This mission tests sending DVL depth-averaged water current to shore, based on a vehicle depth envelope. Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 85 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1 Maximum duration of mission 2 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude (default to EcoHAB 2013 offshore ESP buoy). 33.5839 Longitude (default to EcoHAB 2013 offshore ESP buoy). -118.0349 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. 20 Set "True" if you want depth-averaged water current calculated when the vehicle is between 2 and 5 meters deep. Enable platform_*_velocity_current in Config/logger.cfg if you want it sent to shore. Leaving this False but enabling shore output in Config/logger.cfg should allow us to control this without having to send configuration changes and 'restart app'. Radius of circle around Inshore ESP during wait time 500 Maximum number of times to circle the waypoint at the start of each lap. 13 UTC time between reporting events. (e.g., "set CircleDivisor 8 hour" for reports at 0000, 0800, 1600 UTC) 8 Current time modulo CircleDivisor (internal variable). NaN Timeout for circling buoy at start of each lap (internal variable). 8 Minimum depth during yo-yo's. 4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Circle a waypoint at the nominal location of the Offshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleOffshoreESPBuoy should complete in , due to timeout in CircleWaypointRepeatedly aggregate. ************* Finished circling. ************* Collect science data. Get science data, including PeakDetectChl 3.0 5.0 5 10 20 25 1