# Mission Filename: Diamond_07042020.cfg
#
#
#                   *** CAUTION *** 
#   *** THIS MISSION GENERATED WITH UTILITY wp2mc ***
#          *** Check the script file carefully ! ***
#
#               *** LAUNCH WAYPOINT ***
#               LAT/LON: 36.8013 -121.8455
#
#               *** INITIAL HEADING *** 
#                        195.1  
#
#             *** abortOnTimeout is True ***
#
#
# Expected survey line distance: 65742.4 meters
# Expected mission time: 65892.4 seconds
#    18 hours
#    18 minutes
# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 86400;
}
# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 3.0;
 maxDepth = 210.0;
 abortDepth = 225.0;
 abortAltitude = 4.0;
 abortLockoutDepth = 10.0;
}
behavior getgps {
duration = 1800;
minHits = 300;
abortOnTimeout = True;
}
# ***** Mission Ends ^ *****
behavior setpoint {
duration = 7200;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
#end of first wait
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = -3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# LAT/LON: 36.8013 -121.8455
# N36 48.0805 W121 50.7322
latitude = 36.7970;
longitude = -121.8470;
captureRadius = 10;
duration = 800;
speed = 1.5;
minDepth = 10;
maxDepth = 50;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -20;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 7200;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1900;
latitude = 36.7970;
longitude = -121.8470;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 31 ^ *****
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1740.6;
# N36 49.2246 W121 52.3788
latitude = 36.8102;
longitude = -121.8616;
captureRadius = 10;
duration = 1741;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 30 ^ *****
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 19;
}
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# ***** GULPER #20 (gulperToFire=19) ^ *****
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1741.4;
# N36 49.9284 W121 53.1558
latitude = 36.8234;
longitude = -121.8762;
captureRadius = 10;
duration = 1741;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1960;
latitude = 36.8366;
longitude = -121.8908;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 28 ^ *****
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 18;
}
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# ***** GULPER #15 (gulperToFire=14) ^ *****
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1960;
latitude = 36.8498;
longitude = -121.9054;
captureRadius = 10;
duration = 1741;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1960;
latitude = 36.8630;
longitude = -121.9199;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 17;
}
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# ***** GULPER #18 (gulperToFire=17) ^ *****
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 139;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1960;
latitude = 36.8762;
longitude = -121.9345;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 139;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1960 
latitude = 36.8894;
longitude = -121.9490;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 24 (HEADING BACK TOWARDS C1) ^ *****
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 16;
}
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 139;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# ***** GULPER #17 (gulperToFire=16) ^ *****
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 139;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 20;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
#Santa Cruz Waypoint
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1442.9;
# N36 54.1560 W121 57.8160
latitude = 36.9026;
longitude = -121.9636;
captureRadius = 10;
duration = 1443;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2203
latitude = 36.8840;
longitude = -121.9719;
captureRadius = 10;
duration = 2700;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 15;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 20;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2203
latitude = 36.8653;
longitude = -121.9802;
captureRadius = 10;
duration = 2700;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 22 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2700.0;
# N36 52.0504 W121 58.7547
latitude = 36.8466;
longitude = -121.9885;
captureRadius = 10;
duration = 2700;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 14;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 20;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 21 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2203;
latitude = 36.8279;
longitude = -121.9968;
captureRadius = 10;
duration = 2700;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2203.0;
latitude = 36.8092;
longitude = -122.0051;
captureRadius = 10;
duration = 2700;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 20;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 13;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 20;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 19 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2203;
latitude = 36.7905;
longitude = -122.0134;
captureRadius = 10;
duration = 2700;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 18 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 20;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2203 
latitude = 36.7718;
longitude = -122.0217;
captureRadius = 10;
duration = 2700;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 20;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 17 (FIRST WPT TOWARDS NORTHERNMOST EXTENT) ^ *****
# ***** End of M1 spiral profile *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -20;
speed = 1.5;
maxDepth = 200;
minAltitude = 9;
duration = 1200;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 12;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -20;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#****************************
# ^^^ M1 Profile begins ^^^
#****************************
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 20;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 10;
abortOnTimeout = True;
}
##arrived at M1
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2548.0;
# N36 45.1860 W122 1.8000
latitude = 36.7531;
longitude = -122.0300;
captureRadius = 10;
duration = 2548;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -20;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 13 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2012.0;
latitude = 36.7417;
longitude = -122.0131;
captureRadius = 10;
duration = 2000;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 11;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 311;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2549.4;
# N36 45.1860 W122 1.8000
latitude = 36.7299;
longitude = -121.9960;
captureRadius = 10;
duration = 2549;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2012.0;
latitude = 36.7181;
longitude = -121.9789;
captureRadius = 10;
duration = 2000;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 10;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 311;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 15 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2012.0;
latitude = 36.7063;
longitude = -121.9618;
captureRadius = 10;
duration = 2000;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 14 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2012;
latitude = 36.6945;
longitude = -121.9447;
captureRadius = 10;
duration = 2000;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 311;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 9;
}
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 311;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 13 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2011;
latitude = 36.6827;
longitude = -121.9276;
captureRadius = 10;
duration = 2000;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 311;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance =1991;
latitude = 36.6709;
longitude = -121.9105;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 11 (FIRST WPT TOWARDS M1)^ *****
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 8;
}
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 311;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 311;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 311;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
#southernmost Waypoint Achieved. Take sample then proceed to M1
behavior waypoint_yoyo {
# leg distance = 1977;
latitude = 36.6591;
longitude = -121.8934;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 9 ^ *****
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1764.5;
# N36 41.3838 W121 52.9824
latitude = 36.6766;
longitude = -121.8876;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 8 ^ *****
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 7;
}
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 195;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1977;
# N36 42.3030 W121 52.6728
latitude = 36.6938;
longitude = -121.8818;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 7 ^ *****
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1977;
latitude = 36.7110;
longitude = -121.8760;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 6 ^ *****
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 6;
}
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# ***** GULPER #7 (gulperToFire=6) ^ *****
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 195;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1977;
latitude = 36.7282;
longitude = -121.8702;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1977;
#N36 46.70684 W121 51.49360
latitude = 36.7454;
longitude = -121.8644;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 5;
}
# Descend behavior to GULPER_SAMPLE_DEPTH meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 195;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1977.0;
latitude = 36.7626;
longitude = -121.8586;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
# # ***** WAYPOINT NUMBER: 3 ^ *****
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 195;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1977;
# N36 46.9008 W121 51.1296
latitude = 36.7798;
longitude = -121.8528;
captureRadius = 10;
duration = 1800;
speed = 1.65;
minDepth = 3;
maxDepth = 100;
minAltitude = 12;
maxCycles = 2000;
}
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -30;
speed = 1.5;
maxDepth = 5.0;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# surface interval for Iridium transmission
behavior setpoint {
duration = 180;
heading = 195;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 2 (TOWARDS SOUTHERNMOST WPT) ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 4;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 5;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 3;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 20;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=3;
gulperToFire = 2;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 60;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 1;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 100;
}
# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 0;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 150;
}
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -20;
speed = 1.5;
maxDepth = 200;
minAltitude = 9;
duration = 1200;
}
behavior waypoint {
# leg distance = 500.0;
# N36 47.8200 W121 50.8200
latitude = 36.7970;
longitude = -121.8470;
captureRadius = 10;
duration = 720;
speed = 1.65;
depth = 10.0;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -20;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 5;
abortOnTimeout = True;
}
# ***** LAUNCH WAYPOINT 0 *****
#latitude      = 36.7970;
#longitude     = -121.8470;
# INITIAL HEADING:  251