Engineering/passive_acoustic_monitoring.tl¶
Mission ID: PAM
Mission Path: Engineering/passive_acoustic_monitoring.tl
The mission will dive LRAUV to the start/center depth, then hold the vehicle at neutral buoyancy/trim with all actuators disengaged. The science payload will be powered.
Arguments¶
MissionTimeout¶
MissionTimeout = 180 minute
Maximum duration of mission
AcousticTrackingTimeout¶
AcousticTrackingTimeout = 240 hour
If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications. Set longer than MissionTimeout to effectively disable.
SurfacingIntervalDuringListening¶
SurfacingIntervalDuringListening = 180 minute
When the listening depth bound is breached and the submergence time has surpassed SurfacingIntervalDuringListening, the vehicle will surface.
NeedCommsMaxWait¶
NeedCommsMaxWait = 180 minute
If the submergence time has surpassed NeedCommsMaxWait, the vehicle must surface, to caution against drifting too close to shore during submergence. Can set it to a huge number to effectively disable it.
NeedCommsTimeInTransit¶
NeedCommsTimeInTransit = 60 minute
How often to surface for commumications during transit.
SkipStartComms¶
SkipStartComms = false
Skip communications at start of mission.
Depth¶
Depth = 30 meter
Center depth of listening drift.
SettleTime¶
SettleTime = 5 minute
Time to wait after reaching target depth.
DeepBoundInitial¶
DeepBoundInitial = 32 meter
Deep depth bound of listening drift used in initial phase. Vehicle will return to center depth when depth bound is exceeded.
ShallowBoundInitial¶
ShallowBoundInitial = 28 meter
Shallow depth bound of listening drift used in initial phase. Vehicle will return to center depth when depth bound is exceeded.
DeepBoundFineTune¶
DeepBoundFineTune = 40 meter
Deep depth bound (deeper than DeepBoundInitial) used in fine-tune phase.
ShallowBoundFineTune¶
ShallowBoundFineTune = 20 meter
Shallow depth bound (shallower than ShallowBoundInitial) used in fine-tune phase.
ThreshDepthComms¶
ThreshDepthComms = 2 meter
If shallower than this depth, vehicle is on surface for comms.
ThreshQuietTimeFineTune¶
ThreshQuietTimeFineTune = 60 minute
When the quiet time exceeds this threshold, the vehicle enters the fine-tune phase.
WaitForComms¶
WaitForComms = 5 minute
When on surface, wait for comms to complete.
WaitAfterBuoyancyChangeFineTune¶
WaitAfterBuoyancyChangeFineTune = 0 minute
Wait time after buoyancy change in fine-tune phase.
InitialYoyoToListeningLocation¶
InitialYoyoToListeningLocation = false
Initial yoyo transit to the listening location.
InitialLevelRunToListeningLocation¶
InitialLevelRunToListeningLocation = true
Initial level run to the listening location.
YoyoBackToListeningLocation¶
YoyoBackToListeningLocation = false
Yoyo back to the listening location.
LevelRunBackToListeningLocation¶
LevelRunBackToListeningLocation = true
Level run back to the listening location.
DepthLevelRunToListeningLocation¶
DepthLevelRunToListeningLocation = 30 meter
Level run depth to the listening location.
SpeedTransit¶
SpeedTransit = 1 meter_per_second
Vehicle speed when transiting.
ApproachSpeedFirstTime¶
ApproachSpeedFirstTime = 1 meter_per_second
Vehicle thruster speed used to reach center depth for the 1st time.
RudderAngleInitialDive¶
RudderAngleInitialDive = 9 degree
Rudder angle in initial spiral-down to leave surface. Initialized to 9 degrees.
RudderAngleDepthSettlingPropOn¶
RudderAngleDepthSettlingPropOn = 13 degree
Rudder angle during depth settling when propeller is on.
ApproachNotFirstTimePropOn¶
ApproachNotFirstTimePropOn = false
True: propeller on. False: propeller off.
MinAltitude¶
MinAltitude = 5 meter
MaxDepth¶
MaxDepth = 50 meter
MinOffshore¶
MinOffshore = 2 kilometer
TransitYoYoMinDepth¶
TransitYoYoMinDepth = 2 meter
Minimum depth while performing the YoYo behavior.
TransitYoYoMaxDepth¶
TransitYoYoMaxDepth = 30 meter
Maximum depth while performing the YoYo behavior.
LatListening¶
LatListening = NaN degree
Nominal latitude of acoustic monitoring.
LonListening¶
LonListening = NaN degree
Nominal longitude of acoustic monitoring.
CheckDepths¶
CheckDepths = 1 bool
KpBuoyancyServo¶
KpBuoyancyServo = 4000 count
Proportional gain for buoyancy servo feedback control.
