This mission yoyos in a circle around a specified location. Maximum duration of mission 24 Transit surface communications. Elapsed time after previous surface comms when vehicle will begin to ascend for additional surface communications 45 Number of times to repeat the waypoint trajectory. NOTE: When setting the LapRepeat > 1 and running WPs in a loop, omit last/return waypoint by setting LatX/LonX to NaN. 1 Waypoint number to start the the waypoint trajectory with. The mission will start with the specified waypoint and cycle through all the subsequent waypoints. 1 Minimum YoYo depth while transiting to waypoint. 5 Maximum YoYo depth while while transiting to waypoint. 50 Minimum YoYo depth while sampling. 5 Maximum YoYo depth while sampling. 50 Max time duration allowed for a single sample. 3 Number of ESP samples to take at each station (vehicle will surface for comms between samples). 1 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 The latitude of the center of the circle (default: C1). 36.797 The longitude of the center of the circle (default: C1). -121.847 The latitude of the center of the circle (default: NW). 36.8219 The longitude of the center of the circle (default: NW). -121.8856 The latitude of the center of the circle (default: SW). 36.766 The longitude of the center of the circle (default: SW). -121.8649 The latitude of the center of the circle (spare). NOTE: Omit return waypoint if LapRepeat > 1 by setting it to NaN. NaN The longitude of the center of the circle (spare). NOTE: Omit return waypoint if LapRepeat > 1 by setting it to NaN. NaN Vehicle speed. 1 Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). 7 Pitch (plus and minus) for yo-yo behavior. 20 Radius to circle at 15 If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. 100 If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) 0.010 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint. The latitude of the center of the circle. 36.806966 Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint. The longitude of the center of the circle. -121.824326 Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint. 4 Mission variable (don't change). The mission will update this var as it progresses through the specified waypoint. The mission's current waypoint objective. 1 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. 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. 1 Updating WP to station objective 1 2 3 4 Starting Lap Lat[1] = Lon[1] = Lat[2] = Lon[2] = Lat[3] = Lon[3] = Lat[4] = Lon[4] = Navigating to WP , Waiting to achieve min depth of 1