Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0 to disable sampling. 1 Start index in ESP settings. If re-running mission, can skip settings of already-completed samples. Default is 1 (no skipping). 1 0 Maximum duration of mission 168 In transit, how often to surface for commumications 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. 240 If no firing after more than MaxWaitNoFiring, terminate mission. 2 Maximum wait time the vehicle cannot reach the targeted depth. 2 Whether the vehicle flies at a constant depth to the sampling location. Level run depth (if flying at a constant depth to the sampling location). 20 Vehicle speed when transiting. 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 donut sampling. 13 Maximum depth for the entire mission. 160 Minimum altitude for the entire mission. 7 Minimum offshore distance for the entire mission. 2 Minimum depth while performing the YoYo behavior. 2 Maximum depth while performing the YoYo behavior. 30 Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). 9 Latitude of sampling location. NaN Longitude of sampling location. NaN Value common to all samples unless set diffently: cartridge type. -6 Sample 1. Cartridge type. NaN Sample 2. NaN Sample 3. NaN Sample 4. NaN Sample 5. NaN Sample 6. NaN Sample 7. NaN Sample 8. NaN Sample 9. NaN Sample 10. NaN Sample 11. NaN Sample 12. NaN Sample 13. NaN Sample 14. NaN Sample 15. NaN Sample 16. NaN Sample 17. NaN Sample 18. NaN Sample 19. NaN Sample 20. NaN Sample 21. NaN Sample 22. NaN Sample 23. NaN Sample 24. NaN Sample 25. NaN Sample 26. NaN Sample 27. NaN Sample 28. NaN Sample 29. NaN Sample 30. NaN Sample 31. NaN Sample 32. NaN Sample 33. NaN Sample 34. NaN Sample 35. NaN Sample 36. NaN Sample 37. NaN Sample 38. NaN Sample 39. NaN Sample 40. NaN Sample 41. NaN Sample 42. NaN Sample 43. NaN Sample 44. NaN Sample 45. NaN Sample 46. NaN Sample 47. NaN Sample 48. NaN Sample 49. NaN Sample 50. NaN Sample 51. NaN Sample 52. NaN Sample 53. NaN Sample 54. NaN Sample 55. NaN Sample 56. NaN Sample 57. NaN Sample 58. NaN Sample 59. NaN Sample 60. NaN Value common to all samples unless set diffently: Pre-designated depth. If NaN, will use vertical distance from chl-peak depth. NaN Sample 1. Pre-designated depth. If NaN, will use vertical distance from chl-peak depth. 10 Sample 2. 5 Sample 3. 150 Sample 4. 5 Sample 5. 150 Sample 6. 5 Sample 7. 150 Sample 8. 5 Sample 9. 150 Sample 10. 5 Sample 11. 150 Sample 12. 5 Sample 13. 150 Sample 14. 5 Sample 15. 150 Sample 16. 5 Sample 17. 150 Sample 18. 5 Sample 19. 150 Sample 20. 5 Sample 21. 150 Sample 22. 5 Sample 23. 150 Sample 24. 5 Sample 25. 150 Sample 26. 5 Sample 27. 150 Sample 28. 5 Sample 29. 150 Sample 30. 5 Sample 31. 150 Sample 32. 5 Sample 33. 150 Sample 34. 5 Sample 35. 150 Sample 36. 5 Sample 37. 150 Sample 38. 5 Sample 39. 150 Sample 40. 5 Sample 41. 150 Sample 42. 5 Sample 43. 150 Sample 44. 5 Sample 45. 150 Sample 46. 5 Sample 47. 150 Sample 48. 5 Sample 49. 150 Sample 50. 5 Sample 51. 150 Sample 52. 5 Sample 53. 150 Sample 54. 5 Sample 55. 