Control depth within deadband, settle, and then estimate until measurements converge and report. Depth to run ballast and trim at. 25 Enables vehicle thruster at the commanded speed to reach target depth (set to 0 m/s to drift). 0 Descent depth rate (Positive depth rate means going down). 0.4 Max vehicle pitch (+/-) when decending from the surface. 20 Time duration for the vehicle to pump down the VBS *BEFORE* leaving the surface. 0 Maximum wait time for the vehicle to reach the targeted depth. 20 How long to wait after reaching target depth before starting ballast and trim. 10 Timeout for ballast and trim estimation. 45 Minimum time to run ballast and trim estimation before determining convergence (must be shorter than timeout). 10 Desired range of the estimated sample mean from the true mean statistic (smaller values take longer to converge). 0.25 Desired range of the estimated sample mean from the true mean statistic (smaller values take longer to converge). 15 Confidence level that the estimator has reached the desired error range (larger values take longer to converge). 99.9 How much vertical drift from the specified depth is allowed. 1 Degree of rounding in mass-shifter command output values. 0.25 0.005 0.00075 0 Going to target depth. Speed set to Hold the positions of the mass, VBS, and rudder while going to the target depth with the thruster on. 0 13 0 Waiting for while pumping down to neutral. Take a few moments to ensure the VBS reaches neutral. Moving to Timed out trying to reach the target depth. Stopping mission at current depth of stop Execute ballast and trim estimation at target depth. 0 Waiting for the vehicle to settle. Depth = Running ballast and trim. Depth =