GPSTimeout = 3 minute
Maximum amount of time to spend on the surface trying to get a GPS fix before giving up and diving again.
DiveInterval = 3 hour
Elapsed time after most recent GPS fix when vehicle will begin to ascend to the surface again.
WaitForPitchUp = 10 minute
Extra time to wait for the vehicle to pitch up (avoid truncating a yo).
SurfacePitch = 20 degree
SurfaceSpeed = 1 meter_per_second
Standard speed during surfacing. Don't reduce this too much below 1 m/s -- the elevators can stall. (At 0.5 m/s, we have observed evidence of stall in the past.)