This mission trackes an acoustic contact and keeps station in a defined radius. Lights switch between red/white every LightDeltaTime minutes. Maximum duration of mission 4 Surface for communications interval 30 Maximum depth for the entire mission. 50 Minimum altitude for the entire mission. 7 Minimum offshore distance for the entire mission. 2 Depth held during drift mode 30 Depth for initial approach to station. 30 Vehicle transit speed. 0.75 Radius around waypoint to hold. 200 The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. NaN The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. NaN Period of red versus white lights. 5.0 The acoustic address of the asset to be tracked 0 How long to wait between acoustic queries 60 If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications. Set longer than MissionTimeout to effectively disable. 1 Depth of acoustic target if known and fixed (or nearly fixed). For example, if the acoustic target is a Wave Glider, set it to zero. This will improve 2D projected position estimates in the Earth reference frame. Defaults to NaN. NaN Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) 1 Number of fixes to average to produce smoothed lat/lon/dep output (initialized to 4). 4 Number of fixes to ignore at the start of mission (as the vehicle just leaves surface, contact's location estimate especailly bearing can be erroneous. Initialized to 8, corresponding to 2 minutes if query interval TrackingUpdatePeriod = 15 s. 8 Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) 0.010 How much vertical drift from the specified depth is allowed in drift mode 4 Low-pass filtered latitude of contact (initialized to NaN). NaN Low-pass filtered longitude of contact (initialized to NaN). NaN Flag to indicate center lon/lat was updated. Elapsed time from last time the light color was switched. 0 Elapsed time from last time the light color was switched. 1 Elapsed time from last time the light color was switched. 2 Indicates light color that should be turned on (default is red to start so we don't scare the fish). 0 Indicates vehicle is descending form the surface. 0 Updated center Lat/Lon = , Hold the mass at the default position. Need a separate aggregate for transit if we want to specify a different depth for the approach. Descend from the surface to initial depth prior to turning on the lights/camera. Initial descent at 10 20 Completed initial descent at Keep station at commanded depth, turn on the camera and lights. Handles camera and light requests. Allow time for the camera to start recording Activating camera. 25 Power the red lights for the requested duration Activating Red Lights. Power the white lights for the requested duration Activating White Lights. Due to the way the KeepStation behavior is currently implemented, we must run it in parallel and use a Wait to keep from completing the mission before the timeout expires. However, this new version of the mission uses a top-level timeout so that the entire mission will not run for longer then MissionTimeout.