Behavior: BHV_SmartYoyo

Brief Synopsis:

Behavior for vertical yoyo surveys covering full water column in shallow water with horizontal bathymetry variation.

Authors:

  • Henrik Schmidt

Groups:

Distribution:

  • lamss.mit.edu

Contact Email:

  • henrik@mit.edu

Function:

Behavior for performing vertical yoyo surveys covering the full water column in shallow water with horizontal bathymetric variability. Uses DVL readings to scale vertical yoyo pattern with the water depth. The vertical path is configurable in terms of upper and lower depths and horizontal period, and can be either triangular or sinusoidal in shape. Can alternatively be configured for yoyo survey below ice cover using upward-looking DVL, with the upper yoyo limit being scaled by the measured ice excursions.