# Mission Filename: 2015_130_2255.cfg
#
#
#                   *** CAUTION *** 
#   *** THIS MISSION GENERATED WITH UTILITY WP2M ***
#               *** UNPROVEN CODE ***
#
#               *** LAUNCH WAYPOINT ***
#               LAT/LON: 36.7071 -122.1906
#
#               *** INITIAL HEADING *** 
#                        45.9  
#
#             *** abortOnTimeout is True ***
#
#   *** GULPERS ARMED AT START OF MISSION ***
# *** MOVE THE ARMING BEHAVIOR IF NECESSARY ***
#
# Expected survey line distance: 31643.0 meters
# Expected mission time: 19242.1 seconds
#    5 hours
#    20 minutes
# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 19200;
}
# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 2.0;
 maxDepth = 75.0;
 abortDepth = 85.0;
 abortAltitude = 2.5;
 abortLockoutDepth = 8.0;
}
behavior getgps {
duration = 1800;
minHits = 300;
abortOnTimeout = True;
}
# ***** Mission Ends ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2343.0;
# N36 54.2820 W121 56.0940
latitude = 36.9047;
longitude = -121.9349;
captureRadius = 10;
duration = 2343;
speed = 1.75;
minDepth = 2;
maxDepth = 75;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 46;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 46;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 3;
abortOnTimeout = True;
}
# ***** FINAL WAYPOINT NUMBER: 10 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 46;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 53.4170 W121 57.2471
latitude = 36.8903;
longitude = -121.9541;
captureRadius = 10;
duration = 3600;
speed = 1.75;
minDepth = 2;
maxDepth = 75;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 46;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 46;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 3;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 9 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 46;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 52.0664 W121 58.9926
latitude = 36.8678;
longitude = -121.9832;
captureRadius = 10;
duration = 3600;
speed = 1.75;
minDepth = 2;
maxDepth = 75;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 46;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 46;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 3;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 8 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 46;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 50.7158 W122 0.7374
latitude = 36.8453;
longitude = -122.0123;
captureRadius = 10;
duration = 3600;
speed = 1.75;
minDepth = 2;
maxDepth = 75;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 46;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 46;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 3;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 7 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 46;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 49.3651 W122 2.4818
latitude = 36.8228;
longitude = -122.0414;
captureRadius = 10;
duration = 3600;
speed = 1.75;
minDepth = 2;
maxDepth = 75;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 46;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 46;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 3;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 6 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 46;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 48.0145 W122 4.2257
latitude = 36.8002;
longitude = -122.0704;
captureRadius = 10;
duration = 3600;
speed = 1.75;
minDepth = 2;
maxDepth = 75;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 46;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 46;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 3;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 5 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 46;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 46.6639 W122 5.9690
latitude = 36.7777;
longitude = -122.0995;
captureRadius = 10;
duration = 3600;
speed = 1.75;
minDepth = 2;
maxDepth = 75;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 46;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 46;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 3;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 4 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 46;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 45.3133 W122 7.7119
latitude = 36.7552;
longitude = -122.1285;
captureRadius = 10;
duration = 3600;
speed = 1.75;
minDepth = 2;
maxDepth = 75;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 46;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 46;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 3;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 3 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 46;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 43.9626 W122 9.4542
latitude = 36.7327;
longitude = -122.1576;
captureRadius = 10;
duration = 3600;
speed = 1.75;
minDepth = 2;
maxDepth = 75;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 46;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 46;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 3;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 2 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 46;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 500.0;
# N36 42.6120 W122 11.1960
latitude = 36.7102;
longitude = -122.1866;
captureRadius = 10;
duration = 650;
speed = 1.75;
minDepth = 2;
maxDepth = 75;
minAltitude = 10;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 46;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 46;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 3;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 1 ^ *****
#Arm UNFIRED gulpers for adaptive firing#
behavior ArmTheGulper{
duration = 5;
gulper0 = 1;
gulper1 = 1;
gulper2 = 1;
gulper3 = 1;
gulper4 = 1;
gulper5 = 1;
gulper6 = 1;
gulper7 = 1;
gulper8 = 1;
gulper9 = 1;
gulper10 = 1;
gulper11 = 1;
gulper12 = 1;
gulper13 = 1;
gulper14 = 1;
gulper15 = 1;
gulper16 = 1;
gulper17 = 1;
gulper18 = 1;
gulper19 = 1;
}
# ***** LAUNCH WAYPOINT 0 *****
# LAT/LON: 36.7071 -122.1906
# N36 42.4244 W122 11.4378
# INITIAL HEADING:  45.9