#HalfHourMission
#to test HOLO
#


#

#





behavior missionTimer {
timeOut = 2200;
}

# depth envelope set to commanded + 5 m, 
#  abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 40;
 abortDepth = 50;
 abortAltitude = 5;
 abortLockoutDepth = 5.0;
}


# setpoint on surface to gather momentum
behavior setpoint {
duration = 7200;
heading = 110.0;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}

# End of mission
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 700;
horizontalMode = heading;
horizontal = 180;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# leg time
behavior waypoint_yoyo {
latitude = 36.8099;
longitude = -121.8350;
captureRadius = 10;
duration = 900;
speed = 1.5;
minDepth = 1.5;
maxDepth = 40;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 180;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 700;
horizontalMode = heading;
horizontal = 0;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# leg time 15 minutes
behavior waypoint_yoyo {
latitude = 36.8214;
longitude = -121.8337;
captureRadius = 10;
duration = 900;
speed = 1.5;
minDepth = 1.5;
maxDepth = 40;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}

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

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}