Total number of ESP cartridges (Maximum 60. Set to a smaller number if not using all of them. Set to 0 to disable ESP sampling). 3 Maximum duration of mission 20 In transit, how often to surface for commumications 60 If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications. Set longer than MissionTimeout to effectively disable. 21 If no firing after more than MaxWaitNoFiring, terminate mission. 4 Maximum duration of cylinder yoyo. 30 Whether to yoyo on cylinder centered at the sampling location. Initialized to True. Vehicle speed when transiting. 1.0 Vehicle speed for smear sampling. 1.0 Maximum depth for the entire mission. 100 Shallow depth bound for smear sampling. 5.0 Deep depth bound for smear sampling. 25 Minimum depth while performing the YoYo behavior during transit. 1.5 Maximum depth while performing the YoYo behavior during transit. 30 Minimum depth while performing the YoYo behavior on cylinder centered at the sampling location. 1.5 Maximum depth while performing the YoYo behavior on cylinder centered at the sampling location. 30 Radius of cylinder centered at the sampling location. 200 Maximum number of circles on cylinder. 1 Number of times the vehicle should try to cycle through waypoints.. 1 Latitude of waypoint 1. If nan, waypoint is skipped. NaN Longitude of waypoint 1. If nan, waypoint is skipped. NaN Latitude of waypoint 2. If nan, waypoint is skipped. NaN Longitude of waypoint 2. If nan, waypoint is skipped. NaN Latitude of waypoint 3. If nan, waypoint is skipped. NaN Longitude of waypoint 3. If nan, waypoint is skipped. NaN Latitude of waypoint 4. If nan, waypoint is skipped. NaN Longitude of waypoint 4. If nan, waypoint is skipped. NaN Go-up depth rate (Negative depth rate means going up). -0.04 Go-down depth rate (Positive depth rate means going down). 0.04 Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). 9 Minimum altitude for the entire mission. 7 Minimum offshore distance for the entire mission. 2 If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. 100 If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.) 0.010 Vehicle up pitch while performing the YoYo behavior. 20 Vehicle down pitch while performing the YoYo behavior. -20 Rudder angle to use while performing the donut cast. 13 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 Static setting for mass during the mission. Set to NaN mm for active mass position Minimum depth while performing the YoYo behavior. Program will set to TransitYoYoMinDepth, and then CylinderYoYoMinDep. 1.5 Maximum depth while performing the YoYo behavior. Program will set to TransitYoYoMaxDepth, and then CylinderYoYoMaxDep. 30 Sampling completed. Initialized to false. Mission stopped because of no firing for too long. Initialized to false. 0.0 0.0 0.0 MissionStartComms is completed (initialized to false). Start vertical smear (initialized to false). Go-up flag (set to true when going up. Initialized to false). Go-down flag (set to true when going down. Initialized to false). Enable firing. Initialized to true. Flag of water sampling in process (initialized to false). Flag of sample fired (initialized to false). Elapsed time from last time-fix to StartSmear. NaN Elapsed time from last time-fix to now. NaN Elapsed time from last time-fix to last firing. NaN Latitude of cylinder center. NaN Longitude of cylinder center. NaN Count of water samples (initilized to 1). 1 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. Trigger ESP sampling. DepthLogged, TempLogged, ChlLogged = , , . Wait for ESP sampling to complete. Set cylinder center to Waypoint1 ,. Yoyo profile on a cylinder around sampling location ,, at radius = Go to cylinder center (i.e., sampling location): , Go down at . Go up at . Go down at . 1 2 No firing for too long. Stopping mission. FromLastTimeFixToNow, FromLastTimeFixToLastFiring = , stop Taking ESP sample No.. ESP sample No. completed. 1 1 Completed sampling. Stopping mission. stop 1