Ocean Acoustic Monitoring Simulator

A ring of moored hydrophones sits on the seafloor, listening for whatever passes overhead — a diving whale calling to its pod, or a ship's engine droning across the surface. Every pulse spreads outward as an expanding wavefront and reaches each buoy at a slightly different instant. This simulator turns those arrival-time differences (TDOA) into a live position fix: pick a reference hydrophone, linearize the resulting hyperbolic equations, and solve by least squares for where the sound actually came from. Move the thermocline and watch the fix drift — the array's single assumed sound speed stops matching reality the moment the true signal path crosses into the slower deep layer, which is exactly the calibration problem real ocean-acoustic networks have to correct for.