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Visualforce Page "sforce.one.navigateToUrl is not a function"

I have a custom visualforce page that I'm trying to use sforce.one.navigateToUrl to redirect users to a custom VF page (e.g. /apex/mypage?param=12345).

The page works find with sforce.one.navigateToSObject(record.Id);, but the console throws an error saying "sforce.one.navigateToUrl is not a function" if I try to use sforce.one.navigateToUrl('/apex/mypage?param=' + myParamValue).