This mission cycles through the CANON BoxBow waypoints in the order: SE - NE - NW - SW - SE and sets the max depth for each leg. The mission can (re)start at any point within this trajectory by adjusting the `leg` parameter as needed. Maximum duration of mission 14 How often to surface for commumications 120 Leg to start at (default is start at leg 1). leg 1: SE, 20m (to start position) leg 2: SE - E, 25m leg 3: E - E2, 100m leg 4: E2 - NE, 45m leg 5: NE - N, 45m leg 6: N - NW, 65m leg 7: NW - W, 65m leg 8: W - W2, 100m leg 9: W2 - SW, 65m leg 10: SW - S, 50m leg 11: S - SE, 20m leg 12: SE - ?, 20m (spare wp) 1 ESP sampling interval. Must be longer than the duration of a single ESP sample. 4 Specifies ESP cartridge type code (defaults to archive_bac: -6) -6 When true, the mission will acquire and ESP sample at the start of the mission. When false, the mission will wait for the SampleInterval before acquiring the first sample. Latitude of waypoint 1 (default: SE). 36.7755 Longitude of waypoint 1 (default: SE). -121.825 Latitude of waypoint 2 (default: E). 36.7867 Longitude of waypoint 2 (default: E). -121.829155 Latitude of waypoint 3 (default: E2). 36.794768 Longitude of waypoint 3 (default: E2). -121.831951 Latitude of waypoint 4 (default: NE). 36.8315 Longitude of waypoint 4 (default: NE). -121.8457 Latitude of waypoint 5 (default: N). 36.829608 Longitude of waypoint 5 (default: N). -121.853778 Latitude of waypoint 6 (default: NW). 36.8219 Longitude of waypoint 6 (default: NW). -121.8856 Latitude of waypoint 7 (default: W). 36.803838 Longitude of waypoint 7 (default: W). -121.87895 Latitude of waypoint 8 (default: W2). 36.786706 Longitude of waypoint 8 (default: W2). -121.872579 Latitude of waypoint 9 (default: SW). 36.766 Longitude of waypoint 9 (default: SW). -121.8649 Latitude of waypoint 10 (default: S). 36.769648 Longitude of waypoint 10 (default: S). -121.848834 Latitude of waypoint 11 (default: SE). 36.7755 Longitude of waypoint 11 (default: SE). -121.825 Latitude of waypoint 12 (spare). NaN Longitude of waypoint 12 (spare). NaN Vehicle speed for the entire mission. 1 Minimum YoYo depth for the entire mission. 5 Maximum YoYo depth during leg 1. 20 Maximum YoYo depth during leg 2. 25 Maximum YoYo depth during leg 3. 100 Maximum YoYo depth during leg 4. 45 Maximum YoYo depth during leg 5. 45 Maximum YoYo depth during leg 6. 65 Maximum YoYo depth during leg 7. 65 Maximum YoYo depth during leg 8. 100 Maximum YoYo depth during leg 9. 65 Maximum YoYo depth during leg 10. 50 Maximum YoYo depth during leg 11. 20 Maximum YoYo depth during leg 12. 20 Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). 9 Vehicle up pitch while performing the YoYo behavior. 20 Vehicle down pitch while performing the YoYo behavior. -20 Waypoint capture radiues. NaN Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy Static setting for mass during the mission. Set to NaN mm for active mass position Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 110 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this variable to reset the ESP sample timer. 0 Mission variable (don't change). The mission sets this variable to reset the ESP sample timer. 0 Mission variable (don't change). The mission sets this variable to trigger the first ESP sample. Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface. 24 Restarting logs. restart logs Pre-sample comms. Elapsed time since last ESP sample: Waiting to achieve min depth of 30 Sampling ESP cartridge type 0 Another depth envelope for the YoYo behavior. This envelope should fall within the limits of the standard safety envelopes in Insert/StandardEnvelopes.xml in order to avoid commanding high pitch angles for depth-terminated YoYos. Another altitude envelope for the YoYo behavior. This envelope should fall within the limits of the standard safety envelopes in Insert/StandardEnvelopes.xml in order to avoid commanding high pitch angles for bottom-terminated YoYos. The following Leg2-5 aggregates adjust the Lat[] and Lon[] variables according to the `trajectory` parameter: 1 NaN NaN 2 NaN NaN 3 NaN NaN 4 NaN NaN 5 NaN NaN 6 NaN NaN 7 NaN NaN 8 NaN NaN 9 NaN NaN 10 NaN NaN Starting Lap Lat[1] = Lon[1] = Lat[2] = Lon[2] = Lat[3] = Lon[3] = Lat[4] = Lon[4] = Lat[5] = Lon[5] = Lat[6] = Lon[6] = Lat[7] = Lon[7] = Lat[8] = Lon[8] = Lat[9] = Lon[9] = Lat[10] = Lon[10] = Lat[11] = Lon[11] = Lat[12] = Lon[12] = Navigating to box start WP. YoYoMaxDepth: Navigating to WP2. YoYoMaxDepth: Navigating to WP3. YoYoMaxDepth: Navigating to WP4. YoYoMaxDepth: Navigating to WP5. YoYoMaxDepth: Navigating to WP6. YoYoMaxDepth: Navigating to WP7. YoYoMaxDepth: Navigating to WP8. YoYoMaxDepth: Navigating to WP9. YoYoMaxDepth: Navigating to WP10. YoYoMaxDepth: Navigating to WP11. YoYoMaxDepth: Navigating to WP12. YoYoMaxDepth: