth. Linear change from surface
soundSpeed = nan m/s; // i.e., 1490 m/s - if not specified, calculated from density, pressure
sss = nan ppt; // i.e., 33.2 ppt - sea surface salinity. Extends to the mixed layer depth
sst = nan degC; // i.e., 16.0 degC - sea surface temperature. Extends to the mixed layer depth
t300 = nan degC; // i.e., 7.0 degC - temperature at 300 meters. Linear change from mixed layer depth
tMixed = nan degC; // i.e., 10.0 degC - temperature at mixed layer depth. Linear change from surface
vertCurrent = nan m/s; // vel z wrto LV (positive down)
oceanModelData = "Resources/2003080103_mb_l3_las.nc";
defaultDensity = 1025.0 kg/m3; // Always specify: used outside of 4D model
centerHystMovableMass = 0.000000 mm;
speedMovableMass = .70 mm/s
wideHystMovableMass = 0.000000 mm;
centerHystBuoyancy = 0.000000 cc;
speedBuoyancy = 3.0 cc/s
wideHystBuoyancy = 00.00000 cc;
buoyancyNeutralOffset = 0.00 cc; // Value added to buoyancy in the ExternalSim to achieve "True" neutral
entrainedAir = 0.00 cc; // Amount of entrained air in vehicle
massPositionOffset = 0.00 mm; // Value added to mass position in the ExternalSim to achieve "True" zero pitch
bottomLockGone = 100 meter; // Altitude greater than this value results in loss of bottom lock simulated
homingSensorTat = 4.0 s; // Turn-around time of the DAT homing sonar.