#define SE_DIVE_LAT 36.7022570
#define SE_DIVE_LON -122.1836830
#define SE_START_LAT 36.7022570
#define SE_START_LON -122.1851400
#define SW_END_LAT 36.7022570
#define SW_END_LON -122.1890610
#define NW_DIVE_LAT 36.7030680
#define NW_DIVE_LON -122.1900690
#define NW_START_LAT 36.7030680
#define NW_START_LON -122.1890610
#define NE_END_LAT 36.7030680
#define NE_END_LON -122.1851770
#define TRANSECT_END_LAT 36.67521
#define TRANSECT_END_LON -122.1836830

#these time parameters need to be adjusted at mission start to make things happen at the right time
#night transect should start at 0700Z/0000L (midnite)
#define NIGHT_TRANSECT_START_MINUS_ONE_HOUR 46620
#define NIGHT_TRANSECT_START 50220
#define MORNING_TRANSECT_START 83520

behavior missionTimer
{
  timeOut = 97920; #set to timeout at 1300 on Tuesday
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 750; #Meters
  abortDepth = 775; #Meters
  minAltitude = 40.0; #Meters
#  abortAltitude = 30.0; #Meters
#  abortLockoutDepth = 950; #Meters
}

behavior setpoint {
duration = 7200;
heading = 90.0;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}

#end of mission hang out until recovery
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}
behavior CARL
{
  id = 2622;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}

behavior ascend
{
  duration = 3600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 5; #Meters
}

behavior CARL
{
  id = 2619;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#29.  End 10.
behavior waypoint
{
  duration = 870;
  depth = 700;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2711;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#28. Turn, stabilize, set up.
behavior waypoint
{
  duration = 227;
  depth = 700;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2618;
  duration = 1;
  fstop = 31;
}
#27. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 700;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2617;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#26. End 9.
behavior waypoint
{
  duration = 878;
  depth = 600;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2710;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#25.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 600;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2616;
  duration = 1;
  fstop = 31;
}
#24. Dive.
behavior waypoint
{
  duration = 385;
  depth = 600;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2615;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#23. End 8.
behavior waypoint
{
  duration = 870;
  depth = 500;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2709;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#22. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 227;
  depth = 500;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2614;
  duration = 1;
  fstop = 31;
}
#21.  Dive.
behavior waypoint
{
  duration = 319;
  depth = 500;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2613;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}
#20.  End Seven.
behavior waypoint
{
  duration = 878;
  depth = 400;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2708;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#19. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 400;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2612;
  duration = 1;
  fstop = 31;
}
#18. Dive.
behavior waypoint
{
  duration = 385;
  depth = 400;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2611;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#17. End 6.
behavior waypoint
{
  duration = 870;
  depth = 300;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2707;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#16. Turn, stabilize, setup.
behavior waypoint
{
  duration = 227;
  depth = 300;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2610;
  duration = 1;
  fstop = 31;
}
#15. Dive.
behavior waypoint
{
  duration = 319;
  depth = 300;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2609;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#14. End 5.
behavior waypoint
{
  duration = 878;
  depth = 250;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2706;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#13. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 250;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2608;
  duration = 1;
  fstop = 31;
}
#12. Dive.
behavior waypoint
{
  duration = 385;
  depth = 250;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2607;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#11.  End 4
behavior waypoint
{
  duration = 870;
  depth = 200;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2705;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#10. Turn, stabilize, set up.
behavior waypoint
{
  duration = 226;
  depth = 200;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2606;
  duration = 1;
  fstop = 31;
}
#9. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 200;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2605;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#8. End 3.
behavior waypoint
{
  duration = 877;
  depth = 150;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2704;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#Seven.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 150;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2604;
  duration = 1;
  fstop = 31;
}
#Six. Dive.
behavior waypoint
{
  duration = 385;
  depth = 150;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2603;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#Five End 2
behavior waypoint
{
  duration = 870;
  depth = 100;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2703;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#Four. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 226;
  depth = 100;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2602;
  duration = 1;
  fstop = 31;
}
#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 100;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2601;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}
#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 50;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2702;
  fstop = 41;
  brightness = 95;
  lightSwitch = 1;
  clipname = 1;
  duration = 1;
  record = 1;
}
#One.  Start the Segment.
behavior waypoint
{
 duration = 415;
 depth = 50;
 speed = 1.5;
 latitude = NW_START_LAT;
 longitude = NW_START_LON;
}

