Vehicle tracks patch identified by oil 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 240 Timeout for the entire mission 9 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. Depth during sampling. 3.0 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 200 Amount to turn at each leg 144 degrees for a pentagram 154.286 degrees for a heptagram 144 Applied to stop run-up of angles 360 Width of boxcar filter used in horizontal patch detection 200 If non-NaN, sets threshold for starting horizontal patch detection 0.001 When filtered horizontal value is this fraction of the peak, consider it outside the patch. 50 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. Amount to turn at at current leg. Nominally Turn * +/-1 Bearing being followed in the current leg. Set this to initialize start direction of patch tracking. -90 Mission sets this to false when it's time to look for a patch. It is set to true when a patch is found Mission sets this to false when it's time to look for a patch. It is set to true when a waypoint is reached without finding the peak State corresponds to where we are in the pathch tracking routine: 0-looking for a patch 1-found first sign of patch 2-confirmed patch -0 Mission sets this to true when the cross-patch waypoint has been reached. NaN NaN NaN NaN NaN 0 20 1 20 1 0 10 NeedComms Timeout Surfacing Patch value is at ,distance = Assign value of PatchDetectState and TurnNow after detecting patch 2 -1 2 2 1 2 1 2 -1 0 1 -1 Detected patch, new heading is This is a long leg across the width of the patch or a leg before the patch is detected. Bearing for Drive: NaN NaN -1 Reached waypoint, new heading is