////////////////////////////////////////////////////////////////
//
// PURPOSE: This contains ControlModule parameters for Brizo.
//
// NOTES:   All values (except "strings") must be followed by
//          a unit abbreviation (or one of the unit-like
//          abbreviations: n/a, bool, enum, count).
//
////////////////////////////////////////////////////////////////

BackSeatDriver.loadAtStartup = 0 bool;

VerticalControl.buoyancyNeutral       = 236.2 ml;
VerticalControl.buoyancyPumpDepth     = 75 m;
VerticalControl.buoyancyLimitLoCC     = 70 cc;
VeritcalControl.buoyancyLimitHiCC     = 1016 cc;
VerticalControl.buoyancyDefault       = 916 cc;

VerticalControl.massDefault           =  4.77 mm;

// Secondary Pack
VerticalControl.massPositionLimitFwd  =  33 mm; 
VerticalControl.massPositionLimitAft  = -25 mm;

//Primary Pack
//VerticalControl.massPositionLimitFwd  =  32 mm; 
//VerticalControl.massPositionLimitAft  = -40 mm;

// Gains for shallow water buoyancy control
VerticalControl.kpDepthBuoy             = 120. ratio;     // Buoyancy loop pos'n gain cc/m
VerticalControl.kiDepthBuoy             = 0.15 1/s;       // Buoyancy loop int. gain
VerticalControl.kdDepthBuoy             = 1000 s;         // Buoy loop deriv. gain cc/(m/s)
VerticalControl.kiDepthOff              = 0.01 m/s;       // Integrator shut-off