# $Id$
# $Log$
#
# File:		vessel001.par
# Purpose:	Define model structure for a sample boat
#		System consists of an 8125, 81-P & 6043 V7, DMS2-05 and AG132 DGPS
# Date:		2004-09-25
#
# This is based on V1.7.2.3 of parameters.txt (2003-04-16).
#

# Error Model module
errmod {
	# Full MBES Error model
	full {
		default_surf_sspeed 1500.0;
	}
}

# Vessel configuration and auxilliary instrument measurement errors
vessel {
	timestamp	2002/05/05:00:00:00;
	draft		1.03 m;	# Transducer draft below RP
	tx_latency	0 ms;	# Transducer transmit latency
	static_roll	0;	# Head mounting angle, deg., +ve => port up
	gps {
		x	7.61 m;	# GPS 3D offsets from transducer
		y	-1.40 m;
		z	-4.38 m;
		latency	0 ms;	# GPS latency (using PPS from AG132, so no latency)
	}
	imu {
		x	4.210 m;	# IMU 3D offsets from transducer
		y	0.000 m;
		z	-0.765 m;
		roll	0.673;	# Alignment angles for IMU to transducer.
				# Note that angles are always given in degrees.
		pitch	0.692;
		gyro	3.43;
	}
	sdev {			# These are measurement errors for the various
				# auxilliary instruments in the survey platform.
		gps_offset	5 mm;	# All 3D GPS offsets
		gps_drms	0.5 m;	# Base GPS 2D horizontal uncertainty
		gps_latency	0 ms;
		imu_offset	5 mm;	# All 3D IMU offsets
		imu_rp_align	0.01;	# IMU Roll/Pitch alignment
		imu_g_align	0.01;	# IMU Gyro alignment
		imu_latency	5 ms;
		roll		0.02;	# Roll measurement error
		pitch		0.02;	# Pitch measurement error
		pitch_stab	0;	# Pitch stabilisation measurement error
					# i.e., here, no pitch stabilisation
		gyro		0.05;	# Gyro measurement error
		svp		0.50;	# Sound velocity profile measurement error.
					# Note that speeds are always given in m/s, so
					# no units are required
		surf_sspeed	0.50;	# Surface sound speed measurement error
		heave_fixed	5 cm;	# Fixed component of heave measurement error
		heave_var	0.05;	# Variable component of heave measurement error
		draft		5 cm;
		ddraft		5 cm;	# Dynamic draft (e.g., squat)
		loading		5 cm;	# Known loading (e.g., fuel use)
		sog		0.05;	# Speed over ground
		tide_meas	2 cm;	# Tide measurement error at gauge
		tide_pred	2 cm;	# Tide error due to spatial/temporal variation
	}
}