#12m_iso_E1M1D1_gulpers_Ryan.cfg
#
# Launch 500 meters south of waypoint 12m_isobath_12
#  at waypoint Launch N36 48.9896 W121 48.4492
#
# Run "bottom following mode" between E1 and M1
#   max depth 150 meters
#
# Run 250 meter yoyo's off the shelf
#
#
# Fire Gulpers
#
#  E1M1D1_3  Gulper 00 at  80 meters  downcast spiral   (Soquel Hole Area)
#                   01 at 120 meters
#
#  E1M1D1_5         02 at  20 meters  downcast spiral	(Half way to M1)
#                   03 at  80 meters
#                   04 at 120 meters
#                   05 at 230 meters
#
#  E1M1D1_M1        06 at 120 meters  upcast spiral	(M1 area)
#                   07 at  80 meters
#                   08 at  20 meters


#define YOYO_MIN_ALTITUDE 7.5
#define YOYO_MIN_ALTITUDE_ISOBATH 5.0
#define MISSION_SPEED_ISOBATH 1.25
#define MISSION_SPEED_TRANSIT 1.25
#define MISSION_SPEED_D1M1E1 1.6
#define MISSION_SPEED_SOUTH 1.25
#define MISSION_YOYO_MIN_DEPTH 1.5

#survey line 87342 meters
# details in spreadsheet D1M1E1_12m_iso_gulpers_Ryan.xls

# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 82800;
}

# depth envelope set to commanded + 5 m, 
#  abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth     = 250;
 abortDepth   = 275;
 abortAltitude  = 2.5;
 abortLockoutDepth = 5.0;
}

# End of mission
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to C1 
# N36 47.7600 W121 51.0000
# leg distance 2345 meters
# water depth 60 meters
behavior waypoint_yoyo {
latitude     = 36.7960;
longitude     = -121.8500;
captureRadius = 10;
duration     = 3050;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 53;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 3;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 3;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 3;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to RunSouth_A 
# N36 46.49596 W121 51.10640
# water depth 54 meters
# leg distance 2345 meters
behavior waypoint_yoyo {
latitude     = 36.7749;
longitude     = -121.8518;
captureRadius = 10;
duration     = 3050;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 47;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 3;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 3;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 3;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to RunSouth_B
# N36 45.23109 W121 51.21314
# water depth 51 meters
# leg distance 2345 meters
behavior waypoint_yoyo {
latitude     = 36.7539;
longitude     = -121.8536;
captureRadius = 10;
duration     = 3050;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 44;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 3;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 3;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 3;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to RunSouth_C
# N36 43.96419 W121 51.31987
# water depth 49 meters
# leg distance 2345 meters
behavior waypoint_yoyo {
latitude     = 36.7327;
longitude     = -121.8553;
captureRadius = 10;
duration     = 3050;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 42;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 3;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 3;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 3;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to RunSouth_D
# N36 42.64904 W121 51.43068
# water depth 56 meters
# leg distance 2345 meters
behavior waypoint_yoyo {
latitude     = 36.7108;
longitude     = -121.8572;
captureRadius = 10;
duration     = 3050;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 49;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 3;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 3;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 3;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to RunSouth_E
# N36 41.38179 W121 51.53732
# water depth 58 meters
# leg distance 2300 meters
behavior waypoint_yoyo {
latitude     = 36.6897;
longitude     = -121.8590;
captureRadius = 10;
duration     = 2990;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 51;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 3;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 3;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 3;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to EarlyLaunch_2
# N36 40.1421 W121 51.642
# water depth 54 meters
# leg distance 2550 meters
behavior waypoint_yoyo {
latitude     = 36.6690;
longitude     = -121.8607;
captureRadius = 10;
duration     = 3315;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 47;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 14;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 14;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 14;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to EarlyLaunch_3
# N36 38.8075 W121 52.0538
# run distance 2500 meters
# water depth 38 meters
behavior waypoint_yoyo {
latitude     = 36.6468;
longitude     = -121.8676;
captureRadius = 10;
duration     = 3400;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 31;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 15;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
# longer duration after sharp turn
behavior setpoint {
duration     = 60;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to HaddockD1 
# N36 37.500 W121 52.500
# leg distance 1100 meters
# water depth 38 meters
behavior waypoint_yoyo {
latitude     = 36.625;
longitude     = -121.875;
captureRadius = 10;
duration     = 1430;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 31;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 138;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 138;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 138;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to E1M1D1_12
#N36 37.9265 W121 52.9748
# leg distance 900 meters
# water depth 54 meters
behavior waypoint_yoyo {
latitude     = 36.6321;
longitude     = -121.8829;
captureRadius = 10;
duration     = 1170;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 3;
maxDepth       = 43;
minAltitude    = 5;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 138;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 138;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 138;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_11
# N36 38.2707 W121 53.3560
# leg distance 3500 meters
# water depth 64 meters
behavior waypoint_yoyo {
latitude     = 36.6378;
longitude     = -121.8893;
captureRadius = 10;
duration     = 4550;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 57;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 138;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 138;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 138;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_10
# N36 39.6758 W121 54.9244
# leg distance 3500 meters
# water depth 80 meters
behavior waypoint_yoyo {
latitude     = 36.6613;
longitude     = -121.9154;
captureRadius = 10;
duration     = 4550;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 73;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 138;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 138;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 138;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_9
# N36 41.0647 W121 56.480
# leg distance 3600 meters
# water depth 93 meters
behavior waypoint_yoyo {
latitude     = 36.6844;
longitude     = -121.9413;
captureRadius = 10;
duration     = 4680;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 86;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 138;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 138;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 138;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_8
# N36 42.4850 W121 58.0701
# leg distance 3500 meters
# water depth 111 meters
behavior waypoint_yoyo {
latitude     = 36.7081;
longitude     = -121.9678;
captureRadius = 10;
duration     = 4550;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 104;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 138;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 138;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 138;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_7
# N36 43.8558 W121 59.6039
# leg distance 3350 meters
# min water depth 687 meters
# max water depth 1097 meters
behavior waypoint_yoyo {
latitude     = 36.73093;
longitude     = -121.9934;
captureRadius = 10;
duration     = 4355;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Fire gulper 08 at 20 m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 8;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 20;
}

