# Biospace.cfg
# 
# Distance of single survey track 34.151 km
# 
# Changed zero speed setpoint to 5 sec in between gulper 
#   firings because of problems seen


#define YOYO_MIN_ALTITUDE 10
#define MISSION_YOYO_MIN_DEPTH 2
#define MISSION_YOYO_MAX_DEPTH 35
#define MISSION_YOYO_MAX_DEPTH_SHALLOW 25
#define MISSION_SPEED 1.4
#define MISSION_SPEED_SLOW 1.4


#should be 17 hour mission, set timer to 24 hours
#set timeout in seconds
behavior missionTimer {
timeOut = 9000;
}

behavior depthEnvelope {
  minDepth = 0;
  maxDepth = 40;
  abortDepth = 50;
  abortAltitude = 4.0;
  abortLockoutDepth = 10.0;
}

# Mission End

# acquire gps fix
behavior getgps {
duration = 900;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration  = 1200;
horizontalMode   = rudder;
horizontal       = 5;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg to waypoint esp_ne
#N36 56.3138 W121 58.0030
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9385;
longitude     = -121.9667;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 900;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration  = 1200;
horizontalMode   = rudder;
horizontal       = 5;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg 4 of 4 to waypoint esp_nw
#N36 56.3099 W121 58.7846
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9385;
longitude     = -121.9797;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 900;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration  = 1200;
horizontalMode   = rudder;
horizontal       = 5;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg 3 of 4 to waypoint esp_nw
#N36 56.3099 W121 58.7846
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9385;
longitude     = -121.9797;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 900;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg 2 of 4 to waypoint esp_nw
#N36 56.3099 W121 58.7846
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9385;
longitude     = -121.9797;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 900;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg 1 of 4 to waypoint esp_nw
#N36 56.3099 W121 58.7846
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9385;
longitude     = -121.9797;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 900;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#fly to biospace_mcewen_launch waypoint
#N36 56.3099 W121 58.7846
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.869244;
longitude     = -121.92835;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


behavior ArmTheGulper
{
    duration = 1;
    gulper0 = 1;
    gulper1 = 1;
    gulper2 = 1;
    gulper3 = 1;
    gulper4 = 1;
    gulper5 = 1;
    gulper6 = 1;
    gulper7 = 1;
    gulper8 = 1;
    gulper9 = 1;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 900;
minHits = 30;
abortOnTimeout = True;
}

#
# Launch AUV at waypoint Biospace_mcewen_launch
#  N36 52.15464 W121 55.70090
#  Along line from m0 to santa cruz esp