150 Sample 56. 5 Sample 57. 150 Sample 58. 5 Sample 59. 150 Sample 60. 5 Value common to all samples unless set differently: Wait duration for the depth undulation to damp down. 5.0 Sample 1. Wait duration for the depth undulation to damp down. NaN Sample 2. NaN Sample 3. NaN Sample 4. NaN Sample 5. NaN Sample 6. NaN Sample 7. NaN Sample 8. NaN Sample 9. NaN Sample 10. NaN Sample 11. NaN Sample 12. NaN Sample 13. NaN Sample 14. NaN Sample 15. NaN Sample 16. NaN Sample 17. NaN Sample 18. NaN Sample 19. NaN Sample 20. NaN Sample 21. NaN Sample 22. NaN Sample 23. NaN Sample 24. NaN Sample 25. NaN Sample 26. NaN Sample 27. NaN Sample 28. NaN Sample 29. NaN Sample 30. NaN Sample 31. NaN Sample 32. NaN Sample 33. NaN Sample 34. NaN Sample 35. NaN Sample 36. NaN Sample 37. NaN Sample 38. NaN Sample 39. NaN Sample 40. NaN Sample 41. NaN Sample 42. NaN Sample 43. NaN Sample 44. NaN Sample 45. NaN Sample 46. NaN Sample 47. NaN Sample 48. NaN Sample 49. NaN Sample 50. NaN Sample 51. NaN Sample 52. NaN Sample 53. NaN Sample 54. NaN Sample 55. NaN Sample 56. NaN Sample 57. NaN Sample 58. NaN Sample 59. NaN Sample 60. NaN Whether to use CANON Sampler to sample. Whether to use ESP to sample. How long to wait for a CANON Sampler sample to start. 1 How long to wait for a CANON Sampler sample to complete. Vehicle up pitch while performing the YoYo behavior. 20 Vehicle down pitch while performing the YoYo behavior. -20 In buoyancy-only mode, maxBuoyDiveAccel needs to be set at least an order of magnitude higher than that in Control.cfg. 0.0025 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 The mission sets this variable to reset the sample timer. 0 Only for syslog. 0 Cartridge type. Initialized to -10. -10 Initialized to -10. -10 Depth for sampling. Initialized to 10 m. 10.0 Depth if pre-designated. Initialized to NaN. NaN Initialized to NaN. NaN Wait duration for the depth undulation to damp down. Initialized to 10 minutes. 10.0 Wait duration for the depth undulation to damp down. Initialized to 10 minutes. 10.0 Sample settings already set. Initialized to false. Sampling completed. Initialized to false. Mission stopped because of no firing for too long. Initialized to false. 0.0 0.0 0.0 Flag of target depth having been set. Initialized to false. Flag of water sampling in process (initialized to false). Count of water samples (initilized to 0). 0 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. 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. Set CartridgeType (if ESP), DepthDesignated, WaitDepthUndulation to , , . 0 1 0.0 0.0 0.0 0.0 No firing for too long. Stopping mission. ElapsedTime, MaxWaitNoFiring = , stop ₁ 1 ₁ 2 ₁ 3 ₁ 4 ₁ 5 ₁ 6 ₁ 7 ₁ 8 ₁ 9 ₁ 10 ₁ 11 ₁ 12 ₁ 13 ₁ 14 ₁ 15 ₁ 16 ₁ 17 ₁ 18 ₁ 19 ₁ 20 ₁ 21 ₁ 22 ₁ 23 ₁ 24 ₁ 25 ₁ 26 ₁ 27 ₁ 28 ₁ 29 ₁ 30 ₁ 31 ₁ 32 ₁ 33 ₁ 34 ₁ 35 ₁ 36 ₁ 37 ₁ 38 ₁ 39 ₁ 40 ₁ 41 ₁ 42 ₁ 43 ₁ 44 ₁ 45 ₁ 46 ₁ 47 ₁ 48 ₁ 49 ₁ 50 ₁ 51 ₁ 52 ₁ 53 ₁ 54 ₁ 55 ₁ 56 ₁ 57 ₁ 58 ₁ 59 ₁ 60 DepthSet = Taking sample No.. Target depth = . If ESP, requesting ESP cartridge type: 0 Sample No. completed. 0