The vehicle will transit to an initial waypoint, then navigate to waypoints while maintaining altitude. During the altitude following phase of the mission, the vehicle descends from the surface to a commanded depth using a spiral dive (e.g., after NeedComms). Maximum duration of mission 2 How often to surface for commumications 60 Latitude of tranist waypoint. Transit is skipped if set to NaN. NaN Longitude of tranist waypoint. Transit is skipped if set to NaN. NaN Depth of flat and level flight during the transit part of the mission. 10 Number of times the vehicle should try to cycle through waypoints. 1 Latitude of waypoint 1. If nan, waypoint is skipped. NaN Longitude of waypoint 1. If nan, waypoint is skipped. NaN Latitude of waypoint 2. If nan, waypoint is skipped. NaN Longitude of waypoint 2. If nan, waypoint is skipped. NaN Latitude of waypoint 3. If nan, waypoint is skipped. NaN Longitude of waypoint 3. If nan, waypoint is skipped. NaN Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. NaN AltitudeServo single-pole IIR filter decay value. Low-pass filters the AltitudeServo depth command. The Decay value should be btween 0 to 1, set to 0 disable filtering. 0.0 Initial depth. The vehicle will spiral dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 30 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Thruster speed for the entier mission. 1 0.0 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 sets this to true *before* the vehicle surfaces for comms. Mission variable (don't change). The mission sets this to true *after* the vehicle surfaces for comms. 0 Spiral down from the surface to initial depth. Necessary when no altitude reading is available form the surface. 13 Timed out at current depth of . Switching to altitude servo. Follow commanded altitude. Transit flat and level to the starting waypoint at a fixed depth (skipped when transit Lat/Lon are set to NaN).