KiBuoyancyServo¶
KiBuoyancyServo = 200 count
Integral gain for buoyancy servo feedback control.
KdBuoyancyServo¶
KdBuoyancyServo = 300 count
Derivative gain for buoyancy servo feedback control.
BuoyancyErrorAllowance¶
BuoyancyErrorAllowance = 2 cubic_centimeter
BuoyancyAdjustmentStepUnitless¶
BuoyancyAdjustmentStepUnitless = 16 none
Initial value of buoyancy adjustment step size. Adjusted during mission.
BuoyancyAdjustmentStepMinUnitless¶
BuoyancyAdjustmentStepMinUnitless = 2 none
Minimum value of buoyancy adjustment step size.
BuoyancyAdjustmentStepFineTuneUnitless¶
BuoyancyAdjustmentStepFineTuneUnitless = 2 none
Buoyancy adjustment step size in fine-tune phase.
MassPositionAdjustmentMMperCC¶
MassPositionAdjustmentMMperCC = 0.033 millimeter
1 cc of buoyancy adjustment corresponds to MassPositionAdjustmentMMperCC mm of mass position adjustment. Mass moving forward: positive; moving backward: negative.
YoYoUpPitch¶
YoYoUpPitch = 20 degree
Vehicle up pitch while performing the YoYo behavior.
YoYoDownPitch¶
YoYoDownPitch = -20 degree
Vehicle down pitch while performing the YoYo behavior.
Output¶
SettleSpeed¶
SettleSpeed = 1 meter_per_second
SinkingOrFloatingRate¶
SinkingOrFloatingRate = NaN meter_per_second
Depth rate of sinking or floating from the target depth to the depth bound being violated.
NeutralBuoyancy¶
NeutralBuoyancy = Control:VerticalControl.buoyancyNeutral
NeutralBuoyancyPrevious¶
NeutralBuoyancyPrevious = NaN cubic_centimeter
BuoyancyBase¶
BuoyancyBase = 1 cubic_centimeter
BuoyancyAdjustmentStep¶
BuoyancyAdjustmentStep = NaN cubic_centimeter
BuoyancyAdjustmentStepMin¶
BuoyancyAdjustmentStepMin = NaN cubic_centimeter
BuoyancyAdjustmentStepFineTune¶
BuoyancyAdjustmentStepFineTune = NaN cubic_centimeter
BuoyancyAdjustmentStepPrevious¶
BuoyancyAdjustmentStepPrevious = NaN cubic_centimeter
BuoyancyAdjustmentStepNew¶
BuoyancyAdjustmentStepNew = NaN cubic_centimeter
MassPosition¶
MassPosition = Control:VerticalControl.massDefault
MassPositionPrevious¶
MassPositionPrevious = NaN millimeter
MassPositionAdjustmentStep¶
MassPositionAdjustmentStep = NaN millimeter
MassPositionAdjustmentStepFineTune¶
MassPositionAdjustmentStepFineTune = NaN millimeter
MassPositionAdjustmentStepPrevious¶
MassPositionAdjustmentStepPrevious = NaN millimeter
MassPositionAdjustmentStepNew¶
MassPositionAdjustmentStepNew = NaN millimeter
DeepBound¶
DeepBound = NaN meter
ShallowBound¶
ShallowBound = NaN meter
DeepBoundMinusTargetDepth¶
DeepBoundMinusTargetDepth = NaN meter
DepthMinusTargetDepth¶
DepthMinusTargetDepth = NaN meter
TargetDepthMinusShallowBound¶
TargetDepthMinusShallowBound = NaN meter
TargetDepthMinusDepth¶
TargetDepthMinusDepth = NaN meter
WaitAfterBuoyancyChange¶
WaitAfterBuoyancyChange = 0 second
TimeTargetDepth¶
TimeTargetDepth = NaN second
ElapsedSinceReachingTargetDepth¶
ElapsedSinceReachingTargetDepth = NaN second
ElapsedSinceLastGPSfix¶
ElapsedSinceLastGPSfix = NaN second
InitialTransitDone¶
InitialTransitDone = true
FineTune¶
FineTune = false
MovingToTargetDepth¶
MovingToTargetDepth = false
BuoyancyAdjustmentDone¶
BuoyancyAdjustmentDone = false
AdjustingBuoyancy¶
AdjustingBuoyancy = false
Settled¶
Settled = false
DeltaReduced¶
DeltaReduced = false
Sinking¶
Sinking = false
SurfacingStarted¶
SurfacingStarted = false
Cnt¶
Cnt = 0 count
Inserts¶
Insert/Science.tl¶
Insert/NeedComms.tl¶
Insert/StandardEnvelopes.tl¶
Insert/AbortDrift.tl¶
redefineArg AcousticTimeout = AcousticTrackingTimeout