Vehicle yo-yo's while holding the rudder at a constant angle. Maximum duration of mission 560 Speed while performing the YoYo behavior. 1 Rudder angle to hold while performing YoYos. 9 Minimum depth while performing the YoYo behavior. 2 Maximum depth while performing the YoYo behavior. 20 Vehicle up pitch while performing the YoYo behavior. 20 Vehicle down pitch while performing the YoYo behavior. -20 Another depth envelope for the YoYo behavior. This envelope should fall within the limits of the standard safety envelopes in Insert/StandardEnvelopes.xml in order to avoid commanding high pitch angles for depth-terminated YoYos.