#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 50;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

behavior CARL
{
  id = 2601;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}

#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 25;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2702;
  fstop = 41;
  brightness = 95;
  lightSwitch = 1;
  clipname = 1;
  duration = 1;
  record = 1;
}

#One.  Start the Segment.
behavior waypoint
{
 duration = 415;
 depth = 25;
 speed = 1.5;
 latitude = SE_START_LAT;
 longitude = SE_START_LON;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2602;
  duration = 1;
  fstop = 41;
}

#Zero.  Lead-in waypoint.
behavior waypoint
{
 duration = 1250;
 depth = 25;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}

behavior CARL
{
  id = 2601;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}

#
# Descend and transit to starting waypoint.
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 23;
minAltitude = 50.000000;
duration = 600;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 220.0;
pitch = -35;
speed = 1.5;
maxDepth = 8;
duration = 700;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 220.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}
#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

# wait until 1600Z to start next video transect, then traverse to start
behavior setpoint {
endTime = MORNING_TRANSECT_START;
heading = 90.0;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_START_LAT;
 longitude = SE_START_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_START_LAT;
 longitude = SE_START_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_START_LAT;
 longitude = SE_START_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#start of fourth transect with no video or lights constant depth 50m
#end of transect with no video or lights 8.5 hours elapsed
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

#transect at 50m until ~2200

#end of transect with no video or lights 5.5 hours elapsed
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}
behavior ascend
{
  duration = 600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior ascend
{
  duration = 3600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 5; #Meters
}

#29.  End 10.
behavior waypoint
{
  duration = 870;
  depth = 700;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#28. Turn, stabilize, set up.
behavior waypoint
{
  duration = 227;
  depth = 700;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}

#27. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 700;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}

#26. End 9.
behavior waypoint
{
  duration = 878;
  depth = 600;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}

#25.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 600;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}

#24. Dive.
behavior waypoint
{
  duration = 385;
  depth = 600;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

#23. End 8.
behavior waypoint
{
  duration = 870;
  depth = 500;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#22. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 227;
  depth = 500;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}

#21.  Dive.
behavior waypoint
{
  duration = 319;
  depth = 500;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}

#20.  End Seven.
behavior waypoint
{
  duration = 878;
  depth = 400;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}

#19. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 400;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}

#18. Dive.
behavior waypoint
{
  duration = 385;
  depth = 400;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

#17. End 6.
behavior waypoint
{
  duration = 870;
  depth = 300;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#16. Turn, stabilize, setup.
behavior waypoint
{
  duration = 227;
  depth = 300;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}

#15. Dive.
behavior waypoint
{
  duration = 319;
  depth = 300;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}

#14. End 5.
behavior waypoint
{
  duration = 878;
  depth = 250;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}

#13. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 250;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}

#12. Dive.
behavior waypoint
{
  duration = 385;
  depth = 250;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

#11.  End 4
behavior waypoint
{
  duration = 870;
  depth = 200;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#10. Turn, stabilize, set up.
behavior waypoint
{
  duration = 226;
  depth = 200;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}

#9. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 200;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}

#8. End 3.
behavior waypoint
{
  duration = 877;
  depth = 150;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}

#Seven.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 150;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}

#Six. Dive.
behavior waypoint
{
  duration = 385;
  depth = 150;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

#Five End 2
behavior waypoint
{
  duration = 870;
  depth = 100;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#Four. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 226;
  depth = 100;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}

