Total number of ESP or CANON samplers (Maximum 60 for ESP samplers. Set to a smaller number if not using all of them. Set to 0 to disable sampling). 1 Maximum depth for the entire mission. 30 Minimum altitude for the entire mission. 7 Minimum offshore distance for the entire mission. 2 Maximum duration of mission 12 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. 21 If no firing after more than MaxWaitNoFiring, terminate mission. 3 Maximum wait time the vehicle cannot reach the targeted depth. 3 Maximum duration for trying to achieve spiral cast waypoint 3 How often to surface for commumications when heading to waypoint 30 On the first dive to the target depth, run at SpeedInitialDive for this duration (e.g., 1 m/s spiral to dive fast). 5.0 Vehicle speed when transiting. 1.0 Vehicle speed during initial dive. 0.0 for drift mode (prop off); 1.0 for spiral mode (prop on). Initialized to 1 m/s. 1.0 Vehicle speed during sampling: 0.0 for drift mode (prop off); 1.0 for donut mode (prop on). Initialized to 1 m/s. 1.0 Rudder angle during spiral or donut. 13 Latitude of waypoint to seek. If set to NaN, uses latitude at mission initialization. NaN Longitude of waypoint to seek. If set to NaN, uses longitude at mission initialization. NaN Northward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. 0 Eastward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. 0 Depth of level flight during the mission. If NaN, then yo-yo flight. NaN Minimum depth while performing the YoYo behavior. Irrelevant if DepthLevelFlight is non-NaN (i.e., if level flight). 5 Maximum depth while performing the YoYo behavior. Irrelevant if DepthLevelFlight is non-NaN (i.e., if level flight). flight. 20 Depth of sample 1. If NaN, then smear sampling. NaN Depth of sample 2. NaN Depth of sample 3. NaN Depth of sample 4. NaN Depth of sample 5. NaN Depth of sample 6. NaN Depth of sample 7. NaN Depth of sample 8. NaN Depth of sample 9. NaN Depth of sample 10. NaN Depth of sample 11. NaN Depth of sample 12. NaN Depth of sample 13. NaN Depth of sample 14. NaN Depth of sample 15. NaN Depth of sample 16. 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NaN Depth of sample 58. NaN Depth of sample 59. NaN Depth of sample 60. NaN Sample 1. Wait duration for the depth undulation to damp down. 10.0 Sample 2. 10.0 Sample 3. 10.0 Sample 4. 10.0 Sample 5. 10.0 Sample 6. 10.0 Sample 7. 10.0 Sample 8. 10.0 Sample 9. 10.0 Sample 10. 10.0 Sample 11. 10.0 Sample 12. 10.0 Sample 13. 10.0 Sample 14. 10.0 Sample 15. 10.0 Sample 16. 10.0 Sample 17. 10.0 Sample 18. 10.0 Sample 19. 10.0 Sample 20. 10.0 Sample 21. 10.0 Sample 22. 10.0 Sample 23. 10.0 Sample 24. 10.0 Sample 25. 10.0 Sample 26. 10.0 Sample 27. 10.0 Sample 28. 10.0 Sample 29. 10.0 Sample 30. 10.0 Sample 31. 10.0 Sample 32. 10.0 Sample 33. 10.0 Sample 34. 10.0 Sample 35. 10.0 Sample 36. 10.0 Sample 37. 10.0 Sample 38. 10.0 Sample 39. 10.0 Sample 40. 10.0 Sample 41. 10.0 Sample 42. 10.0 Sample 43. 10.0 Sample 44. 10.0 Sample 45. 10.0 Sample 46. 10.0 Sample 47. 10.0 Sample 48. 10.0 Sample 49. 10.0 Sample 50. 10.0 Sample 51. 10.0 Sample 52. 10.0 Sample 53. 10.0 Sample 54. 10.0 Sample 55. 10.0 Sample 56. 10.0 Sample 57. 10.0 Sample 58. 10.0 Sample 59. 10.0 Sample 60. 10.0 Shallow depth bound for smear sampling. NaN Deep depth bound for smear sampling. NaN Sample 2. NaN Sample 2. NaN Sample 3. NaN Sample 3. NaN Sample 4. NaN Sample 4. NaN Sample 5. NaN Sample 5. NaN Sample 6. NaN Sample 6. NaN Sample 7. NaN Sample 7. NaN Sample 8. NaN Sample 8. NaN Sample 9. NaN Sample 9. NaN Sample 10. NaN Sample 10. NaN Sample 11. NaN Sample 11. NaN Sample 12. NaN Sample 12. NaN Sample 13. NaN Sample 13. NaN Sample 14. NaN Sample 14. NaN Sample 15. NaN Sample 15. NaN Sample 16. NaN Sample 16. NaN Sample 17. NaN Sample 17. NaN Sample 18. NaN Sample 18. NaN Sample 19. NaN Sample 19. NaN Sample 20. NaN Sample 20. NaN Sample 21. NaN Sample 21. NaN Sample 22. NaN Sample 22. NaN Sample 23. NaN Sample 23. NaN Sample 24. NaN Sample 24. NaN Sample 25. NaN Sample 25. NaN Sample 26. NaN Sample 26. NaN Sample 27. NaN Sample 27. NaN Sample 28. NaN Sample 28. NaN Sample 29. NaN Sample 29. NaN Sample 30. NaN Sample 30. NaN Sample 31. NaN Sample 31. NaN Sample 32. NaN Sample 32. NaN Sample 33. NaN Sample 33. NaN Sample 34. 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NaN Go-up depth rate in smear sampling mode (negative depth rate means going up). -0.1 Go-down depth rate in smear sampling mode (positive depth rate means going down). 0.1 Vehicle up pitch while performing the YoYo behavior. 20 Vehicle down pitch while performing the YoYo behavior. -20 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 Vehicle speed when approaching the target isotherm or depth and then sampling. Initialized to 1 m/s. 1.0 0.0 0.0 0.0 Transit is completed (initialized to false). Depth if pre-designated. Initialized to NaN. NaN Wait duration for the depth undulation to damp down. Initialized to 10 minutes. 10.0 Shallow depth bound for smear sampling. NaN Deep depth bound for smear sampling. NaN Sample options (VertDistance, ReportAtSurface, ReacquirePeak) already set. Initialized to false. Sampling completed. Initialized to false. Mission stopped because of no firing for too long. Initialized to false. Flag of water sampling in process (initialized to false). Flag of sample fired (initialized to false). Go-up flag (set to true when going up. Initialized to false). Go-down flag (set to true when going down. Initialized to false). Flag of initial dive speed set. Initialized to false. Enable firing. Initialized to true. Elapsed time from last time-fix to StartDive. NaN Elapsed time from last time-fix to now. NaN Elapsed time from last time-fix to last firing. NaN Count of water samples (initilized to 1). 1 Trigger ESP sampling. DepthLogged, TempLogged, ChlLogged = , , . Wait for ESP sampling to complete. ESP sample No. completed. Bounce up from . Bounce down from . ESP sample No. completed. Timed out trying to reach the waypoint. Stopping mission. stop Transit and NeedComms completed. Go down from . 1 1 0.0 0.0 0.0 1 2 No firing for too long. Stopping mission. FromLastTimeFixToNow, FromLastTimeFixToLastFiring = , stop 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 Taking sample No. at . Taking sample No. smeared between and . 1