behavior missionTimer
{
  timeOut = 4297;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 320; #Meters
  abortDepth = 325; #Meters
  minAltitude = 40.0; #Meters
  abortAltitude = 30.0; #Meters
}
# acquire gps fix
behavior getgps {
duration = 300;
minHits = 10;
abortOnTimeout = True;
}
behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}
behavior CARL
{
  id = 108;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
behavior ascend
{
  duration = 1200; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 5; #Meters
}
behavior CARL
{
  id = 110;
  clipname = 1;
  duration = 1;
  record = 1;
  fstop = 31;
}
# Ascend
behavior waypoint
{
  duration = 381;
  depth = 300;
  speed = 1.0;
  latitude = 36.773163;
  longitude = -121.977689;
}
#Seven (above).  Final segment
behavior CARL
{
  id=106;
  duration = 1;
  clipname = 1;
  fstop = 561;
}
behavior waypoint
{
  duration = 339;
  depth = 300;
  speed = 1.0;
  latitude = 36.771451;
  longitude = -121.979033;
}
#Six (above).  Start next segment
behavior CARL
{
  id=106;
  duration = 1;
  clipname = 1;
  fstop = 42;
}
behavior waypoint
{
  duration = 164;
  depth = 300;
  speed = 1.5;
  latitude = 36.769949;
  longitude = -121.980228;
}
#Five (above).  Turn back for next segment.
behavior CARL
{
  id=106;
  duration = 1;
  clipname = 1;
  fstop = 33;
}
behavior waypoint
{
  duration = 389;
  depth = 300;
  speed = 1.0;
  latitude = 36.769558;
  longitude = -121.981162;
}
#Four (above).  End segment
behavior CARL
{
  id=106;
  duration = 1;
  clipname = 1;
  fstop = 33;
}
behavior waypoint
{
  latitude = 36.771271;
  longitude = -121.979818;
  duration = 380;
  depth = 300;
  speed = 1.0;
}
#Three (above) Start first segment
behavior CARL
{
  id = 104;
  fstop = 31;
  brightness = 90;
  lightSwitch = 1;
  clipname = 1;
  duration = 1;
  record = 1;
}
behavior waypoint
{
 duration = 278;
 depth = 300;
 speed = 1.5;
 latitude = 36.772983;
 longitude = -121.978473;
}
#Two (above).  Go to start of first segment.
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 298;
minAltitude = 50.000000;
duration = 1200;
}
# Descend to mission depth and go ~150m to start of leg.
behavior waypoint
{
 duration = 833;
 depth = 50;
 speed = 1.5;
 latitude = 36.774245;
 longitude = -121.977465;
}
# One (above). Shallow starting waypoint.
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 48;
minAltitude = 50.000000;
duration = 600;
}
#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 90.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#
# Begin recording on the surface
#
behavior CARL
{
  id = 101;
  clipname = 1;
  record = 1;
  duration = 1;
  fstop = 561;
}
# acquire gps fix
behavior getgps {
duration = 300;
minHits = 10;
abortOnTimeout = True;
}
#
# Bring up the lights and close the iris since we're on the surface
#
behavior CARL
{
  id = 99;
  lightSwitch = 1;
  brightness = 90;
  duration = 1;
  homeIris = 1;
}
