# Mission Filename: 2015_266_044.cfg
#
#
#                   *** CAUTION *** 
#   *** THIS MISSION GENERATED WITH UTILITY WP2M ***
#               *** UNPROVEN CODE ***
#
#               *** LAUNCH WAYPOINT ***
#               LAT/LON: 36.7399 -122.0210
#
#               *** INITIAL HEADING *** 
#                        45.7  
#
#             *** abortOnTimeout is True ***
#
#   *** GULPERS ARMED AT START OF MISSION ***
# *** MOVE THE ARMING BEHAVIOR IF NECESSARY ***
#
# Expected survey line distance: 20380.4 meters
# Expected mission time: 14458.9 seconds
#    4 hours
#    0 minutes
# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 17350;
}
# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 10.0;
 maxDepth = 75.0;
 abortDepth = 90.0;
 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 = 1615.2;
# N36 48.0000 W121 51.6000
latitude = 36.8000;
longitude = -121.8600;
captureRadius = 10;
duration = 1615;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 138;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 138;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 300;
heading = 138;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** FINAL WAYPOINT NUMBER: 8 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 138;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 48.6505 W121 52.3245
latitude = 36.8108;
longitude = -121.8721;
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 = 138;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 138;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 300;
heading = 138;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 120;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 7 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 265.2;
# N36 50.1000 W121 53.9400
latitude = 36.8350;
longitude = -121.8990;
captureRadius = 10;
duration = 265;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
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 = 30;
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 50.0028 W121 54.0712
latitude = 36.8334;
longitude = -121.9012;
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 = 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 = 30;
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 48.6471 W121 55.8092
latitude = 36.8108;
longitude = -121.9302;
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 = 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 = 30;
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 47.2914 W121 57.5466
latitude = 36.7882;
longitude = -121.9591;
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 = 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 = 30;
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 45.9357 W121 59.2836
latitude = 36.7656;
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 = 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 = 30;
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 44.5800 W122 1.0200
latitude = 36.7430;
longitude = -122.0170;
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 = 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 = 30;
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: 36.7399 -122.0210
# N36 44.3917 W122 1.2611
# INITIAL HEADING:  45.7