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