This mission yoyos in a circle around a specified location. Designed for under ice. Maximum duration of mission 2 Maximum time to spend getting off the dock 20 The latitude of the center of the circle. 44.847 The longitude of the center of the circle. -67.577535 Radius to circle at 50 Minimum depth while performing the YoYo behavior. 2.5 Maximum depth while performing the YoYo behavior. 5 Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos). 4 Pitch (plus and minus) for yo-yo behavior. 15 Vehicle speed. 1 If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. 1 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 Minimum height above the sea floor for the entire mission. 2 Maximum depth for the entire mission. 8 Minimum offshore distance for the entire mission. 10 How often to trigger Umodem communications 5 Desired vehicle depth when leaving the dock. 4.5 Time duration to keep the thruster engaged to bounce/slingshot off the dock. 20 Transponder Address. 2 How long to wait between acoustic queries. 2.5 Number of pings requested each time. 1 Most missions will run the science sensors. Timed out trying to detach from dock. Stopping mission. stop Detaching from dock. 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.