Maximum amount of time to spend on the surface trying to get a GPS fix before giving up and diving again. 3 Elapsed time after most recent GPS fix when vehicle will begin to ascend to the surface again. 3 Extra time to wait for the vehicle to pitch up (avoid truncating a yo). 10 20 Standard speed during surfacing. Don't reduce this too much below 1 m/s -- the elevators can stall. (At 0.5 m/s, we have observed evidence of stall in the past.) 1 0