658 lines
21 KiB
XML
658 lines
21 KiB
XML
<?xml version="1.0"?>
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<!--
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Model of hydrodynamic planing based on [Wagner:1933:POW] for JSBSim.
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Copyright (C) 2015 - 2016 Anders Gidenstam (anders(at)gidenstam.org)
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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-->
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<system name="hydrodynamic planing">
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<documentation>
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This system depends on the generic hydrodynamics.xml system for JSBSim.
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<reference refID="Wagner:1933:POW"
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author="Herbert Wagner"
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title="Planing of Watercraft Translated as NACA-TM-1139"
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date="1933/1948"/>
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</documentation>
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<!-- Model parameters -->
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<!-- Parameters defining the planing surfaces of the hull. -->
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<!-- NOTE: Coordinates in the frame with
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origin at hydro RP and x/y/z = aft/right/up
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-->
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<property>hydro/planing/forebody-length-ft</property>
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<property>hydro/planing/forebody-beam-ft</property>
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<property>hydro/planing/forebody-keel-z-ft</property>
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<property>hydro/planing/forebody-end-x-ft</property>
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<property>hydro/planing/middlebody-length-ft</property>
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<property>hydro/planing/middlebody-beam-ft</property>
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<property>hydro/planing/middlebody-keel-z-ft</property>
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<property>hydro/planing/middlebody-end-x-ft</property>
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<property>hydro/planing/afterbody-length-ft</property>
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<property>hydro/planing/afterbody-beam-ft</property>
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<property>hydro/planing/afterbody-keel-z-ft</property>
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<property>hydro/planing/afterbody-end-x-ft</property>
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<!-- Other parameters. -->
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<property value="1.0">hydro/planing/forebody-normal-force-factor</property>
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<property value="1.0">hydro/planing/middlebody-normal-force-factor</property>
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<property value="1.0">hydro/planing/afterbody-normal-force-factor</property>
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<property>hydro/planing/forebody-skin-friction-coefficient</property>
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<property>hydro/planing/middlebody-skin-friction-coefficient</property>
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<property>hydro/planing/afterbody-skin-friction-coefficient</property>
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<channel name="Planing dynamics based on [Wagner:1933:POW]">
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<fcs_function name="hydro/planing/forebody-entry-point-x-ft">
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<function>
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<description>The intersection point with the water surface.</description>
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<quotient>
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<sum>
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<quotient>
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<property>hydro/hull/height-agl-ft</property>
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<cos><property>hydro/hull/pitch-rad</property></cos>
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</quotient>
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<property>hydro/planing/forebody-keel-z-ft</property>
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</sum>
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<tan><property>hydro/hull/pitch-rad</property></tan>
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</quotient>
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</function>
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<clipto> <!-- We don't want to get +/-inf out of this function. -->
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<min>-10000.0</min>
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<max>10000.0</max>
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</clipto>
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</fcs_function>
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<fcs_function name="hydro/planing/middlebody-entry-point-x-ft">
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<function>
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<description>The intersection point with the water surface.</description>
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<quotient>
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<sum>
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<quotient>
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<property>hydro/hull/height-agl-ft</property>
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<cos><property>hydro/hull/pitch-rad</property></cos>
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</quotient>
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<property>hydro/planing/middlebody-keel-z-ft</property>
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</sum>
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<tan><property>hydro/hull/pitch-rad</property></tan>
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</quotient>
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</function>
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<clipto> <!-- We don't want to get +/-inf out of this function. -->
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<min>-10000.0</min>
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<max>10000.0</max>
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</clipto>
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</fcs_function>
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<fcs_function name="hydro/planing/afterbody-entry-point-x-ft">
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<function>
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<description>The intersection point with the water surface.</description>
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<quotient>
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<sum>
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<quotient>
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<property>hydro/hull/height-agl-ft</property>
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<cos><property>hydro/hull/pitch-rad</property></cos>
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</quotient>
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<property>hydro/planing/afterbody-keel-z-ft</property>
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</sum>
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<tan><property>hydro/hull/pitch-rad</property></tan>
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</quotient>
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</function>
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<clipto> <!-- We don't want to get +/-inf out of this function. -->
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<min>-10000.0</min>
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<max>10000.0</max>
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</clipto>
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</fcs_function>
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<fcs_function name="hydro/planing/forebody-wetted-keel-ft">
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<function>
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<description>The length of keel below the free water surface.</description>
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<max>
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<value>0.0</value>
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<min>
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<property>hydro/planing/forebody-length-ft</property>
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<sum>
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<product>
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<ge>
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<property>hydro/hull/pitch-rad</property>
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<value>0.0</value>
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</ge>
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<difference>
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<property>hydro/planing/forebody-end-x-ft</property>
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<property>hydro/planing/forebody-entry-point-x-ft</property>
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</difference>