# Fire gulper 07 at 80 m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 7;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 80;
}

# Fire gulper 06 at 120 m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 6;
}

# Descend behavior to 120 meters
behavior descend {
horizontalMode   = rudder;
horizontal      = 10;
pitch        = -15;
speed        = 1.5;
maxDepth     = 120;
# minAltitude  = 9;
duration     = 400;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 138;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
# minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
# longer duration after sharp turn
behavior setpoint {
duration     = 60;
heading      = 138;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_M1
# N36 45.2 W122 1.112
# leg distance 1000 meters
# min water depth 731 meters
# max water depth 1066 meters
# Bottom Following Mode
behavior waypoint_yoyo {
latitude     = 36.7533;
longitude     = -122.0185;
captureRadius = 10;
duration     = 1300;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 211;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
# minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 211;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 211;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to just before M1 to E1M1D1_6.5
# N36 45.6649 W 122 00.7636
# leg distance 1450 meters
# min water depth 682 meters
# max water depth 786 meters
# Bottom Following Mode
behavior waypoint_yoyo {
latitude     = 36.7611;
longitude     = -122.0127;
captureRadius = 10;
duration     = 1885;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 211;
pitch        = -15;
speed        = 1.5;
maxDepth     = 10.0;
# minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 211;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 211;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_6
# N36 46.3319  W122 00.2630
# leg distance 2400 meters
# min water depth 549 meters
# max water depth 931 meters
# Bottom Following Mode
behavior waypoint_yoyo {
latitude     = 36.7722;
longitude     = -122.0044;
captureRadius = 10;
duration     = 3120;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Fire gulper 05 at 230 m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 5;
}

# Descend behavior to 230 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 208;
pitch        = -15;
speed        = 1.5;
maxDepth     = 230;
# minAltitude  = 9;
duration     = 400;
}

# Fire gulper 04 at 120 m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 4;
}

# Descend behavior to 120 meters
behavior descend {
horizontalMode   = rudder;
horizontal      = 10;
pitch        = -15;
speed        = 1.5;
maxDepth     = 120;
# minAltitude  = 9;
duration     = 200;
}

# Fire gulper 03 at 80 m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 3;
}

# Descend behavior to 80 meters
behavior descend {
horizontalMode   = rudder;
horizontal      = 10;
pitch        = -15;
speed        = 1.5;
maxDepth     = 80;
# minAltitude  = 9;
duration     = 400;
}

