After transit, this mission dives to yo-yo min depth, turns on red lights and camera, and begins the cylinder. Lights switch between red/white every LightDeltaTimeSetting minutes. Maximum duration of mission 4 On the way transiting to the surveying location, how often to surface for commumications 30 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. 1 Whether to track an acoustic target at all. Whether to track an acoustic target during transit (on condition that TrackAcousticTarget is True). The acoustic address of the asset to be tracked 0 Depth of acoustic target if known and fixed (or nearly fixed). For example, if the acoustic target is a Wave Glider, set it to zero. This will improve 2D projected position estimates in the Earth reference frame. Defaults to NaN. NaN Only use a sufficiently fresh handshake to update the tracking center. 15 Period of taking settings for setting samplers. Set to a large number (e.g., 20000 minutes = 14 days) to practically diable this functionality. 10.0 Period of red versus white lights. 5.0 Vehicle speed when transiting to the surveying location. 1.0 Value for setting vehicle speed when surveying on cylinder yoyo. 1.0 Maximum depth for the entire mission. 50 Value for setting minimum depth while performing the YoYo behavior. 40 Value for setting maximum depth while performing the YoYo behavior. 50 Maximum time duration for the vehicle to reach the initial yo-yo depth. The vehicle will switch over to attempting yo-yos after the timeout is expired. 20 Minimum yoyo depth while transiting to the surveying location. 10 Maximum yoyo depth while transiting to the surveying location. 50 Waypoint capture radius for transiting to the surveying location. 100 Value for setting radius of cylinder centered at the surveying location. 100 Maximum number of circles on cylinder. 1000 The latitude of the surveying location. If NaN, will skip transit. NaN The longitude of the surveying location. If NaN, will skip transit. NaN The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. NaN The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. 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 How long to wait between acoustic queries 15 Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) 1 Number of fixes to average to produce smoothed lat/lon/dep output (initialized to 4). 4 Number of fixes to ignore at the start of mission (as the vehicle just leaves surface, contact's location estimate especailly bearing can be erroneous. Initialized to 8, corresponding to 2 minutes if query interval TrackingUpdatePeriod = 15 s. 8 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 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 Period of red versus white lights. 5.0 Vehicle speed when surveying on cylinder yoyo. 1.0 Minimum depth while performing the YoYo behavior. Initialized to 1.5 m. 1.5 Maximum depth while performing the YoYo behavior. Initialized to 20 m. 20 Radius of cylinder centered at the surveying location. Initialized to 100 m. 100 Flag of first time setting samplers (initialized to True). Low-pass filtered latitude of contact (initialized to NaN). NaN Low-pass filtered longitude of contact (initialized to NaN). NaN Elapsed time from last time-fix to center update time (initialized to zero). 0 Elapsed time from last time-fix to setting of samplers. NaN Elapsed time from last time the light color was switched. NaN Indicates white lights should be turned on (default is red to start so we don't scare the fish). If false, red will be turned on. Transit waypoint is completed (initialized to false). 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. Set SpeedSurvey = , YoYoMinDepth = , YoYoMaxDepth = , CylinderRadius = , LightingPeriod = . Initialize CenterLatitude and CenterLongitude to GPS fix: , . Updating. FromLastTimeFixToCenterUpdate, CenterLatitude, CenterLongitude = , , Descend from to initial depth prior to beginning yo-yos and turning on the lights/camera. Timed out at current depth of . Switching to yo-yo command. Activating camera. 25 Activating Red Lights. Activating White Lights. Activating Red Lights. Yoyo profile on a cylinder around location ,, at radius = .