#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 100;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}

#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 50;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}

#One.  Start the Segment.
behavior waypoint
{
 duration = 415;
 depth = 50;
 speed = 1.5;
 latitude = NW_START_LAT;
 longitude = NW_START_LON;
}

#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 50;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 25;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#One.  Start the Segment.
behavior waypoint
{
 duration = 415;
 depth = 25;
 speed = 1.5;
 latitude = SE_START_LAT;
 longitude = SE_START_LON;
}

#Zero.  Lead-in waypoint.
behavior waypoint
{
 duration = 1250;
 depth = 25;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 23;
minAltitude = 50.000000;
duration = 600;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 220.0;
pitch = -35;
speed = 1.5;
maxDepth = 8;
duration = 700;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 220.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#start of profile 3 hours elapsed

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}
behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}
behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}
#

# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#start of second transect with no video or lights

#end of first transect with video and lights 2.5 hours elapsed
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}
behavior ascend
{
  duration = 600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}
behavior CARL
{
  id = 2622;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
behavior ascend
{
  duration = 3600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 5; #Meters
}

behavior CARL
{
  id = 2619;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#29.  End 10.
behavior waypoint
{
  duration = 870;
  depth = 700;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2711;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#28. Turn, stabilize, set up.
behavior waypoint
{
  duration = 227;
  depth = 700;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2618;
  duration = 1;
  fstop = 31;
}
#27. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 700;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2617;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#26. End 9.
behavior waypoint
{
  duration = 878;
  depth = 600;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2710;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#25.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 600;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2616;
  duration = 1;
  fstop = 31;
}
#24. Dive.
behavior waypoint
{
  duration = 385;
  depth = 600;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2615;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#23. End 8.
behavior waypoint
{
  duration = 870;
  depth = 500;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2709;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#22. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 227;
  depth = 500;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2614;
  duration = 1;
  fstop = 31;
}
#21.  Dive.
behavior waypoint
{
  duration = 319;
  depth = 500;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2613;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}
#20.  End Seven.
behavior waypoint
{
  duration = 878;
  depth = 400;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2708;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#19. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 400;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2612;
  duration = 1;
  fstop = 31;
}
#18. Dive.
behavior waypoint
{
  duration = 385;
  depth = 400;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2611;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#17. End 6.
behavior waypoint
{
  duration = 870;
  depth = 300;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2707;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#16. Turn, stabilize, setup.
behavior waypoint
{
  duration = 227;
  depth = 300;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2610;
  duration = 1;
  fstop = 31;
}
#15. Dive.
behavior waypoint
{
  duration = 319;
  depth = 300;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2609;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#14. End 5.
behavior waypoint
{
  duration = 878;
  depth = 250;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2706;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#13. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 250;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2608;
  duration = 1;
  fstop = 31;
}
#12. Dive.
behavior waypoint
{
  duration = 385;
  depth = 250;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2607;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#11.  End 4
behavior waypoint
{
  duration = 870;
  depth = 200;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2705;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#10. Turn, stabilize, set up.
behavior waypoint
{
  duration = 226;
  depth = 200;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2606;
  duration = 1;
  fstop = 31;
}
#9. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 200;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2605;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#8. End 3.
behavior waypoint
{
  duration = 877;
  depth = 150;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2704;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#Seven.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 150;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2604;
  duration = 1;
  fstop = 31;
}
#Six. Dive.
behavior waypoint
{
  duration = 385;
  depth = 150;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2603;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#Five End 2
behavior waypoint
{
  duration = 870;
  depth = 100;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2703;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#Four. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 226;
  depth = 100;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2602;
  duration = 1;
  fstop = 31;
}
#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 100;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2601;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}
#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 50;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2702;
  fstop = 41;
  brightness = 95;
  lightSwitch = 1;
  clipname = 1;
  duration = 1;
  record = 1;
}
#One.  Start the Segment.
behavior waypoint
{
 duration = 415;
 depth = 50;
 speed = 1.5;
 latitude = NW_START_LAT;
 longitude = NW_START_LON;
}

