trawl_mooring_interaction/trawl_mooring_interaction.xml

<Contents>
    <!-- A pelagic trawl (vonin2016_pelagic.xml) towed at 5 knots by a TrawlBeam on 2750 m warps
         (TrawlCable, 800 m top warp + 1950 m warp per side) across a mooring line (MooringCable)
         that its starboard warp can hit.
         - The mooring end points are constant: the former maritime Ship/FrameTransform and base Math
           objects rotated (-902,0,12) and (902,0,1184) about z by the mooring angle, -5 degrees, and
           added the offset (902-800-188, -1000, 0).
         - The net starts in a towed shape (Net.Pos_k below, the shape of the former
           CNetSTructureState_save.txt moved by (-5,1250,300), which NetStructure never read), with
           its wings 2770 m behind the beam and 700 m deep, and the beam 1500 m down its track; the
           TrawlCables lay their warps and bridles out between the beam and the wings.
         - vonin2016_pelagic.xml leaves the codend open: the generator's last section (eight
           one-mesh-high panels from 168 meshes to 1), whose ill-conditioned mesh coordinates made the
           codend nodes diverge at any practical step, is dropped (owner ruling 2026-10-13, MARE-0370).
         - The bridles have 5 elements each (44 m and 50 m): owner ruling 2026-10-13, at most 5
           elements per segment and at least 10 m per element, n = clamp(floor(L / 10 m), 1, 5)
           (MARE-0370). Their default, about 1 m like the warp's, diverges within 0.02 s at 1 ms.
         - Euler_i at 1 ms: the TrawlCables take their symplectic step (MARE-0003).
         Release, Linux: about 6 s wall per simulated second at 2000 warp elements per side;
         tests/in/TrawlCable/TrawlCable_MooringInteraction_in.xml is the same rig with 100. -->
    <VARIABLES>
        <Var Name="warp_diameter" Value="0.032"/>
        <Var Name="warp_length" Value="2750-800"/>
        <Var Name="warp_elements" Value="2000"/>
        <Var Name="warp_top_length" Value="800"/>
        <Var Name="warp_top_elements" Value="40"/>
        <Var Name="bridle_diameter" Value="0.022"/>
        <Var Name="bridle_top_length" Value="220"/>
        <Var Name="bridle_bottom_length" Value="250"/>
        <Var Name="clump_mass" Value="2500"/>
        <Var Name="trawldoor_area" Value="10"/>
        <Var Name="trawldoor_mass" Value="4000"/>
        <Var Name="collision_stbd" Value="1"/>
        <Var Name="collision_port" Value="1"/>
 
        <Var Name="mooring_elements"            Value="150"/>
        <Var Name="mooring_chain_diameter"      Value="0.16"/>
        <Var Name="mooring_rope_diameter"       Value="0.221"/>
        <Var Name="mooring_length"              Value="2567-325"/>
        <Var Name="mooring_top_chain_length"    Value= "105"/>
        <Var Name="mooring_bottom_chain_length" Value="550-325"/>
        <Var Name="mooring_pre_tension"         Value="228*1000*9.81"/>
 
        <Var Name="control_direction"           Value="-1.57079632679"/>
        <Var Name="control_speed"               Value="2.57222"/>
        <Var Name="control_kp"                  Value="15*100e3"/>
        <Var Name="control_kd"                  Value="10*1e3"/>
        <Var Name="control_ki"                  Value="0.095*100e3"/>
        <Var Name="control_Td"                  Value="60"/>
        <Var Name="control_inertia"             Value="5600e3"/>
        <Var Name="control_power_saturation"    Value="1"/>
        <Var Name="control_power_max"           Value="6000e3"/>
        <Var Name="control_beam_length"         Value="20"/>
    </VARIABLES>
 
