Vehicle transits to the specified waypoints at the commanded depth (flat-and-level) with science turned on. Maximum duration of mission 2 How often to surface for commumications 60 Depth of flat and level flight during the mission. 25 Number of times the vehicle should try to cycle through waypoints. 1 Latitude of waypoint 1. If nan, waypoint is skipped. 36.797 Longitude of waypoint 1. If nan, waypoint is skipped. -122.8 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 Latitude of waypoint 4. If nan, waypoint is skipped. NaN Longitude of waypoint 4. If nan, waypoint is skipped. NaN Latitude of waypoint 5. If nan, waypoint is skipped. NaN Longitude of waypoint 5. If nan, waypoint is skipped. NaN Latitude of waypoint 6. If nan, waypoint is skipped. NaN Longitude of waypoint 6. If nan, waypoint is skipped. NaN Latitude of waypoint 7. If nan, waypoint is skipped. NaN Longitude of waypoint 7. If nan, waypoint is skipped. NaN Speed while transiting to waypoints. 0.25 Depth for initial descent form the surface. 20 Speed while descending to target depth. 0.8 Max vehicle pitch (+/-) when decending from the surface. 20 Maximum time duration for the vehicle to reach the target depth 20 Time duration for the vehicle to pump down the VBS *BEFORE* leaving the surface. 1 Time duration for the vehicle to settle *AFTER* reaching the target depth. 3 Dive loop proportional gain (applied only while the vehicle is descending to target depth). 0.07 Buoyancy bladder position during the mission. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy. Static setting for mass during the mission. Set to NaN mm for active mass position. Minimum height above the sea floor for the entire mission. 2 Maximum depth for the entire mission. 40 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). The mission sets this variable to switch between dive modes. Initialized to DoingComms. 0 Mission variable (don't change). The mission will run in this to mode when doing surface comms. 0 Mission variable (don't change). The mission will run in this mode after surface comms are done to dive the vehicle to the approach depth. 1 Mission variable (don't change). The mission will run in this mode to settle the vehicle at the target depth. 2 Mission variable (don't change). The mission will run in this mode to maintain the vehicle at the target depth. 3 Run the science sensors. 0 Called when the vehicle should be underwater. Arbitrates between 3 dive modes: 1) descend from the surface to initial depth. 2) settle at target depth using the VB. 3) cruise at target depth at 0 pitch using mass shifter and VB for vertical control. Descend from the surface to target depth, limit pitch and depth-rate. Waiting for while pumping down to neutral. Take a few moments to ensure the VBS reaches neutral. Moving to Timed out while trying to reach target depth at current depth of stop Take a few more moments here to make sure the vechile is settled at the target depth. Reached , settling for Cruise at the target depth. 0 0