Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0 to disable sampling. 1 Cartridge type. Initialized to -6. -6 0 Maximum duration of mission 3 Wait time before firing a sample. 0 In transit, how often to surface for commumications 60 If no firing after more than MaxWaitNoFiring, terminate mission. 2 Whether to reach the end waypoint after sampling is completed (initialized to true). Vehicle speed. 1.0 Maximum depth for the entire mission. 50 Minimum yoyo depth while transiting to the sampling location. 10 Maximum yoyo depth while transiting to the sampling location. 20 Waypoint capture radius for transiting to the sampling location. 100 The start latitude of sampling. If NaN, start here. NaN The start longitude of sampling. If NaN, start here. NaN The end latitude of sampling. Must set. NaN The end longitude of sampling. Must set. NaN 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 Whether to use CANON Sampler to sample. Whether to use ESP to sample. How long to wait for a CANON Sampler sample to start. 1 How long to wait for a CANON Sampler sample to complete. Vehicle up pitch while performing the YoYo behavior. 20 Vehicle down pitch while performing the YoYo behavior. -20 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 How often to surface for commumications during the process of completing all samples, in case something goes wrong during sampling. 3 The mission sets this variable to reset the ESP sample timer. 0 Only for syslog. 0 Mission stopped because of no firing for too long. Initialized to false. 0.0 0.0 0.0 MissionStartComms is completed (initialized to false). Transit is completed (initialized to False). Flag of water sampling in process (initialized to false). Sampling completed. Initialized to false. 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. Trigger CANON sampling. DepthLogged, TempLogged, ChlLogged = , , . Timed out triggering CANONSampler. Stopping mission. stop Timed out sampling with CANONSampler. Stopping mission. stop 1 Wait before firing sample. 0 0 1 1 No firing for too long. Stopping mission. ElapsedTime, MaxWaitNoFiring = , stop Taking sample No.. 0 Sample No. completed. 0 1