    <OBJECTS>
        <Lib LibName            = "marine_elements"
            SimObject           = "TrawlCable"
            Name                = "CableS"
            StartTimeCollision = "2"
            PortOrStarboard     = "Starboard"
            TrawlDoorMass       = "$trawldoor_mass"
            TrawlDoorArea       = "$trawldoor_area"
            ClumpWeightMass     = "$clump_mass"
            WarpNumElements     = "$warp_elements"
            WarpLength          = "$warp_length"
            TopWarpNumElements  = "$warp_top_elements"
            TopWarpLength       = "$warp_top_length"
            WarpDiameter        = "$warp_diameter"
            TopBridleDiameter   = "$bridle_diameter"
            TopBridleLength     = "$bridle_top_length"
            BottomBridleLength  = "$bridle_bottom_length"
            TopBridleNumElements    = "5"
            BottomBridleNumElements = "5"
            RegulatorFrequencyCoefficient   = "200"
            CollisionFrequencyCoefficient   = "200"
            TensionStabilityFactorWarp      = "10"
            TensionStabilityFactorTopWarp   = "10"
            StructuralDampingCoefficient="1"
            UseCollision="$collision_stbd"
            NumCpuCore="4"
            HQrender = "0"
        />
 
        <Lib LibName            = "marine_elements"
            SimObject           = "TrawlCable"
            Name                = "CableP"
            PortOrStarboard     = "Port"
            TrawlDoorMass       = "$trawldoor_mass"
            TrawlDoorArea       = "$trawldoor_area"
            ClumpWeightMass     = "$clump_mass"
            WarpNumElements     = "$warp_elements"
            WarpLength          = "$warp_length"
            TopWarpNumElements  = "$warp_top_elements"
            TopWarpLength       = "$warp_top_length"
            WarpDiameter        = "$warp_diameter"
            TopBridleDiameter   = "$bridle_diameter"
            TopBridleLength     = "$bridle_top_length"
            BottomBridleLength  = "$bridle_bottom_length"
            TopBridleNumElements    = "5"
            BottomBridleNumElements = "5"
            RegulatorFrequencyCoefficient   = "200"
            CollisionFrequencyCoefficient   = "200"
            TensionStabilityFactorWarp      = "10"
            TensionStabilityFactorTopWarp   = "10"
            StructuralDampingCoefficient="1"
            UseCollision="$collision_port"
            HQrender = "0"
            TrawlCable  = "CableS"
        />
 
        <Lib LibName            = "marine_elements"
            SimObject           = "MooringCable"
            Name                = "mooringCable"
            NumElements         = "$mooring_elements"
            TopChainDiameter    = "$mooring_chain_diameter"
            MidRopeDiameter     = "$mooring_rope_diameter"
            BottomChainDiameter = "$mooring_chain_diameter"
            TotalLength         = "$mooring_length"
            TopChainLength      = "$mooring_top_chain_length"
            BottomChainLength   = "$mooring_bottom_chain_length"
            MooringPreTension   = "$mooring_pre_tension"
            TrawlCable          = "CableS"
            HQrender            = "1"
            BouyConnection      = "$mooring_top_chain_length + 873"
        />
 
        <Lib LibName        = "marine_elements"
            SimObject       = "Net/NetStructure"
            Name            = "Net"
            File            = "vonin2016_pelagic.xml"
            NodesInputForce         = "PWing1, PWing8, SWing1, SWing8"
            NodesOutputPosAndVel    = "PWing1, PWing8, SWing1, SWing8"
        />
 
        <Lib
            LibName="environment"
            SimObject="Environment"
            Name="Env"
            Waves.Model="Component"
            Waves.NumWaves="0"
            Bathymetry.Depth="1182"
            Current.Model = "Constant"
            Current.Vector = "0,0,0"
        />
 
        <Lib LibName="marine_elements" SimObject="TrawlBeam" Name="beam" BeamLength="$control_beam_length" Direction="$control_direction" TravelSpeed="$control_speed" InForce="1" kp="$control_kp" kd="$control_kd" ki="$control_ki" Td="$control_Td" Mass="$control_inertia" Power="$control_power_max" Saturation="$control_power_saturation" />
    </OBJECTS>
 
