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