Runs from deep water to shallow water doing yo-yo's. Then heads out to deep water either doing yo-yo's or following the bottom. Repeats. Static setting for mass during the mission. Depth for initial approach to Wpt1. 5.0 Minimum altitude for the entire mission. 3 Maximum depth for the entire mission. 105 Minimum offshore distance for the entire mission. 2000 Maximum offshore distance for the entire mission. 12000 Minimum altitude while yo-yo-ing. 3.5 Set to 1 for BottomFollowing on westward leg 0 Altitude while following the bottom. 5 Minimum altitude while following the bottom. 3.5 Maximum depth while following the bottom. 100.0 PID loop parameter for following the bottom. -0.08 PID loop parameter for following the bottom. 0 PID loop parameter for following the bottom. 0 Turn on science when below this depth. Only applies to Nitrate. 1 Turn on Nitrate when pitch exceeds this value. 90 Minimum depth during yo-yo's. 3.0 Maximum depth during yo-yo's. 100.0 Pitch when yo-yo's are ascending. 30.0 Pitch when yo-yo's are descending. -15.0 Vehicle speed. 1 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications, if the vehicle has a positive pitch. If the vehicle has a negative pitch, it will wait up to 20 minutes more to begin ascent. 180 Maximum length of mission 30 Number of times to repeat the loop 5 Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude of deep waypoint. 36.719 Longitude of deep waypoint. -122.0100 Latitude of 1st shallowing waypoint. 36.719 Longitude of 1st shallowing waypoint. -121.9470 Latitude of 2nd shallowing waypoint. 36.719 Longitude of 1st shallowing waypoint. -121.8845 Latitude of shallow waypoint - GPS update only, no Iridium! 36.719 Longitude of shallow waypoint - GPS update only, no Iridium! -121.8366 Latitude of 1st deepening waypoint. 36.719 Longitude of 1st deepening waypoint. -121.8527 Latitude of 2nd deepening waypoint. 36.719 Longitude of 2nd deepening waypoint. -121.9304 Latitude of shallow waypoint - GPS update only, no Iridium! 36.719 Longitude of shallow waypoint - GPS update only, no Iridium! -121.8366 Latitude of 1st westbound yoyo waypoint. 36.719 Longitude of 1st westbound yoyo waypoint. -121.8527 Latitude of 2nd westbound yoyo waypoint. 36.719 Longitude of 2nd westbound yoyo waypoint. -121.9304 0 20 0 0 0.5 0 ₁ -0.5 -1