behavior missionTimer
{
  timeOut = 7200;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 320; #Meters
  abortDepth = 325; #Meters
  minAltitude = 20.0; #Meters
  abortAltitude = 10.0; #Meters
}
behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}
behavior CARL
{
  duration = 1;
  homeIris = 1;
  lightSwitch = 0;
  record = 0;
}
behavior ascend
{
  duration = 1000; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 5; #Meters
}
behavior waypoint
{
  duration = 1300;
  depth = 300;
  speed = .75;
  latitude = 36.690;
  longitude = -122.0412;
}
behavior CARL
{
  id=125;
  duration = 1;
  fstop = 41;
}
# fstop = 561;
behavior waypoint
{
  duration = 600;
  depth = 300;
  speed = .75;
  latitude = 36.690;
  longitude = -122.0442;
}
behavior CARL
{
  id=124;
  duration = 1;
  fstop = 43;
}
behavior waypoint
{
  duration = 600;
  depth = 300;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0472;
}
behavior CARL
{
  id = 123;
  duration = 1;
  lightSwitch = 1;
  brightness = 80;
}
behavior CARL
{
  id = 122;
  clipname = 1;
  duration = 1;
  record = 1;
}
behavior waypoint
{
  duration = 5;
  depth = 300;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0472;
}
behavior CARL
{
  id = 121;
  duration = 1;
  fstop = 41;
}
 behavior CARL
{
  id = 120;
  duration = 1;
  record = 0;
  lightSwitch = 0;
}
behavior waypoint
{
  duration = 600;
  depth = 300;
  speed = 1.5;
  latitude = 36.690;
  longitude = -122.0514;
}
behavior descend 
{
horizontalMode = heading;
horizontal = 270;
pitch = -30;
speed = 1.5;
maxDepth = 298;
duration = 600;
minAltitude = 30;
}
behavior waypoint
{
  duration = 1300;
  depth = 200;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0514;
}
behavior CARL
{
  id = 119;
  duration = 1;
  fstop = 561;
}
behavior waypoint
{
  duration = 1300;
  depth = 200;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0472;
}
behavior CARL
{
  id = 118;
  duration = 1;
  fstop = 43;
}
behavior waypoint
{
  duration = 1300;
  depth = 200;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0442;
}
 behavior CARL
 {
   id = 117;
   duration = 1;
   lightSwitch = 1;
   brightness = 80;
 }
 behavior CARL
 {
   id = 116;
   clipname = 1;
   duration = 1;
   record = 1;
 }
behavior waypoint
{
  duration = 5;
  depth = 200;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0442;
}
behavior CARL
{
  id = 115;
  duration = 1;
  fstop = 41;
   
}
behavior CARL
{
  id = 114;
  duration = 1;
  record = 0;
  lightSwitch = 0;
}
behavior CARL
{
  duration = 1;
  lightSwitch = 1;
  brightness = 80;
}
behavior CARL
{
  clipname = 1;
  duration = 1;
  record = 1;
}
behavior CARL
{
   duration = 1;
   fstop = 41;
   id=2;
}
behavior CARL
{
  duration = 1;
  record = 0;
  lightSwitch = 0;
}
behavior waypoint
{
  duration = 600;
  depth = 200;
  speed = 1.5;
  latitude = 36.690;
  longitude = -122.0412;
}
#
# Descend behavior to desired depth:
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -30;
speed = 1.5;
maxDepth = 198;
duration = 600;
minAltitude = 30;
}
behavior waypoint
{
  duration = 1300;
  depth = 100;
  speed = .75;
  latitude = 36.690;
  longitude = -122.0412;
}
behavior CARL
{
  id = 113;
  duration = 1;
  fstop = 41;
}
# fstop = 561;
behavior waypoint
{
  duration = 600;
  depth = 100;
  speed = .75;
  latitude = 36.690;
  longitude = -122.0442;
}
behavior CARL
{
  id = 112;
  duration = 1;
  fstop = 43;
}
behavior waypoint
{
  duration = 600;
  depth = 100;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0472;
}
behavior CARL
{
  id = 111;
  duration = 1;
  lightSwitch = 1;
  brightness = 80;
}
behavior CARL
{
  id = 110;
  clipname = 1;
  duration = 1;
  record = 1;
}
behavior waypoint
{
  duration = 5;
  depth = 100;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0472;
}
behavior CARL
{
  id = 109;
  duration = 1;
  fstop = 41;
}
behavior CARL
{
  id = 108;
  duration = 1;
  record = 0;
  lightSwitch = 0;
}
behavior waypoint
{
  duration = 600;
  depth = 100;
  speed = 1.5;
  latitude = 36.690;
  longitude = -122.0514;
}
#
# Descend behavior to desired depth:
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -30;
speed = 1.5;
maxDepth = 98;
duration = 300;
minAltitude = 30;
}
behavior waypoint
{
  duration = 1300;
  depth = 50;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0514;
}
behavior CARL
{
   id=107;
   duration = 1;
   fstop = 561;
}
behavior waypoint
{
  duration = 1300;
  depth = 50;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0472;
}
behavior CARL
{
  id=106;
  duration = 1;
  fstop = 43;
}
behavior waypoint
{
  duration = 1300;
  depth = 50;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0442;
}
behavior CARL
{
  id = 105;
  duration = 1;
  lightSwitch = 1;
  brightness = 80;
}
behavior CARL
{
  id = 104;
  clipname = 1;
  duration = 1;
  record = 1;
}
behavior waypoint
{
  duration = 5;
  depth = 50;
  speed = 1.3;
  latitude = 36.690;
  longitude = -122.0442;
}
behavior CARL
{
  id = 103;
  duration = 1;
  fstop = 41;
}
behavior CARL
{
  id = 102;
  duration = 1;
  record = 0;
  lightSwitch = 0;
}
behavior waypoint
{
 duration = 800;
 depth = 50;
 speed = 1.5;
 latitude = 36.690;
 longitude = -122.0412;
}
#
# Descend behavior to desired depth:
behavior descend {
horizontalMode = heading;
horizontal = 300;
pitch = -30;
speed = 1.5;
maxDepth = 48;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 300;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior CARL
{
  id = 101;
  duration = 1;
  lightSwitch = 1;
  brightness = 80;
}
behavior CARL
{
  id = 100;
  record = 1;
  cameraSwitch = 1;
  recorderSwitch = 1;
  duration = 1;
  fstop = 561;
}
# acquire gps fix
behavior getgps {
duration = 300;
minHits = 10;
abortOnTimeout = True;
}
