This mission navigates to the CANON trianguloid waypoints 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. Samples are triggered on a clock every SampleInterval. Maximum duration of mission 42 How often to surface for commumications 120 Leg to start at (default is start at leg 1). leg 1: C1, 40m leg 2: C1 - M1 Bypass 01, 50m leg 3: M1 Bypass 01 - Soquel Monterey Junction 01, 50m leg 4: Soquel Monterey Junction 01 - WG near MARS, 50m leg 5: WG near MARS - WG near Mid 1, 50m leg 6: WG near Mid 1 - M1 Bypass 01, 50m leg 7: M1 Bypass 01 - C1, 50m leg 8: C1 - ?, 50m (spare wp) 1 ESP sampling interval. Must be longer than the duration of a single ESP sample. 2 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. 10 When true, aqurie an ESP sample. Specifies ESP cartridge type code (defaults to archive_bac: -6) -6 When true, aqurie a CANON Sampler water sample. How long to delay a CANON Sampler sample after an ESP sample is intiated. 10 Max time duration allowed for a single sample. 3 Latitude of waypoint 1 (default: C1). 36.797 Longitude of waypoint 1 (default: C1). -121.847 Latitude of waypoint 2 (default: M1 Bypass 01). 36.754 Longitude of waypoint 2 (default: M1 Bypass 01). -122.0155 Latitude of waypoint 3 (default: Soquel Monterey Junction 01). 36.7825 Longitude of waypoint 3 (default: Soquel Monterey Junction 01). -122.018 Latitude of waypoint 4 (default: WG near MARS). 36.7117 Longitude of waypoint 4 (default: WG near MARS). -122.1919 Latitude of waypoint 5 (default: WG near Mid 1). 36.6978 Longitude of waypoint 5 (default: WG near Mid 1). -122.0562 Latitude of waypoint 6 (default: M1 Bypass 01). 36.754 Longitude of waypoint 6 (default: M1 Bypass 01). -122.0155 Latitude of waypoint 7 (default: C1). 36.797 Longitude of waypoint 7 (default: C1). -121.847 Latitude of waypoint 8 (spare). NaN Longitude of waypoint 8 (spare). NaN Vehicle speed for the entire mission. 1 Minimum YoYo depth for the entire mission. 5 Maximum YoYo depth during leg 1. 40 Maximum YoYo depth during leg 2. 50 Maximum YoYo depth during leg 3. 50 Maximum YoYo depth during leg 4. 50 Maximum YoYo depth during leg 5. 50 Maximum YoYo depth during leg 6. 50 Maximum YoYo depth during leg 7. 50 Maximum YoYo depth during leg 8. 50 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 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 while sampling is in progress. Mission variable (don't change). The mission sets this variable to when it's time to take the first 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. Checking sampling settings. Cannot service ESP sample request. ESPComponent is not loaded. Cannot service CANONSampler water sample request. CANONSampler component is not loaded. 24 Restarting logs. restart logs Pre-sample comms. Elapsed time since last water sample: Waiting to achieve min depth of 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 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] = Acquiring first sample. 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: Circling at WP8 until sample is finished. 0.010 100 10