Vehicle runs yo-yos, with patch detect enabled for cholorphyll concentration. Minimum altitude for the entire mission. 5 Maximum depth for the entire mission. 65 Minimum water depth for the entire mission. 10 Minimum offshore distance for the entire mission. 2000 Maximum time between surfacings for communications 180 Timeout for the entire mission 56 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. Minimum depth during yo-yo's. 5.0 Maximum depth during yo-yo's. 25.0 Pitch when yo-yo's are ascending. 20.0 Pitch when yo-yo's are descending. -20.0 Vehicle speed. 1 Maximum length of each tracking leg 1000 Maximum duration of each tracking leg 8000 Set WaterFrame true to drive towards waypoints in the water frame of reference Maximum number of tracking legs 20 Amount to turn at each leg 90 Change in bearing which reverses vehicle direction 180 Applied to stop run-up of angles 360 If greater than zero, report a peak every window. If NaN or zero, this variable is ignored. NaN Low-pass window length (based on depth sensor sampling interval 0.4 second) for low-pass filtering. 20 Shallow depth bound for detecting chl peak on each descent or ascent profile. 10 Deep depth bound for detecting chl peak on each descent or ascent profile. 20 Length of horizontal sliding window. The highest yoyo-wise chl peak (after low-pass filtering by a filter of length FilterWidthHorizontal) within this window. 10 Width of boxcar filter used in horizontal patch detection 4 If non-NaN, sets threshold for starting horizontal patch detection NaN When filtered horizontal value is this fraction of the peak, consider it outside the patch. 80 If true, use center of "in peak" range as the turn-around point. If false use maximum horizontal peak location as the turn-around point. Set true to turn on horizontal patch tracking Bearing being followed in the current leg. Set this to initialize start direction of patch tracking. -90 Mission sets this to true when the patch has been crossed. Mission sets this to true when the cross-patch waypoint has been reached. NaN NaN NaN NaN 0 20 1 20 1 0 10 NeedComms Timeout Surfacing Fell below OffPeakFraction. Patch value is at lat = , lon = , dep = , distance = Next: bearing for CrossLeg: . WpMaxDistance = . Current lat, lon = , . This is a long leg across the width of the patch. Also the first leg in a mission run. Two waypoints run in parallel: a short run to the surfacing point, and a longer run to the edge of the patch. CrossPeakWp done. Lat, lon = , . Patch value is at lat = , lon = , dep = , distance = Next: bearing for InLeg: . Current lat, lon = , . Patch value is at lat = , lon = , dep = , distance = Simply drive back towards the patch center Next: bearing for OutLeg: . WpMaxDistance = . Current lat, lon = , . Patch value is at lat = , lon = , dep = , distance = Drive outward until edge of patch is detected.