    <INTERCONNECTIONS>
        <Connection
            mooringCable.PosA = "-984.5678,-921.3878,12"
            mooringCable.PosB = "812.5678,-1078.6122,1184"
            mooringCable.VelA = "0,0,0"
            mooringCable.VelB = "0,0,0"
        />
 
        <Connection
            beam.ForceStbd="CableS.WinchForce"
            beam.ForcePort="CableP.WinchForce"
        />
 
        <Connection
            CableS.WinchPosition = "beam.PositionStbdNED"
            CableS.WinchVelocity = "beam.VelocityStbdNED"
            CableS.TopBridleEndPosition = "Net.SWing1Pos"
            CableS.TopBridleEndVelocity = "Net.SWing1Vel"
            CableS.BottomBridleEndPosition = "Net.SWing8Pos"
            CableS.BottomBridleEndVelocity = "Net.SWing8Vel"
 
            CableP.WinchPosition = "beam.PositionPortNED"
            CableP.WinchVelocity = "beam.VelocityPortNED"
            CableP.TopBridleEndPosition = "Net.PWing1Pos"
            CableP.TopBridleEndVelocity = "Net.PWing1Vel"
            CableP.BottomBridleEndPosition = "Net.PWing8Pos"
            CableP.BottomBridleEndVelocity = "Net.PWing8Vel"
        />
 
        <Connection
            Net.PWing1Force = "CableP.TopBridleEndForce"
            Net.SWing1Force = "CableS.TopBridleEndForce"
            Net.PWing8Force = "CableP.BottomBridleEndForce"
            Net.SWing8Force = "CableS.BottomBridleEndForce"
        />
    </INTERCONNECTIONS>
 
