# Mission Filename: 2015_258_140.cfg
#
#
#                   *** CAUTION *** 
#   *** THIS MISSION GENERATED WITH UTILITY WP2M ***
#               *** UNPROVEN CODE ***
#
#               *** LAUNCH WAYPOINT ***
#               LAT/LON: 36.8475 -121.9495
#
#               *** INITIAL HEADING *** 
#                        303.2  
#
#             *** abortOnTimeout is True ***
#
#   *** GULPERS ARMED AT START OF MISSION ***
# *** MOVE THE ARMING BEHAVIOR IF NECESSARY ***
#
# Expected survey line distance: 98612.2 meters
# Expected mission time: 75911.7 seconds
#    21 hours
#    5 minutes
# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 91094;
}
# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 10.0;
 maxDepth = 75.0;
 abortDepth = 85.0;
 abortAltitude = 2.5;
 abortLockoutDepth = 8.0;
}
behavior getgps {
duration = 1800;
minHits = 300;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# ***** LAUNCH WAYPOINT 0 *****
# LAT/LON: 36.8475 -121.9495
# N36 50.8525 W121 56.9697
latitude = 36.8475;
longitude = -121.9495;
captureRadius = 10;
duration = 2700;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 123;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 123;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 123;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# ***** LAUNCH WAYPOINT 0 *****
# LAT/LON: 36.8475 -121.9495
# N36 50.8525 W121 56.9697
latitude = 36.8475;
longitude = -121.9495;
captureRadius = 10;
duration = 2700;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 123;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 123;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 123;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# ***** LAUNCH WAYPOINT 0 *****
# LAT/LON: 36.8475 -121.9495
# N36 50.8525 W121 56.9697
latitude = 36.8475;
longitude = -121.9495;
captureRadius = 10;
duration = 2700;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 123;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 123;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
#return to start
# ***** Mission Ends ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 908.4;
# N36 54.0000 W122 3.0000
latitude = 36.9000;
longitude = -122.0500;
captureRadius = 10;
duration = 908;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 65;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 65;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** FINAL WAYPOINT NUMBER: 32 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 65;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 53.8218 W122 3.5726
latitude = 36.8970;
longitude = -122.0595;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 65;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 65;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 31 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 65;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 52.9894 W122 5.7671
latitude = 36.8832;
longitude = -122.0961;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 65;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 65;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 30 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 65;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 52.1570 W122 7.9613
latitude = 36.8693;
longitude = -122.1327;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 65;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 65;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 29 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 65;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 51.3246 W122 10.1550
latitude = 36.8554;
longitude = -122.1692;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 65;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 65;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 28 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 65;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 50.4923 W122 12.3483
latitude = 36.8415;
longitude = -122.2058;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 65;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 65;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 27 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 65;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 49.6599 W122 14.5413
latitude = 36.8277;
longitude = -122.2424;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 65;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 65;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 26 ^ *****
#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;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 65;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 48.8275 W122 16.7338
latitude = 36.8138;
longitude = -122.2789;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 65;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 65;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 25 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 65;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 47.9951 W122 18.9260
latitude = 36.7999;
longitude = -122.3154;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 65;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 65;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 24 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 65;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 47.1628 W122 21.1177
latitude = 36.7860;
longitude = -122.3520;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 65;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 65;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 23 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 65;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 46.3304 W122 23.3090
latitude = 36.7722;
longitude = -122.3885;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 65;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 65;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 22 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 15.2;
# N36 45.4980 W122 25.5000
latitude = 36.7583;
longitude = -122.4250;
captureRadius = 10;
duration = 15;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 211;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 211;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 21 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 211;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 45.5057 W122 25.4961
latitude = 36.7584;
longitude = -122.4249;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 211;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 211;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 20 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 211;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 47.1711 W122 24.2478
latitude = 36.7862;
longitude = -122.4041;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 211;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 211;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 19 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 211;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 48.8366 W122 22.9991
latitude = 36.8139;
longitude = -122.3833;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 211;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 211;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 18 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 211;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2.5;
# N36 50.5020 W122 21.7500
latitude = 36.8417;
longitude = -122.3625;
captureRadius = 10;
duration = 3;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 211;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 211;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 17 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 211;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 50.5038 W122 21.7505
latitude = 36.8417;
longitude = -122.3625;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 211;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 211;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 16 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 211;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 52.1692 W122 20.5008
latitude = 36.8695;
longitude = -122.3417;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 211;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 211;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 15 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 211;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 53.8346 W122 19.2506
latitude = 36.8972;
longitude = -122.3208;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 211;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 211;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 14 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 215;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2434.1;
# N36 55.5000 W122 18.0000
latitude = 36.9250;
longitude = -122.3000;
captureRadius = 10;
duration = 2434;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 215;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 215;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 13 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 215;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 56.5737 W122 17.0537
latitude = 36.9429;
longitude = -122.2842;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 215;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 215;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 12 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 215;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 58.1609 W122 15.6521
latitude = 36.9693;
longitude = -122.2609;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 215;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 215;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 11 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2407.1;
# N36 59.7480 W122 14.2500
latitude = 36.9958;
longitude = -122.2375;
captureRadius = 10;
duration = 2407;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 302;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 302;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 10 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 302;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 59.0605 W122 12.8703
latitude = 36.9843;
longitude = -122.2145;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 302;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 302;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 9 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 302;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 58.0302 W122 10.8089
latitude = 36.9672;
longitude = -122.1801;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 302;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 302;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 8 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 303;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2970.1;
# N36 57.0000 W122 8.7480
latitude = 36.9500;
longitude = -122.1458;
captureRadius = 10;
duration = 2970;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 303;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 303;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 7 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 303;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 56.1249 W122 7.0681
latitude = 36.9354;
longitude = -122.1178;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 303;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 303;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 6 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 303;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 55.0625 W122 5.0338
latitude = 36.9177;
longitude = -122.0839;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 303;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 303;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 5 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 303;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2974.7;
# N36 54.0000 W122 3.0000
latitude = 36.9000;
longitude = -122.0500;
captureRadius = 10;
duration = 2975;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 303;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 303;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 4 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 303;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 53.1240 W122 1.3182
latitude = 36.8854;
longitude = -122.0220;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 303;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 303;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 3 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 303;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 52.0620 W121 59.2849
latitude = 36.8677;
longitude = -121.9881;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 303;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 303;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 2 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 303;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 500.0;
# N36 51.0000 W121 57.2520
latitude = 36.8500;
longitude = -121.9542;
captureRadius = 10;
duration = 650;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 303;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 303;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 1 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# ***** LAUNCH WAYPOINT 0 *****
# LAT/LON: 36.8475 -121.9495
# N36 50.8525 W121 56.9697
latitude = 36.8475;
longitude = -121.9495;
captureRadius = 10;
duration = 650;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 300.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 300.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** LAUNCH WAYPOINT 0 *****
# LAT/LON: 36.8475 -121.9495
# N36 50.8525 W121 56.9697
# INITIAL HEADING:  303.2