Vehicle transits to desired waypoint (or stays put if none is commanded) and stays within the specified radius.
MissionTimeout = 4 hour
Maximum duration of mission
NeedCommsTime = 45 minute
How often to surface for communications
Latitude = NaN degree
Latitude of waypoint to hold. If NaN, hold the latitude at start of mission.
Longitude = NaN degree
Longitude of waypoint to hold. If NaN, hold the longitude at start of mission.
Depth = 30 meter
Depth held during drift mode
ApproachDepth = 15 meter
Depth for initial approach to station.
DepthDeadband = 4 meter
How much vertical drift from the specified depth is allowed in drift mode
Speed = 0.75 meter_per_second
Vehicle transit speed.
Radius = 200 meter
Radius of circle around waypoint to hold.
MaxDepth = 45 meter
Maximum allowable depth during the mission.
MinOffshore = 2 kilometer
Minimum distance from the shoreline to maintain