# Fire gulper 02 at 20 m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 2;
}

# Descend behavior to 20 meters
behavior descend {
horizontalMode   = rudder;
horizontal      = 10;
pitch        = -15;
speed        = 1.5;
maxDepth     = 20;
# minAltitude  = 9;
duration     = 200;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 208;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
# minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 208;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 700;
minHits = 45;
abortOnTimeout = True;
}

behavior ascend {
duration  = 700;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_5
# N36 47.487 W121 59.581
# leg distance 3500 meters
# min water depth 95 meters
# max water depth 691 meters
# Bottom Following Mode
behavior waypoint_yoyo {
latitude     = 36.7915;
longitude     = -121.9930;
captureRadius = 10;
duration     = 4550;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 208;
pitch        = -15;
speed        = 1.5;
maxDepth     = 10.0;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 208;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 208;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_4
# N36 49.155 W121 58.460
# leg distance 2100 meters
# min water depth 170 meters
# max water depth 227 meters
# Bottom Following Mode
behavior waypoint_yoyo {
latitude     = 36.8193;
longitude     = -121.9743;
captureRadius = 10;
duration     = 2730;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 150;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Fire gulper 01 at 120 m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 1;
}

# Descend behavior to 120 meters
behavior descend {
horizontalMode   = rudder;
horizontal      = 10;
pitch        = -15;
speed        = 1.5;
maxDepth     = 120;
# minAltitude  = 9;
duration     = 400;
}

# Fire gulper 00 at 80 m depth
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 0;
}

# Descend behavior to 80 meters
behavior descend {
horizontalMode   = rudder;
horizontal      = 10;
pitch        = -15;
speed        = 1.5;
maxDepth     = 80;
# minAltitude  = 9;
duration     = 400;
}

# Descend behavior to 5 m depth
behavior descend {
horizontalMode   = heading;
horizontal      = 208;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
# minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 208;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_3 
# N36 50.14646 W121 57.80360
# leg distance 2550 meters
# min water depth 84 meters
# max water depth 227 meters
# Bottom Following Mode
behavior waypoint_yoyo {
latitude     = 36.8358;
longitude     = -121.9634;
captureRadius = 10;
duration     = 3315;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 150;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 208;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 208;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 208;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_2.5
# Added waypoint to break up 5000 meter leg
# N36 51.34520 W121 57.00237
# leg distance 2450 meters
# min water depth 47 meters
# max water depth 84 meters
# Bottom Following Mode
behavior waypoint_yoyo {
latitude     = 36.8558;
longitude     = -121.9500;
captureRadius = 10;
duration     = 3185;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 90;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 208;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 208;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 208;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_2
# N36 52.491 W121 56.225
# leg distance 3500 meters
# min water depth 25 meters
# max water depth 48 meters
# Bottom Following Mode
behavior waypoint_yoyo {
latitude     = 36.8749;
longitude     = -121.9371;
captureRadius = 10;
duration     = 4600;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 50;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 208;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 208;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 208;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_1
# N36 54.174 W121 55.093
# leg distance 3500 meters
# min water depth 16 meters
# max water depth 26 meters
# Bottom Following Mode
behavior waypoint_yoyo {
latitude     = 36.9029;
longitude     = -121.9182;
captureRadius = 10;
duration     = 4550;
speed        = MISSION_SPEED_D1M1E1;
minDepth       = 2.5;
maxDepth       = 28;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 208;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
# longer duration after sharp turn
behavior setpoint {
duration     = 60;
heading      = 208;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to HaddockE1
# N36 55.800 W121 54.00
# leg distance 500 meters
# water depth 16 meters
behavior waypoint_yoyo {
latitude     = 36.9300;
longitude     = -121.900;
captureRadius = 10;
duration     = 650;
speed        = MISSION_SPEED_TRANSIT;
minDepth       = 2.5;
maxDepth       = 9;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 122;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 122;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 122;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# Waypoint behavior to waypoint E1_to_12m_0.5
# N36 55.9458 W121 54.2858 
# water depth 16 meters
# leg distance 2150
behavior waypoint_yoyo  {
latitude = 36.9324;
longitude = -121.9048;
captureRadius = 10;
duration      = 2795;
speed         = MISSION_SPEED_TRANSIT;
minDepth      = MISSION_YOYO_MIN_DEPTH;
maxDepth      = 9;
minAltitude   = YOYO_MIN_ALTITUDE;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 122;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 122;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 122;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# Waypoint behavior to waypoint E1_to_12m_1
# N36 56.5635 W121 55.4968
# water depth 12 meters
# leg distance 2650
behavior waypoint_yoyo  {
latitude = 36.9427;
longitude = -121.9249;
captureRadius = 10;
duration      = 3445;
speed         = MISSION_SPEED_TRANSIT;
minDepth      = MISSION_YOYO_MIN_DEPTH;
maxDepth      = 7;
minAltitude   = YOYO_MIN_ALTITUDE;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 122;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
# longer duration after sharp turn
behavior setpoint {
duration     = 60;
heading      = 122;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#
#Transit From 12m_isobath_1 to E1
#