#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 50;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

behavior CARL
{
  id = 2601;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}

#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 25;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2702;
  fstop = 41;
  brightness = 95;
  lightSwitch = 1;
  clipname = 1;
  duration = 1;
  record = 1;
}

#One.  Start the Segment.
behavior waypoint
{
 duration = 415;
 depth = 25;
 speed = 1.5;
 latitude = SE_START_LAT;
 longitude = SE_START_LON;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2602;
  duration = 1;
  fstop = 41;
}

#Zero.  Lead-in waypoint.
behavior waypoint
{
 duration = 1250;
 depth = 25;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}

behavior CARL
{
  id = 2601;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}

#
# Descend and transit to starting waypoint.
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 23;
minAltitude = 50.000000;
duration = 600;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 220.0;
pitch = -35;
speed = 1.5;
maxDepth = 8;
duration = 700;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 220.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 10;
abortOnTimeout = True;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}
#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

# wait until 0000L to start video transect, then traverse to start
behavior setpoint {
endTime = NIGHT_TRANSECT_START;
heading = 90.0;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}

#12.5 hours elapsed

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}
behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 2700;
 depth = 50;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}
#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}
behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}
behavior waypoint
{
 duration = 2700;
 depth = 50;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}
#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#end of transect with no video or lights constant depth 50m 12 hours elapsed
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

#####TRANSIT BACK TO START FOR MIDNITE VIDEO TRANSECT

#end of fourth lap ~2100. Lap will stop based on NIGHT_TRANSECT_START_MINUS_ONE_HOUR
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = 5; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 endTime = NIGHT_TRANSECT_START_MINUS_ONE_HOUR;
 depth = 50;
 speed = 1.1;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
duration = 400;
horizontalMode = heading;
horizontal = 10.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 10.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = 5; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 endTime = NIGHT_TRANSECT_START_MINUS_ONE_HOUR;
 depth = 50;
 speed = 1.1;
 latitude = TRANSECT_END_LAT;
 longitude = TRANSECT_END_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 180.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#start of fourth lap ~1930

#end of third lap ~1930
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = 5; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 2700;
 depth = 50;
 speed = 1.1;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 10.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 10.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = 5; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 2700;
 depth = 50;
 speed = 1.1;
 latitude = TRANSECT_END_LAT;
 longitude = TRANSECT_END_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 180.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#start of third lap ~1800

#end of second lap ~1800
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = 5; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 2700;
 depth = 50;
 speed = 1.1;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 10.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 10.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = 5; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 2700;
 depth = 50;
 speed = 1.1;
 latitude = TRANSECT_END_LAT;
 longitude = TRANSECT_END_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 270.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#start of secod lap ~1630

#end of first lap ~1630
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = 5; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 2700;
 depth = 50;
 speed = 1.1;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 10.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 10.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = 5; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 2700;
 depth = 50;
 speed = 1.1;
 latitude = TRANSECT_END_LAT;
 longitude = TRANSECT_END_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 180.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#start of first lap ~1500

#####TRANSECT AT 50M UNTIL ~1000

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_START_LAT;
 longitude = SE_START_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_START_LAT;
 longitude = SE_START_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_START_LAT;
 longitude = SE_START_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#start of fourth transect with no video or lights constant depth 50m
#end of transect with no video or lights 8.5 hours elapsed
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

#transect at 50m until ~2200

#end of transect with no video or lights 5.5 hours elapsed
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}
behavior ascend
{
  duration = 600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior ascend
{
  duration = 3600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 5; #Meters
}

#29.  End 10.
behavior waypoint
{
  duration = 870;
  depth = 700;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#28. Turn, stabilize, set up.
behavior waypoint
{
  duration = 227;
  depth = 700;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}

