1 Minimum range to continue to update heading being driven. 4 Minimum range to continue to update heading being driven. Max is 120 meters due to maximum sample output from modem in oneway mode. 65.0 Maximum length of mission 40 Wait this long after turning on DAT before starting any behaviors that require DAT output. 1 Run in OneWayMode for this long. 180 Drive on your last heading for this long after approaching within minimum range. 3 Depth for homing. 7 Maximum depth for the entire mission. 45 Set either this or PeakDetectChlActive to True in order to sample from the Neil Brown CTD. 7 0 1.0 Give the DAT some time to start up before you ask for ranges from it. 0 Move toward the target using normal two-way queries. (These will also provide the heading of the compass attached to the acoustic modem.) Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *OnewayRange*, then move on to the next aggregate. Move toward the target using fast one-way queries. (These will *NOT* provide the heading of the compass attached to the acoustic modem.) Update the commanded heading with *Universal:homing_target_azimuth* each cycle. Continue until you approach within *MinRange*, then move on to the next aggregate. 1 Move away from the target at the last commanded heading until *RolloutTimeout* has passed. (DAT should still be reporting. Target acoustic modem may still be in Oneway mode.)