    <INITIALIZATION>
        <InitialCondition
            beam.TravelDistance="1500"
            Net.Pos_1="98.0470,1315.0586,679.8160"
            Net.Pos_2="91.8664,1315.7193,678.1520"
            Net.Pos_3="95.3550,1361.3390,683.6850"
            Net.Pos_4="73.3991,1363.0740,677.2120"
            Net.Pos_5="79.9643,1455.8860,689.9730"
            Net.Pos_6="29.3725,1454.6650,676.1590"
            Net.Pos_7="66.2967,1501.8350,692.1590"
            Net.Pos_8="7.3276,1487.8950,677.1160"
            Net.Pos_9="44.0281,1600.9730,695.1720"
            Net.Pos_10="0.1798,1601.8860,682.5670"
            Net.Pos_11="23.6825,1669.5020,697.8660"
            Net.Pos_12="0.2647,1669.0120,692.8400"
            Net.Pos_13="14.7347,1705.5270,700.0430"
            Net.Pos_14="0.3080,1704.4800,698.9490"
            Net.Pos_15="11.2103,1723.5770,701.1300"
            Net.Pos_16="0.3334,1722.5800,700.5450"
            Net.Pos_17="9.8600,1732.6600,701.6860"
            Net.Pos_18="0.3465,1731.6910,701.2640"
            Net.Pos_19="8.3410,1741.7060,702.1660"
            Net.Pos_20="0.3587,1740.8200,701.8810"
            Net.Pos_21="5.5686,1758.5020,703.0120"
            Net.Pos_22="0.3858,1758.0580,702.8770"
            Net.Pos_23="4.0502,1769.8780,703.5640"
            Net.Pos_24="0.4036,1769.6170,703.4630"
            Net.Pos_25="2.9864,1779.5090,704.0140"
            Net.Pos_26="0.4190,1779.3660,703.9190"
            Net.Pos_27="2.1848,1789.2760,704.4640"
            Net.Pos_28="0.4348,1789.2010,704.3620"
            Net.Pos_29="1.5804,1799.1120,704.8790"
            Net.Pos_30="0.4518,1799.0810,704.7590"
            Net.Pos_31="1.2381,1807.0240,705.1800"
            Net.Pos_32="0.4648,1807.0090,705.0420"
            Net.Pos_33="0.9602,1814.9560,705.4500"
            Net.Pos_34="0.4788,1814.9530,705.3130"
            Net.Pos_35="0.7757,1822.9050,705.6910"
            Net.Pos_36="0.4929,1822.9070,705.5580"
            Net.Pos_37="0.6664,1830.8610,705.8940"
            Net.Pos_38="0.5074,1830.8630,705.7680"
            Net.Pos_39="0.6068,1838.8190,706.0390"
            Net.Pos_40="0.5222,1838.8210,705.9100"
            Net.Pos_41="0.5816,1846.7770,706.1230"
            Net.Pos_42="0.5341,1846.7800,706.0090"
            Net.Pos_43="0.0259,1487.8920,676.9070"
            Net.Pos_44="-98.3314,1315.2956,679.4740"
            Net.Pos_45="-95.5341,1361.5660,683.3460"
            Net.Pos_46="-73.6137,1363.2460,676.9600"
            Net.Pos_47="-92.1622,1315.9262,677.8400"
            Net.Pos_48="-79.9488,1456.0820,689.6790"
            Net.Pos_49="-29.4032,1454.7330,676.0580"
            Net.Pos_50="-66.1898,1502.0050,691.9130"
            Net.Pos_51="-7.2748,1487.9170,677.0890"
            Net.Pos_52="-43.6888,1601.0960,695.0080"
            Net.Pos_53="-23.1666,1669.5740,697.7770"
            Net.Pos_54="-14.1178,1705.5730,699.9890"
            Net.Pos_55="-10.5407,1723.6120,701.0880"
            Net.Pos_56="-9.1636,1732.6910,701.6490"
            Net.Pos_57="-7.6177,1741.7320,702.1360"
            Net.Pos_58="-4.7945,1758.5180,702.9920"
            Net.Pos_59="-3.2409,1769.8900,703.5490"
            Net.Pos_60="-2.1467,1779.5180,704.0040"
            Net.Pos_61="-1.3140,1789.2830,704.4570"
            Net.Pos_62="-0.6774,1799.1160,704.8740"
            Net.Pos_63="-0.3084,1807.0270,705.1760"
            Net.Pos_64="-0.0032,1814.9580,705.4480"
            Net.Pos_65="0.2094,1822.9060,705.6890"
            Net.Pos_66="0.3475,1830.8610,705.8930"