#27. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 700;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}

#26. End 9.
behavior waypoint
{
  duration = 878;
  depth = 600;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}

#25.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 600;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}

#24. Dive.
behavior waypoint
{
  duration = 385;
  depth = 600;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

#23. End 8.
behavior waypoint
{
  duration = 870;
  depth = 500;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#22. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 227;
  depth = 500;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}

#21.  Dive.
behavior waypoint
{
  duration = 319;
  depth = 500;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}

#20.  End Seven.
behavior waypoint
{
  duration = 878;
  depth = 400;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}

#19. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 400;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}

#18. Dive.
behavior waypoint
{
  duration = 385;
  depth = 400;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

#17. End 6.
behavior waypoint
{
  duration = 870;
  depth = 300;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#16. Turn, stabilize, setup.
behavior waypoint
{
  duration = 227;
  depth = 300;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}

#15. Dive.
behavior waypoint
{
  duration = 319;
  depth = 300;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}

#14. End 5.
behavior waypoint
{
  duration = 878;
  depth = 250;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}

#13. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 250;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}

#12. Dive.
behavior waypoint
{
  duration = 385;
  depth = 250;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

#11.  End 4
behavior waypoint
{
  duration = 870;
  depth = 200;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#10. Turn, stabilize, set up.
behavior waypoint
{
  duration = 226;
  depth = 200;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}

#9. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 200;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}

#8. End 3.
behavior waypoint
{
  duration = 877;
  depth = 150;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}

#Seven.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 150;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}

#Six. Dive.
behavior waypoint
{
  duration = 385;
  depth = 150;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

#Five End 2
behavior waypoint
{
  duration = 870;
  depth = 100;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#Four. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 226;
  depth = 100;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}

#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 100;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}

#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 50;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}

#One.  Start the Segment.
behavior waypoint
{
 duration = 415;
 depth = 50;
 speed = 1.5;
 latitude = NW_START_LAT;
 longitude = NW_START_LON;
}

#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 50;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 25;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}

#One.  Start the Segment.
behavior waypoint
{
 duration = 415;
 depth = 25;
 speed = 1.5;
 latitude = SE_START_LAT;
 longitude = SE_START_LON;
}

#Zero.  Lead-in waypoint.
behavior waypoint
{
 duration = 1250;
 depth = 25;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 23;
minAltitude = 50.000000;
duration = 600;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 220.0;
pitch = -35;
speed = 1.5;
maxDepth = 8;
duration = 700;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 220.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#start of profile 3 hours elapsed

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}
behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}
behavior waypoint
{
 duration = 1200;
 depth = 50;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}
#

# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#start of second transect with no video or lights

#end of first transect with video and lights 2.5 hours elapsed
# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}
behavior ascend
{
  duration = 600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}
behavior CARL
{
  id = 2622;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
behavior ascend
{
  duration = 3600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 5; #Meters
}

