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Engineering/passive_acoustic_monitoring.xml

Mission ID: passive_acoustic_monitoring

Mission Path: Engineering/passive_acoustic_monitoring.xml

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.

DeepBound

DeepBound = 32 meter

Deep depth bound of listening drift. Vehicle will return to center depth when depth bound is exceeded.

ShallowBound

ShallowBound = 28 meter

Shallow depth bound of listening drift. Vehicle will return to center depth when depth bound is exceeded.

DeepBoundFineTune

DeepBoundFineTune = 40 meter

Deep depth bound (deeper than DeepBound) used in fine-tune phase.

ShallowBoundFineTune

ShallowBoundFineTune = 20 meter

Shallow depth bound (shallower than ShallowBound) used in fine-tune phase.

ThreshQuietTimeFineTune

ThreshQuietTimeFineTune = 60 minute

When the quiet time exceeds this threshold, the vehicle enters the fine-tune phase.

WaitAfterBuoyancyChangeFineTune

WaitAfterBuoyancyChangeFineTune = 10 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 = 5 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.

YoYoMinAltitude

YoYoMinAltitude = 9 meter

Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).

LatListening

LatListening = NaN degree

Nominal latitude of acoustic monitoring.

LonListening

LonListening = NaN degree

Nominal longitude of acoustic monitoring.

CheckDepths

CheckDepths = 1 bool

BuoyancyErrorAllowance

BuoyancyErrorAllowance = 4 cubic_centimeter

BuoyancyAdjustmentStep

BuoyancyAdjustmentStep = 16 cubic_centimeter

Initial value of buoyancy adjustment step size. Adjusted during mission.

BuoyancyAdjustmentStepMin

BuoyancyAdjustmentStepMin = 2 cubic_centimeter

Minimum value of buoyancy adjustment step size.

BuoyancyAdjustmentStepFineTune

BuoyancyAdjustmentStepFineTune = 2 cubic_centimeter

Buoyancy adjustment step size in fine-tune phase.

YoYoUpPitch

YoYoUpPitch = 20 degree

Vehicle up pitch while performing the YoYo behavior.

YoYoDownPitch

YoYoDownPitch = -20 degree

Vehicle down pitch while performing the YoYo behavior.

NeutralBuoyancy

NeutralBuoyancy = Control:VerticalControl.buoyancyNeutral

Neutral buoyancy value obtained from the preceding BallastAndTrim test.

MassDefault

MassDefault = Control:VerticalControl.massDefault

Static setting for mass during the mission.

DepthDeadband

DepthDeadband = 0.1 meter

How much vertical drift from the specified depth is allowed durnig the mission.

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.

BuoyancyAdjustmentStepPrevious

BuoyancyAdjustmentStepPrevious = NaN cubic_centimeter

NeutralBuoyancyPrevious

NeutralBuoyancyPrevious = NaN cubic_centimeter

BuoyancyAdjustmentStepNew

BuoyancyAdjustmentStepNew = NaN cubic_centimeter

DeepBoundRegainDepth

DeepBoundRegainDepth = NaN meter

ShallowBoundRegainDepth

ShallowBoundRegainDepth = 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

ElapsedSinceSettledAtTargetDepth

ElapsedSinceSettledAtTargetDepth = NaN second

ElapsedSinceLastGPSfix

ElapsedSinceLastGPSfix = NaN second

InitialTransitDone

InitialTransitDone = true

FineTune

FineTune = false

MovingToTargetDepth

MovingToTargetDepth = false

BuoyancyAdjustmentDone

BuoyancyAdjustmentDone = 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

Invoked Module Behaviors

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Mass

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint

Guidance:YoYo