Vehicle nominally yo-yo's zigzagging across an upwelling front, with science turned on. Each time a front edge is detected, the vehicle turns around and samples across the front again. Front edge is defined by difference in temperature between several depths. Maximum duration of mission 14 How often to surface for commumications 60 Time to swim past front when tracking. 40 Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy. Speed while performing the YoYo behavior. 1 Minimum depth while performing the YoYo behavior. 3 Maximum depth while performing the YoYo behavior. 50 Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). 7 Vehicle up-pitch while performing the YoYo behavior. 20 Vehicle down-pitch while performing the YoYo behavior. -20 0.0 180.0 90.0 270.0 45.0 315.0 135.0 225.0 Initialized to the starting heading (default 270.0). Will be updated when detecting front or hitting wall. 270.0 Is the front-tracking in Z shape on north-south sweeps (versus reverse-Z shape)? Initialized to True. Is the front-tracking in N shape on east-west sweeps (versus reverse-N shape)? Initialized to False. Initialized to True. Initialized to True. Initialized to False. -121.82 -122.0 36.9 36.80 Minimum height above the sea floor for the entire mission. 7 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface. 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. Another altitude 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 bottom-terminated YoYos.