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</product>
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<product>
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<lt>
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<property>hydro/hull/pitch-rad</property>
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<value>0.0</value>
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</lt>
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<difference>
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<property>hydro/planing/forebody-entry-point-x-ft</property>
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<difference>
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<property>hydro/planing/forebody-end-x-ft</property>
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<property>hydro/planing/forebody-length-ft</property>
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</difference>
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</difference>
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</product>
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</sum>
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</min>
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</max>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/middlebody-wetted-keel-ft">
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<function>
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<description>The length of keel below the free water surface.</description>
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<max>
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<value>0.0</value>
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<min>
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<property>hydro/planing/middlebody-length-ft</property>
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<sum>
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<product>
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<ge>
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<property>hydro/hull/pitch-rad</property>
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<value>0.0</value>
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</ge>
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<difference>
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<property>hydro/planing/middlebody-end-x-ft</property>
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<property>hydro/planing/middlebody-entry-point-x-ft</property>
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</difference>
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</product>
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<product>
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<lt>
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<property>hydro/hull/pitch-rad</property>
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<value>0.0</value>
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</lt>
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<difference>
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<property>hydro/planing/middlebody-entry-point-x-ft</property>
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<difference>
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<property>hydro/planing/middlebody-end-x-ft</property>
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<property>hydro/planing/middlebody-length-ft</property>
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</difference>
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</difference>
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</product>
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</sum>
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</min>
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</max>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/afterbody-wetted-keel-ft">
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<function>
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<description>The length of keel below the free water surface.</description>
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<max>
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<value>0.0</value>
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<min>
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<property>hydro/planing/afterbody-length-ft</property>
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<sum>
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<product>
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<ge>
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<property>hydro/hull/pitch-rad</property>
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<value>0.0</value>
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</ge>
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<difference>
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<property>hydro/planing/afterbody-end-x-ft</property>
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<property>hydro/planing/afterbody-entry-point-x-ft</property>
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</difference>
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</product>
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<product>
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<lt>
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<property>hydro/hull/pitch-rad</property>
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<value>0.0</value>
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</lt>
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<difference>
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<property>hydro/planing/afterbody-entry-point-x-ft</property>
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<difference>
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<property>hydro/planing/afterbody-end-x-ft</property>
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<property>hydro/planing/afterbody-length-ft</property>
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</difference>
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</difference>
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</product>
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</sum>
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</min>
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</max>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/forebody-normal-force-lbs">
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<function>
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<description>
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The normal force produced by the planing surface.
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NOTE: The formulation is only valid for very small pitch angles and
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the pitch angle should also be adjusted for down-wash.
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See [Wagner:1933:POW].
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</description>
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<max>
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<value>0.0</value>
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<product>
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<property>hydro/planing/forebody-normal-force-factor</property>
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<value>3.1415927</value>
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<property>hydro/qbar-u-psf</property>
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<property>hydro/planing/forebody-beam-ft</property>
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<property>hydro/planing/forebody-wetted-keel-ft</property>
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<sin><property>hydro/hull/pitch-rad</property></sin>
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</product>
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</max>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/middlebody-normal-force-lbs">
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<function>
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<description>
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The normal force produced by the planing surface.
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NOTE: The formulation is only valid for very small pitch angles and
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the pitch angle should also be adjusted for down-wash.
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See [Wagner:1933:POW].
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</description>
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<max>
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<value>0.0</value>
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<product>
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<property>hydro/planing/middlebody-normal-force-factor</property>
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<value>3.1415927</value>
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<property>hydro/qbar-u-psf</property>
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<property>hydro/planing/middlebody-beam-ft</property>
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<property>hydro/planing/middlebody-wetted-keel-ft</property>
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<sin><property>hydro/hull/pitch-rad</property></sin>
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</product>
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</max>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/afterbody-normal-force-lbs">
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<function>
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<description>
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The normal force produced by the planing surface.
