Formulas
| Formula | Use |
|---|---|
| D = 2d tan(θ/2) | Sonar footprint diameter |
| s = D × (1 − overlap) | Lane spacing for required overlap |
| B = W × (1 − O) | Photogrammetric baseline |
| Δφ = B / r | Angular baseline for orbit |
| t = B / v | Shutter interval from baseline |
| α_water = arcsin(sin(α_air)/1.33) | Underwater half-FOV through flat port |
| θ_c ≈ 48.8° | Critical angle (max underwater half-FOV, flat port) |
Gas Limits
-
Turn pressure: 1500 PSI
-
Surface pressure: 700 PSI
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Mandatory 3-minute safety stop at 15 ft on every dive
Depth Limits
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Dive 1: 20 ft minimum, 60 ft maximum
-
Dive 2: 20 ft minimum, 60 ft maximum
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Dive 3: 20 ft minimum, 45 ft maximum
Abort Criteria
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Lost visual contact with teammate for more than 1 minute
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Lost float at surface or GPS lock
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Reached turn pressure
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Surface conditions deteriorating
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Equipment failure on sonar, camera, or BCD
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Any unease about continuing
Data Abort Criteria
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GPS lock lost or float repeatedly submerged
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App recording stopped or file cannot be verified
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Coverage gap larger than one planned lane spacing in the target area
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Scale reference missing for a scaled photogrammetric model
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Task fixation causing missed gas, depth, NDL, buoyancy, or team checks