behavior CARL
{
  id = 2619;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#29.  End 10.
behavior waypoint
{
  duration = 870;
  depth = 700;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2711;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#28. Turn, stabilize, set up.
behavior waypoint
{
  duration = 227;
  depth = 700;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2618;
  duration = 1;
  fstop = 31;
}
#27. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 700;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2617;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#26. End 9.
behavior waypoint
{
  duration = 878;
  depth = 600;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2710;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#25.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 600;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2616;
  duration = 1;
  fstop = 31;
}
#24. Dive.
behavior waypoint
{
  duration = 385;
  depth = 600;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2615;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#23. End 8.
behavior waypoint
{
  duration = 870;
  depth = 500;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2709;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#22. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 227;
  depth = 500;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2614;
  duration = 1;
  fstop = 31;
}
#21.  Dive.
behavior waypoint
{
  duration = 319;
  depth = 500;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2613;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}
#20.  End Seven.
behavior waypoint
{
  duration = 878;
  depth = 400;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2708;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#19. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 400;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2612;
  duration = 1;
  fstop = 31;
}
#18. Dive.
behavior waypoint
{
  duration = 385;
  depth = 400;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2611;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#17. End 6.
behavior waypoint
{
  duration = 870;
  depth = 300;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2707;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#16. Turn, stabilize, setup.
behavior waypoint
{
  duration = 227;
  depth = 300;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2610;
  duration = 1;
  fstop = 31;
}
#15. Dive.
behavior waypoint
{
  duration = 319;
  depth = 300;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2609;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#14. End 5.
behavior waypoint
{
  duration = 878;
  depth = 250;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2706;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#13. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 250;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2608;
  duration = 1;
  fstop = 31;
}
#12. Dive.
behavior waypoint
{
  duration = 385;
  depth = 250;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2607;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#11.  End 4
behavior waypoint
{
  duration = 870;
  depth = 200;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2705;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#10. Turn, stabilize, set up.
behavior waypoint
{
  duration = 226;
  depth = 200;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2606;
  duration = 1;
  fstop = 31;
}
#9. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 200;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2605;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#8. End 3.
behavior waypoint
{
  duration = 877;
  depth = 150;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2704;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#Seven.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 150;
  speed = 1.5;
  latitude = NW_START_LAT;
  longitude = NW_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2604;
  duration = 1;
  fstop = 31;
}
#Six. Dive.
behavior waypoint
{
  duration = 385;
  depth = 150;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}
behavior CARL
{
  id = 2603;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
#Five End 2
behavior waypoint
{
  duration = 870;
  depth = 100;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2703;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}
#Four. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 226;
  depth = 100;
  speed = 1.5;
  latitude = SE_START_LAT;
  longitude = SE_START_LON;
}
#Open the iris at the acute angle.
behavior CARL
{
  id = 2602;
  duration = 1;
  fstop = 31;
}
#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 100;
  speed = 1.5;
  latitude = SE_DIVE_LAT;
  longitude = SE_DIVE_LON;
}
behavior CARL
{
  id = 2601;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}
#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 50;
  speed = 1.1;
  latitude = NE_END_LAT;
  longitude = NE_END_LON;
}
behavior CARL
{
  id = 2702;
  fstop = 41;
  brightness = 95;
  lightSwitch = 1;
  clipname = 1;
  duration = 1;
  record = 1;
}
#One.  Start the Segment.
behavior waypoint
{
 duration = 415;
 depth = 50;
 speed = 1.5;
 latitude = NW_START_LAT;
 longitude = NW_START_LON;
}

#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 50;
  speed = 1.5;
  latitude = NW_DIVE_LAT;
  longitude = NW_DIVE_LON;
}

behavior CARL
{
  id = 2601;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}

#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 25;
  speed = 1.1;
  latitude = SW_END_LAT;
  longitude = SW_END_LON;
}
behavior CARL
{
  id = 2702;
  fstop = 41;
  brightness = 95;
  lightSwitch = 1;
  clipname = 1;
  duration = 1;
  record = 1;
}

#One.  Start the Segment.
behavior waypoint
{
 duration = 415;
 depth = 25;
 speed = 1.5;
 latitude = SE_START_LAT;
 longitude = SE_START_LON;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2602;
  duration = 1;
  fstop = 41;
}

#Zero.  Lead-in waypoint.
behavior waypoint
{
 duration = 1250;
 depth = 25;
 speed = 1.5;
 latitude = SE_DIVE_LAT;
 longitude = SE_DIVE_LON;
}

behavior CARL
{
  id = 2601;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}

#
# Descend and transit to starting waypoint.
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 23;
minAltitude = 50.000000;
duration = 600;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 220.0;
pitch = -35;
speed = 1.5;
maxDepth = 8;
duration = 700;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 220.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 10;
abortOnTimeout = True;
}

#start of first transect with video and acoustics 0 hours elapsed
#survey centered on 36.69650 -122.05166