            Net.Pos_67="0.4345,1838.8200,706.0400"
            Net.Pos_68="0.4801,1846.7780,706.1240"
            Net.Pos_69="102.7130,1315.1931,728.8550"
            Net.Pos_70="96.0470,1315.8532,734.1880"
            Net.Pos_71="101.8300,1361.5220,723.5530"
            Net.Pos_72="76.7902,1364.7220,736.3260"
            Net.Pos_73="84.7870,1456.2630,718.3230"
            Net.Pos_74="30.3527,1457.6970,743.6090"
            Net.Pos_75="70.4296,1502.2520,716.5510"
            Net.Pos_76="7.6152,1490.6070,743.6440"
            Net.Pos_77="47.0248,1601.5350,713.5720"
            Net.Pos_78="0.0902,1604.4320,735.7300"
            Net.Pos_79="24.9287,1669.6360,712.4700"
            Net.Pos_80="0.2153,1670.0300,721.5810"
            Net.Pos_81="15.5657,1705.4660,710.2540"
            Net.Pos_82="0.2879,1704.4220,712.0560"
            Net.Pos_83="11.7634,1723.4520,708.9770"
            Net.Pos_84="0.3200,1722.3780,709.7030"
            Net.Pos_85="10.3293,1732.5260,708.4050"
            Net.Pos_86="0.3357,1731.4550,708.8640"
            Net.Pos_87="8.7080,1741.5550,707.9300"
            Net.Pos_88="0.3512,1740.5650,708.2030"
            Net.Pos_89="5.7500,1758.3310,707.1950"
            Net.Pos_90="0.3798,1757.8580,707.2910"
            Net.Pos_91="4.1636,1769.7490,706.7790"
            Net.Pos_92="0.3994,1769.4670,706.8220"
            Net.Pos_93="3.0688,1779.4130,706.4900"
            Net.Pos_94="0.4154,1779.2430,706.5050"
            Net.Pos_95="2.2149,1789.1960,706.2670"
            Net.Pos_96="0.4325,1789.1070,706.2630"
            Net.Pos_97="1.5849,1799.0620,706.1280"
            Net.Pos_98="0.4492,1799.0260,706.1040"
            Net.Pos_99="1.2356,1806.9930,706.0820"
            Net.Pos_100="0.4637,1806.9740,706.0410"
            Net.Pos_101="0.9566,1814.9400,706.0710"
            Net.Pos_102="0.4782,1814.9330,706.0240"
            Net.Pos_103="0.7726,1822.8950,706.0900"
            Net.Pos_104="0.4926,1822.8940,706.0370"
            Net.Pos_105="0.6648,1830.8560,706.1300"
            Net.Pos_106="0.5074,1830.8550,706.0670"
            Net.Pos_107="0.6090,1838.8170,706.1730"
            Net.Pos_108="0.5237,1838.8170,706.0720"
            Net.Pos_109="0.5701,1846.7750,706.2060"
            Net.Pos_110="0.5299,1846.7750,706.0530"
            Net.Pos_111="-0.0761,1490.6520,743.8830"
            Net.Pos_112="-103.0532,1315.4053,728.4590"
            Net.Pos_113="-102.0399,1361.7280,723.1600"
            Net.Pos_114="-77.1387,1364.8820,736.0220"
            Net.Pos_115="-96.4275,1316.0403,733.8370"
            Net.Pos_116="-84.8097,1456.4480,717.9780"
            Net.Pos_117="-30.5944,1457.7780,743.4800"
            Net.Pos_118="-70.3655,1502.4160,716.2590"
            Net.Pos_119="-7.7678,1490.6250,743.6120"
            Net.Pos_120="-46.7245,1601.6590,713.3620"
            Net.Pos_121="-24.4488,1669.7060,712.3550"
            Net.Pos_122="-14.9751,1705.5110,710.1820"
            Net.Pos_123="-11.1144,1723.4870,708.9240"
            Net.Pos_124="-9.6508,1732.5560,708.3580"
            Net.Pos_125="-8.0005,1741.5810,707.8910"
            Net.Pos_126="-4.9872,1758.3480,707.1700"
            Net.Pos_127="-3.3631,1769.7610,706.7610"
            Net.Pos_128="-2.2361,1779.4220,706.4770"
            Net.Pos_129="-1.3493,1789.2020,706.2580"
            Net.Pos_130="-0.6850,1799.0660,706.1220"
            Net.Pos_131="-0.3079,1806.9960,706.0780"
            Net.Pos_132="-0.0004,1814.9410,706.0690"
