# AUVCTD_Scripps_Deep.cfg
#
#Mission Description
#Launch at waypoint launch1
# n36 45.6083 w121 58.7201
#YoYo to C1
#

#100m YoYo's to C1
#Expected duration 3.0 hours

# mission timer set to 3 hours
behavior missionTimer {
timeOut = 10800;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 115;
 abortDepth = 130;
 abortAltitude = 25;
 abortLockoutDepth = 30.0;
}

# End Of Mission

# get gps
behavior getgps {
duration = 1800;
minHits = 100;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for Waypoint C1 - The End
behavior waypoint_yoyo {
latitude = 36.7960;
longitude = -121.8500;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 2;
maxDepth = 100;
minAltitude = 20;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for Waypoint C1.25
behavior waypoint_yoyo {
latitude = 36.7886;
longitude = -121.8779;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 2;
maxDepth = 100;
minAltitude = 20;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for Waypoint C1.375
behavior waypoint_yoyo {
latitude = 36.7816;
longitude = -121.9030;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 2;
maxDepth = 100;
minAltitude = 20;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior 3
# Aiming for Waypoint Chavez_Survey_Start
behavior waypoint_yoyo {
latitude = 36.773;
longitude = -121.9348;
captureRadius = 10;
duration = 2400;
speed = 1.25;
minDepth = 2;
maxDepth = 100;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior 2
# Aiming for Waypoint Chavez_Survey_Start
behavior waypoint_yoyo {
latitude = 36.773;
longitude = -121.9348;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2;
maxDepth = 100;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior 1
# Aiming for Waypoint Chavez_Survey_Start
behavior waypoint_yoyo {
latitude = 36.773;
longitude = -121.9348;
captureRadius = 10;
duration = 900;
speed = 1.25;
minDepth = 2;
maxDepth = 100;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}