Vehicle runs yo-yos, with patch detect enabled for cholorphyll concentration. Minimum altitude for the entire mission. 5 Maximum depth for the entire mission. 65 Minimum water depth for the entire mission. 10 Minimum offshore distance for the entire mission. 2000 Maximum time between surfacings for communications 180 Timeout for the entire mission 56 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Minimum depth during yo-yo's. 3.0 Maximum depth during yo-yo's. 30.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Vehicle speed. 1 Maximum length of each tracking leg 7500 Maximum duration of each tracking leg 8000 Set WaterFrame true to drive towards waypoints in the water frame of reference Maximum number of tracking legs 20 Amount to turn at each leg 90 Change in bearing which reverses vehicle direction 180 Applied to stop run-up of angles 360 Width of boxcar filter used in horizontal patch detection 4 If non-NaN, sets threshold for starting horizontal patch detection NaN When filtered horizontal value is this fraction of the peak, consider it outside the patch. 80 If true, use center of "in peak" range as the turn-around point. If false use maximum horizontal peak location as the turn-around point. Bearing being followed in the current leg. Set this to initialize start direction of patch tracking. -90 Mission sets this to true when the patch has been crossed. Mission sets this to true when the cross-patch waypoint has been reached. NaN NaN NaN NaN 0 20 1 20 1 0 10 NeedComms Timeout Surfacing Patch value is at ,distance = Bearing for CrossLeg: This is a long leg across the width of the patch. Also the first leg in a mission run. Two waypoints run in parallel: a short run to the surfacing point, and a longer run to the edge of the patch. Bearing for InLeg: Simply drive back towards the patch center Bearing for OutLeg: Drive outward until edge of patch is detected.