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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 = 120 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 = 30 minute

When the listening depth bound is breached and the submergence time has surpassed SurfacingIntervalDuringListening, the vehicle will surface.

NeedCommsMaxWait

NeedCommsMaxWait = 120 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 = 120 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 = 3 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.

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.

ApproachSpeed

ApproachSpeed = 1 meter_per_second

Vehicle thruster speed used to reach center depth.

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

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.

SinkingOrFloatingRateThreshold

SinkingOrFloatingRateThreshold = 0.002 meter_per_second

Threshold of depth rate of sinking or floating from the target depth to the depth bound being violated. When this threshold is breached, adjust the neutral buoyancy.

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.

DeepBoundMinusTargetDepth

DeepBoundMinusTargetDepth = NaN meter

TargetDepthMinusShallowBound

TargetDepthMinusShallowBound = NaN meter

TimeReachingTargetDepth

TimeReachingTargetDepth = NaN second

ElapsedSinceReachingTargetDepth

ElapsedSinceReachingTargetDepth = NaN second

InitialTransitDone

InitialTransitDone = true

SurfacingOngoing

SurfacingOngoing = false

BuoyancyAdjustmentDone

BuoyancyAdjustmentDone = false

Sinking

Sinking = false

SinkingPrevious

SinkingPrevious = false

Cnt

Cnt = 0 count

Inserts

Insert/Science.xml

Insert/NeedComms.xml

Insert/StandardEnvelopes.xml

Insert/AbortDrift.xml

redefineArg AcousticTimeout = AcousticTrackingTimeout

Invoked Behaviors

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Mass

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint

Guidance:YoYo