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NOTE: The formulation is only valid for very small pitch angles and
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the pitch angle should also be adjusted for down-wash.
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See [Wagner:1933:POW].
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</description>
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<max>
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<value>0.0</value>
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<product>
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<property>hydro/planing/afterbody-normal-force-factor</property>
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<value>3.1415927</value>
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<property>hydro/qbar-u-psf</property>
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<property>hydro/planing/afterbody-beam-ft</property>
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<property>hydro/planing/afterbody-wetted-keel-ft</property>
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<sin><property>hydro/hull/pitch-rad</property></sin>
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</product>
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</max>
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</function>
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</fcs_function>
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</channel>
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<channel name="Reynolds numbers for the planing surfaces">
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<fcs_function name="hydro/planing/forebody-Reynolds-number">
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<function>
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<description>
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The Reynolds number for the planing surface based on the
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current wetted keel length.
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</description>
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<quotient>
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<product>
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<property>hydro/vbx-fps</property>
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<property>hydro/planing/forebody-wetted-keel-ft</property>
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</product>
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<property>hydro/environment/kinematic-viscosity-ft2_sec</property>
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</quotient>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/middlebody-Reynolds-number">
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<function>
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<description>
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The Reynolds number for the planing surface based on the
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current wetted keel length.
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</description>
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<quotient>
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<product>
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<property>hydro/vbx-fps</property>
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<property>hydro/planing/middlebody-wetted-keel-ft</property>
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</product>
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<property>hydro/environment/kinematic-viscosity-ft2_sec</property>
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</quotient>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/afterbody-Reynolds-number">
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<function>
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<description>
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The Reynolds number for the planing surface based on the
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current wetted keel length.
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</description>
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<quotient>
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<product>
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<property>hydro/vbx-fps</property>
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<property>hydro/planing/afterbody-wetted-keel-ft</property>
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</product>
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<property>hydro/environment/kinematic-viscosity-ft2_sec</property>
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</quotient>
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</function>
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</fcs_function>
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</channel>
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<channel name="Fbx">
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<fcs_function name="hydro/planing/forebody-induced-fbx-force-lbs">
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<function>
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<description>Drag (induced) due to planing. FIXME: direction/frame?</description>
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<product>
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<value>-1.0</value>
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<max>
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<value>0.0</value>
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<product>
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<property>hydro/planing/forebody-normal-force-lbs</property>
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<sin><property>hydro/hull/pitch-rad</property></sin>
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</product>
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</max>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/middlebody-induced-fbx-force-lbs">
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<function>
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<description>Drag (induced) due to planing. FIXME: direction/frame?</description>
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<product>
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<value>-1.0</value>
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<max>
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<value>0.0</value>
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<product>
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<property>hydro/planing/middlebody-normal-force-lbs</property>
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<sin><property>hydro/hull/pitch-rad</property></sin>
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</product>
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</max>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/afterbody-induced-fbx-force-lbs">
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<function>
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<description>Drag (induced) due to planing. FIXME: direction/frame?</description>
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<product>
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<value>-1.0</value>
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<max>
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<value>0.0</value>
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<product>
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<property>hydro/planing/afterbody-normal-force-lbs</property>
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<sin><property>hydro/hull/pitch-rad</property></sin>
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</product>
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</max>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/forebody-friction-fbx-force-lbs">
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<function>
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<description>Drag due to skin friction.</description>
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<product>
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<value>-1.0</value>
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<property>hydro/planing/forebody-skin-friction-coefficient</property>
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<property>hydro/qbar-u-psf</property>
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<property>hydro/planing/forebody-beam-ft</property>
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<property>hydro/planing/forebody-wetted-keel-ft</property>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/middlebody-friction-fbx-force-lbs">
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<function>
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<description>Drag due to skin friction.</description>
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<product>
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<value>-1.0</value>
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<property>hydro/planing/middlebody-skin-friction-coefficient</property>
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<property>hydro/qbar-u-psf</property>
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<property>hydro/planing/middlebody-beam-ft</property>
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<property>hydro/planing/middlebody-wetted-keel-ft</property>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/afterbody-friction-fbx-force-lbs">
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<function>
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<description>Drag due to skin friction.</description>
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<product>
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<value>-1.0</value>
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<property>hydro/planing/afterbody-skin-friction-coefficient</property>
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<property>hydro/qbar-u-psf</property>
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<property>hydro/planing/afterbody-beam-ft</property>
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<property>hydro/planing/afterbody-wetted-keel-ft</property>
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</product>
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</function>
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</fcs_function>
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</channel>
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<channel name="Fby">
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<fcs_function name="hydro/planing/forebody-fby-force-lbs">
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<function>
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<description>
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Fby force due to planing.
