This mission runs a circle around a specified acoustic contact. The tracking behavior periodically queries the DAT for range and direction to the contact, and the DAT acoustically interrogates the contact. The tracking component then calculates the position of the contact to update the center of the circle. When the vehicle surfaces and updates its own position with GPS, it queries the contact again, then sends the contact position to shore. Maximum duration of mission 2 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications 10 If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore. 15 The acoustic address of the asset to be tracked 0 The acoustic address of the asset to be tracked NaN The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. 36.81544 The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. -121.82506 Desired change in latitude to achieve, expressed as a distance. 0 Desired change in longitude to achieve, expressed as a distance. 0 Radius of circle around acoustic contact during wait time 300 How long to wait between acoustic queries 15 Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) 1 If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. 10 If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. Minimum depth during yo-yo's. 3 Maximum depth during yo-yo's. 33 Min altitude while in yo-yo mode. 10 Pitch (plus and minus) for yo-yo behavior. 20 Vehicle speed. 1 Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) 0.010 Minimum height above the sea floor for the entire mission. 7 Maximum depth for the entire mission. 105 Minimum offshore distance for the entire mission. 1.5 Upadating circle center +/+ Upadating YoYoMaxDepth Upadating YoYoMinDepth Upadating CircleRadius Get science data, including PeakDetectChl Circle the contact while updating its position using the backseat commands.