            Net.Pos_133="0.2131,1822.8960,706.0890"
            Net.Pos_134="0.3500,1830.8560,706.1300"
            Net.Pos_135="0.4317,1838.8170,706.1730"
            Net.Pos_136="0.4911,1846.7750,706.2060"
            Net.Pos_137="99.4510,1314.1020,681.6800"
            Net.Pos_138="93.1259,1361.5800,687.4020"
            Net.Pos_139="80.6215,1456.2290,699.4730"
            Net.Pos_140="71.1627,1502.7950,703.4420"
            Net.Pos_141="46.6402,1601.4580,703.9170"
            Net.Pos_142="30.4754,1670.6220,704.0240"
            Net.Pos_143="21.2977,1706.7810,704.5020"
            Net.Pos_144="16.9887,1724.2910,704.4970"
            Net.Pos_145="14.9009,1733.3840,704.6160"
            Net.Pos_146="13.1269,1742.6000,704.6820"
            Net.Pos_147="8.7109,1758.9080,704.9070"
            Net.Pos_148="6.4786,1770.1620,705.0440"
            Net.Pos_149="4.9312,1779.6270,705.1370"
            Net.Pos_150="3.1820,1789.2790,705.2670"
            Net.Pos_151="2.0670,1799.0920,705.4150"
            Net.Pos_152="1.4922,1807.0070,705.5380"
            Net.Pos_153="1.1082,1814.9490,705.6740"
            Net.Pos_154="0.8730,1822.9020,705.8090"
            Net.Pos_155="0.7286,1830.8600,705.9260"
            Net.Pos_156="0.6549,1838.8190,705.9920"
            Net.Pos_157="0.5522,1846.7760,706.0450"
            Net.Pos_158="81.8299,1456.4440,702.5420"
            Net.Pos_159="96.9990,1362.2440,721.6000"
            Net.Pos_160="103.7060,1314.3107,727.4430"
            Net.Pos_161="82.4496,1456.5070,705.8460"
            Net.Pos_162="-99.7406,1314.3608,681.3320"
            Net.Pos_163="-93.3314,1361.8210,687.0620"
            Net.Pos_164="-80.6332,1456.4250,699.1560"
            Net.Pos_165="-71.0659,1502.9710,703.1560"
            Net.Pos_166="-46.3074,1601.5810,703.7280"
            Net.Pos_167="-29.9549,1670.7100,703.9000"
            Net.Pos_168="-20.6822,1706.8180,704.4150"
            Net.Pos_169="-16.3176,1724.3380,704.4310"
            Net.Pos_170="-14.2054,1733.4130,704.5580"
            Net.Pos_171="-12.4016,1742.6260,704.6330"
            Net.Pos_172="-7.9379,1758.9340,704.8740"
            Net.Pos_173="-5.6708,1770.1820,705.0200"
            Net.Pos_174="-4.0937,1779.6430,705.1190"
            Net.Pos_175="-2.3124,1789.2880,705.2560"
            Net.Pos_176="-1.1660,1799.0990,705.4080"
            Net.Pos_177="-0.5640,1807.0110,705.5340"
            Net.Pos_178="-0.1522,1814.9520,705.6710"
            Net.Pos_179="0.1121,1822.9040,705.8070"
            Net.Pos_180="0.2863,1830.8610,705.9260"
            Net.Pos_181="0.3921,1838.8190,705.9930"
            Net.Pos_182="0.5197,1846.7760,706.0430"
            Net.Pos_183="-81.8397,1456.6350,702.2040"
            Net.Pos_184="-97.2444,1362.4320,721.2200"
            Net.Pos_185="-104.0366,1314.5042,727.0910"
            Net.Pos_186="-82.4659,1456.6870,705.5220"
            Net.Pos_187="103.0930,1269.9218,679.6690"
            Net.Pos_188="107.2430,1269.0053,740.6230"
            Net.Pos_189="-103.4838,1270.1415,679.4090"
            Net.Pos_190="-107.6970,1269.2021,740.2770"
        />
    </INITIALIZATION>
 
    <SIMULATION>
        <Timing TStart="0" TEnd="4000"/>
        <Integrator Method="Euler_i">
            <StepControl Step="1e-3" StepMax="1e-3" StepMin="1e-3" AbsTol="1e-4" RelTol="1e-4"/>
        </Integrator>
    </SIMULATION>
 
    <OBSERVERS>
        <FileOutput TOutput="0:1:Inf" Select="objects:ports"/>
    </OBSERVERS>
</Contents>