////////////////////////////////////////////////////////////////
//
//  Copyright (c) 2024 MBARI
//  MBARI Proprietary Information. Confidential. All Rights Reserved
//  Unauthorized copying or distribution of this file via any medium is strictly
//  prohibited.
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//  WARNING - This file contains information whose export is restricted by the
//  Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
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////////////////////////////////////////////////////////////////
//
// PURPOSE: This contains ControlModule parameters for lrauv-daphne.
//
// NOTES:   All values (except "strings") must be followed by
//          a unit abbreviation (or one of the unit-like
//          abbreviations: n/a, bool, enum, count).
//
////////////////////////////////////////////////////////////////


VerticalControl.buoyancyLimitLoCC       = 30  cc;           // Per calibration 4/13/2017
VerticalControl.buoyancyNeutral         = 260.0 cc;         // Amount of oil stored in the bladder when the vehicle is neutral
VerticalControl.buoyancyPumpDepth       = 90.0 m;           // Depth must be <  = this value in order to safely pump

VerticalControl.massDefault             =  -9.8 mm;          // Position of mass at pitch  =0 at neutral buoyancy
VerticalControl.massPositionLimitAft    = -35 mm;            // max offset aft of center
VerticalControl.massPositionLimitFwd    =  25 mm;            // max offset forward of center

// Modified settings for use when Turbulence sensor is installed:
// VerticalControl.massPositionLimitFwd = 30 mm;             // max offset forward of center
// VerticalControl.massPositionLimitAft = -30 mm;            // max offset aft of center
// VerticalControl.maxDiveRate          = 0.300 m/s;         // Maximum dive rate at pitchLimit and 1 m/s