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FIXME: model/direction/frame?
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</description>
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<product>
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<property>hydro/planing/forebody-normal-force-lbs</property>
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<cos><property>hydro/hull/pitch-rad</property></cos>
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<sin><property>hydro/hull/roll-rad</property></sin>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/middlebody-fby-force-lbs">
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<function>
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<description>
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Fby force due to planing.
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FIXME: model/direction/frame?
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</description>
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<product>
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<property>hydro/planing/middlebody-normal-force-lbs</property>
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<cos><property>hydro/hull/pitch-rad</property></cos>
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<sin><property>hydro/hull/roll-rad</property></sin>
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</product>
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</function>
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</fcs_function>
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<fcs_function name="hydro/planing/afterbody-fby-force-lbs">
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<function>
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<description>
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Fby force due to planing.
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FIXME: model/direction/frame?
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</description>
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<product>
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<property>hydro/planing/afterbody-normal-force-lbs</property>
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<cos><property>hydro/hull/pitch-rad</property></cos>
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<sin><property>hydro/hull/roll-rad</property></sin>
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</product>
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</function>
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</fcs_function>
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</channel>
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<channel name="Lift">
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<fcs_function name="hydro/planing/forebody-lift-force-lbs">
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<function>
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<description>Lift due to planing. FIXME: direction/frame?</description>
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|
<max>
|
|
<value>0.0</value>
|
|
<product>
|
|
<property>hydro/planing/forebody-normal-force-lbs</property>
|
|
<cos><property>hydro/hull/pitch-rad</property></cos>
|
|
<cos><property>hydro/hull/roll-rad</property></cos>
|
|
</product>
|
|
</max>
|
|
</function>
|
|
</fcs_function>
|
|
<fcs_function name="hydro/planing/middlebody-lift-force-lbs">
|
|
<function>
|
|
<description>Lift due to planing. FIXME: direction/frame?</description>
|
|
<max>
|
|
<value>0.0</value>
|
|
<product>
|
|
<property>hydro/planing/middlebody-normal-force-lbs</property>
|
|
<cos><property>hydro/hull/pitch-rad</property></cos>
|
|
<cos><property>hydro/hull/roll-rad</property></cos>
|
|
</product>
|
|
</max>
|
|
</function>
|
|
</fcs_function>
|
|
<fcs_function name="hydro/planing/afterbody-lift-force-lbs">
|
|
<function>
|
|
<description>Lift due to planing. FIXME: direction/frame?</description>
|
|
<max>
|
|
<value>0.0</value>
|
|
<product>
|
|
<property>hydro/planing/afterbody-normal-force-lbs</property>
|
|
<cos><property>hydro/hull/pitch-rad</property></cos>
|
|
<cos><property>hydro/hull/roll-rad</property></cos>
|
|
</product>
|
|
</max>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
</channel>
|
|
|
|
<channel name="Yaw">
|
|
<!-- FIXME! -->
|
|
</channel>
|
|
|
|
<channel name="Pitch">
|
|
|
|
<fcs_function name="hydro/planing/forebody-pitch-moment-lbsft">
|
|
<description>
|
|
Pitch moment due to planing.
|
|
FIXME: direction/frame? Limits on the acting point?
