This is just to test functionality of Insert/CircleWaypointRepeatedly.xml Minimum altitude for the entire mission. 4 Maximum depth for the entire mission. 85 Minimum offshore distance for the entire mission. 2000 Vehicle speed. 1.0 Maximum duration of mission 24 Static setting for mass during the mission. Defaults to massDefault setting in the Config/Control.cfg file. Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Latitude of inshore ESP buoy. 33.6055 Longitude of offshore ESP buoy. -118.0191 Latitude of offshore ESP buoy. 33.5839 Longitude of offshore ESP buoy. -118.0349 Depth for initial approach. 10.0 Maximum duration of initial approach 4 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications. Only active during the approach. 60 Number of times to repeat the science loop 3 Radius of circle around Inshore ESP during wait time 250 Time between reporting events. 6 Current time modulo CircleDivisor. NaN Timeout for circling buoy at start of each lap (reset each lap). 8 Maximum duration of lap. 12 Minimum depth during yo-yo's. 4.0 Maximum depth during yo-yo's. 78.0 Min altitude while in yo-yo mode. 6.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Calculate (current time) mod (CircleDivisor) and determine when to stop circling the start-of-lap waypoint. CircleModulus calculated as: CircleTimeout updated to: Circle a waypoint at the nominal location of the Offshore ESP buoy until timeout specified by CircleDivisor and current time. Convenience aggregate to notify operator of estimated circling time _before_ starting to circle the waypoint. May be commented out, since the Timeout in CircleWaypointRepeatedly will still achieve the desired behavior. CircleOffshoreESPBuoy should complete in , due to timeout in CircleWrapper aggregate. ************* Finished circling. Run in and back out on the line. Get to start point. Check in periodically, but do not split logs Circle then lap many times, collecting science data. Get science data, including PeakDetectChl