The goal of this deployment is to demonstrate onboard capability with the Compact Models code. This demonstration will use the Compact Models trained by HF radar measurements to predict surface currents. This first test case will focus on vehicle localization, comparing position estimates computed with and without benefit of the surface current information. This means that the vehicle will be running the Compact Model code and recording its outputs, but will not be using those outputs in realtime. We want to make sure the outputs are reasonable before we integrate them into the navigation and control loops to let them drive the vehicle. Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 50 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1 Maximum duration of mission 48 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 of waypoint closest to MBARI. 36.830 Longitude of waypoint closest to MBARI. -121.870 Latitude of waypoint farthest from MBARI. 36.87501557446235 Longitude of waypoint farthest from MBARI. -121.96713471834381 Latitude of waypoint. 36.808 Longitude of waypoint. -121.827 Depth for initial approach. 10.0 Maximum duration of initial approach 4 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach. 60 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Set this large to only surface at waypoints. 250 Number of times to repeat each lap. 3 Depth for shallow run. 3.0 Depth for middle run. 6.0 Depth for deep run. 9.0 Depth for deep run. 12.0 Depth for circling. 3.0 Maximum duration of leg in one direction. 4 Maximum duration of lap in both directions. 8 Radius of circle to run at end. 250 Maximum number of times to circle the waypoint before going to Default. 13 Timeout for each circle. 1 Minimum depth during yo-yo's. 3.0 Maximum depth during yo-yo's. 23.0 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 When called, circle the given waypoint. Run out and back in on the line. Depth for current lap. (internal variable) NaN Running lap deep. Get to start point. Check in periodically, but do not split logs Run lap out and back at different depths, estimating local surface current using Compact Models with HF radar inputs. Running YoYo lap. Stay in good HF radar coverage area circling to gather more data until it's time to come home.