|
|
</description>
|
|
<function>
|
|
<sum>
|
|
<product>
|
|
<value>-1.0</value>
|
|
<property>hydro/planing/forebody-normal-force-lbs</property>
|
|
<difference>
|
|
<property>hydro/planing/forebody-end-x-ft</property>
|
|
<product>
|
|
<value>0.75</value>
|
|
<property>hydro/planing/forebody-wetted-keel-ft</property>
|
|
</product>
|
|
</difference>
|
|
</product>
|
|
<product>
|
|
<value>-1.0</value>
|
|
<property>hydro/planing/forebody-friction-fbx-force-lbs</property>
|
|
<property>hydro/planing/forebody-keel-z-ft</property>
|
|
<cos><property>hydro/hull/pitch-rad</property></cos>
|
|
</product>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
<fcs_function name="hydro/planing/middlebody-pitch-moment-lbsft">
|
|
<description>
|
|
Pitch moment due to planing.
|
|
FIXME: direction/frame? Limits on the acting point?
|
|
</description>
|
|
<function>
|
|
<sum>
|
|
<product>
|
|
<value>-1.0</value>
|
|
<property>hydro/planing/middlebody-normal-force-lbs</property>
|
|
<difference>
|
|
<property>hydro/planing/middlebody-end-x-ft</property>
|
|
<product>
|
|
<value>0.75</value>
|
|
<property>hydro/planing/middlebody-wetted-keel-ft</property>
|
|
</product>
|
|
</difference>
|
|
</product>
|
|
<product>
|
|
<value>-1.0</value>
|
|
<property>hydro/planing/middlebody-friction-fbx-force-lbs</property>
|
|
<property>hydro/planing/middlebody-keel-z-ft</property>
|
|
<cos><property>hydro/hull/pitch-rad</property></cos>
|
|
</product>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
<fcs_function name="hydro/planing/afterbody-pitch-moment-lbsft">
|
|
<description>
|
|
Pitch moment due to planing.
|
|
FIXME: direction/frame? Limits on the acting point?
|
|
</description>
|
|
<function>
|
|
<sum>
|
|
<product>
|
|
<value>-1.0</value>
|
|
<property>hydro/planing/afterbody-normal-force-lbs</property>
|
|
<difference>
|
|
<property>hydro/planing/afterbody-end-x-ft</property>
|
|
<product>
|
|
<value>0.75</value>
|
|
<property>hydro/planing/afterbody-wetted-keel-ft</property>
|
|
</product>
|
|
</difference>
|
|
</product>
|
|
<product>
|
|
<value>-1.0</value>
|
|
<property>hydro/planing/afterbody-friction-fbx-force-lbs</property>
|
|
<property>hydro/planing/afterbody-keel-z-ft</property>
|
|
<cos><property>hydro/hull/pitch-rad</property></cos>
|
|
</product>
|
|
</sum>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
</channel>
|
|
|
|
<channel name="Roll">
|
|
|
|
<fcs_function name="hydro/planing/forebody-roll-moment-lbsft">
|
|
<description>
|
|
Roll moment due to planing.
|
|
FIXME: direction/frame? Limits on the acting point?
|
|
</description>
|
|
<function>
|
|
<product>
|
|
<property>hydro/planing/forebody-fby-force-lbs</property>
|
|
<!-- FIXME: dependency on pitch? -->
|
|
<property>hydro/planing/forebody-keel-z-ft</property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
<fcs_function name="hydro/planing/middlebody-roll-moment-lbsft">
|
|
<description>
|
|
Roll moment due to planing.
|
|
FIXME: direction/frame? Limits on the acting point?
|
|
</description>
|
|
<function>
|
|
<product>
|
|
<property>hydro/planing/middlebody-fby-force-lbs</property>
|
|
<!-- FIXME: dependency on pitch? -->
|
|
<property>hydro/planing/middlebody-keel-z-ft</property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
<fcs_function name="hydro/planing/afterbody-roll-moment-lbsft">
|
|
<description>
|
|
Roll moment due to planing.
|
|
FIXME: direction/frame? Limits on the acting point?
|
|
</description>
|
|
<function>
|
|
<product>
|
|
<property>hydro/planing/afterbody-fby-force-lbs</property>
|
|
<!-- FIXME: dependency on pitch? -->
|
|
<property>hydro/planing/afterbody-keel-z-ft</property>
|
|
</product>
|
|
</function>
|
|
</fcs_function>
|
|
|
|
</channel>
|
|
|
|
</system>
|