//////////////////////////////////////////////////////////////// // // PURPOSE: This is an automatically generated data file that // contains the model parameters for Tethys. // This file is designed to be read in by the on-board // simulation as "simulator.cfg". // NOTES: All values (except "strings") must be followed by // a unit abbreviation (or one of the unit-like // abbreviations: n/a, bool, enum, count). // AUTHOR: Rob McEwen, Using modelCoef() by Knut Streitlien. // DATE: 29-May-2009 // //////////////////////////////////////////////////////////////// // // Simulator settings: // useSim = 1 bool; // If true, use the simulator // // 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: // Yvdot = -126.324739 kg; // Yvdot, kg. Zwdot = -126.324739 kg; // Zwdot, kg. Xudot = -4.876161 kg; // Xudot, kg. Mqdot = -33.463086 kg-m2; // Mqdot, kg-m^2. Nrdot = -33.463086 kg-m2; // Nrdot, kg-m^2. Kpdot = 0.000000 kg-m2; // Kpdot, kg-m^2. Kvdot = 0.000000 kg-m; // Kvdot, kg-m. Mwdot = 7.117842 kg-m; // Mwdot, kg-m. Zqdot = 7.117842 kg-m; // Zqdot, kg-m. Nvdot = -7.117842 kg-m; // Nvdot, kg-m. Yrdot = -7.117842 kg-m; // Yrdot, kg-m. Ypdot = 0.000000 kg-m; // Ypdot, kg-m. // // Stability Derivatives: // Kpabp = -0.191601 kg-m2; // Kp|p| , kg-m^2 Nuv = -105.660262 kg; // Nuv , kg Nur = -61.182063 kg-m; // Nur , kg-m Xvv = -54.370919 kg/m; // Xvv , kg/m Xww = -54.370919 kg/m; // Xww , kg/m Xvr = 126.324739 kg; // Xvr , kg Xwq = -126.324739 kg; // Xwq , kg Xrr = 7.117842 kg-m; // Xrr , kg-m Xqq = 7.117842 kg-m; // Xqq , kg-m Yuv = -23.954759 kg/m; // Yuv , kg/m Yur = 8.719853 kg; // Yur , kg Nrabr = -632.698957 kg-m2; // Nr|r| , kg-m^2 Mqabq = -632.698957 kg-m2; // Mq|q| , kg-m^2 Nvabv = 58.113144 kg; // Nv|v| , kg Ywp = 126.324739 kg-m; // Ywp , kg-m Yrabr = 0.000000 n/a; // Yr|r| , ? Yvabv = -601.274653 kg/m; // Yv|v| , kg/m Zwabw = -601.274653 kg/m; // Zw|w| , kg/m Mwabw = -58.113144 kg; // Mw|w| , kg Zqabq = 0.000000 n/a; // Zq|q| , ? Muq = -61.182063 kg-m; // Muq , kg-m Muw = 105.660262 kg; // Muw , kg Mpr = 33.463086 kg-m2; // Mpr , kg-m^2 Npq = -33.463086 kg-m2; // Npq , kg-m^2 Zuq = -8.719853 kg; // Zuq , kg Zuw = -23.954759 kg/m; // Zuw , kg/m Zvp = -126.324739 kg; // Zvp , kg // 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 initLat = 36.737845 arcdeg; // Initial latitude initLon = -121.8804227 arcdeg; // Initial longitude initZ = 0.000000 m; // Initial depth initPitch = 000.0000 arcdeg; // Pitch wrto LV initRoll = 000.0000 arcdeg; // Roll wrto LV initYaw = 000.0000 arcdeg; // Yaw wrto LV // Initial Rate Vector 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 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 // // Environmental Conditions (omissions revert to 4D model): // // northCurrent = 0.200000 m/s; // vel x wrto LV // eastCurrent = 0.000000 m/s; // vel y wrto LV // magneticVariation = 14.0937 arcdeg; // if not specified, calculated from lat & lon // soundSpeed = 1490.0 m/s; // if not specified, calculated from density, pressure // density = 1025.0 kg/m3; // sea water density. // sst = 16.0 degC; // sea surface temperature. Extends to the mixed layer depth // tMixed = 10.0 degC; // temperature at mixed layer depth. Linear change from surface // t300 = 7.0 degC; // temperature at 300 meters. Linear change from mixed layer depth // sss = 33.2 ppt; // sea surface salinity. Extends to the mixed layer depth // sMixed = 33.5 ppt; // salinity at mixed layer depth. Linear change from surface // s300 = 34.2 ppt; // salinity at 300 meters. Linear change from mixed layer depth // mixedLayerDepth = 40 meter; // depth of mixed layer oceanModelData = "Resources/2003080103_mb_l3_las.nc"; defaultDensity = 1025.0 kg/m3; // Always specify: used outside of 4D model // // Bottom Specification (not currently used): // depth1 = 30.000000 m; // Initial depth depth2 = 30.000000 m; // Second depth depth3 = 30.000000 m; // Third depth ydepth1 = -260.000000 m; // Init y location ydepth2 = -250.000000 m; // Second y loc ydepth3 = -160.000000 m; // Init y location ydepth4 = -150.000000 m; // Second y loc wideHystMovableMass = 0.000000 mm; // centerHystMovableMass = 0.000000 mm; // speedMovableMass = 2.0 mm/s // wideHystBuoyancy = 0.000000 cc; // centerHystBuoyancy = 0.000000 cc; // speedBuoyancy = 8.3 cc/s //