# waypoint behavior to waypoint 12m_isobath_1
# N36 57.3180 W121 57.0000
# water depth 12 meters
# leg distance 500
behavior waypoint_yoyo  {
latitude = 36.9553;
longitude = -121.9500;
captureRadius = 10;
duration      = 750;
speed         = MISSION_SPEED_TRANSIT;
minDepth      = MISSION_YOYO_MIN_DEPTH;
maxDepth      = 7;
minAltitude   = YOYO_MIN_ALTITUDE;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 264;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 264;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 264;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint 12m_isobath_1.3
# N36 57.3461 W121 56.6602
# water depth 12 meters
# leg distance 1120
behavior waypoint_yoyo  {
latitude = 36.9558;
longitude = -121.9443;
captureRadius = 10;
duration      = 1500;
speed         = MISSION_SPEED_TRANSIT;
minDepth      = MISSION_YOYO_MIN_DEPTH;
maxDepth      = 7;
minAltitude   = YOYO_MIN_ALTITUDE;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 264;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 264;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 264;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint 12m_isobath_2
# N36 57.4080 W121 55.9080
# water depth 12 meters
# leg distance 1450
behavior waypoint_yoyo  {
latitude = 36.9568;
longitude = -121.9318;
captureRadius = 10;
duration      = 1885;
speed         = MISSION_SPEED_ISOBATH;
minDepth      = MISSION_YOYO_MIN_DEPTH;
maxDepth      = 7;
minAltitude   = YOYO_MIN_ALTITUDE_ISOBATH;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 284;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 284;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 284;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint 12m_isobath_3
# N36 57.2280 W121 54.9780
# water depth 12 meters
# leg distance 1650
behavior waypoint_yoyo  {
latitude = 36.9538;
longitude = -121.9163;
captureRadius = 10;
duration      = 2145;
speed         = MISSION_SPEED_ISOBATH;
minDepth      = MISSION_YOYO_MIN_DEPTH;
maxDepth      = 7;
minAltitude   = YOYO_MIN_ALTITUDE_ISOBATH;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 305;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 305;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 305;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint 12m_isobath_4
# N36 56.7120 W121 54.0900
# water depth 12 meters
# leg distance 1900
behavior waypoint_yoyo {
latitude = 36.9452;
longitude = -121.9015;
captureRadius = 10;
duration      = 2470;
speed         = MISSION_SPEED_ISOBATH;
minDepth      = MISSION_YOYO_MIN_DEPTH;
maxDepth      = 7;
minAltitude   = YOYO_MIN_ALTITUDE_ISOBATH;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 310;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 310;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 310;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint 12m_isobath_5
# N36 56.0520  W121 53.1180
# water depth 12 meters
# leg distance 2550
behavior waypoint_yoyo {
latitude     = 36.9342;
longitude     = -121.8853;
captureRadius = 10;
duration     = 3315;
speed        = MISSION_SPEED_ISOBATH;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = 7;
minAltitude    = YOYO_MIN_ALTITUDE_ISOBATH;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 324;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 324;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 324;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint 12m_isobath_6
# N36 54.9300 W121 52.1220
# water depth 12 meters
# leg distance 2400
behavior waypoint_yoyo {
latitude     = 36.9155;
longitude     = -121.8687;
captureRadius = 10;
duration     = 3120;
speed        = MISSION_SPEED_ISOBATH;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = 7;
minAltitude    = YOYO_MIN_ALTITUDE_ISOBATH;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 331;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 331;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 331;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint 12m_isobath_7
# N36 53.8080 W121 51.3480
# water depth 12 meters
# leg distance 2250
behavior waypoint_yoyo {
latitude     = 36.8968;
longitude     = -121.8558;
captureRadius = 10;
duration     = 2925;
speed        = MISSION_SPEED_ISOBATH;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = 7;
minAltitude    = YOYO_MIN_ALTITUDE_ISOBATH;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint 12m_isobath_8
# N36 52.7820 W121 50.5380
# water depth 12 meters
# leg distance 2400
behavior waypoint_yoyo {
latitude     = 36.8797;
longitude     = -121.8423;
captureRadius = 10;
duration     = 3120;
speed        = MISSION_SPEED_ISOBATH;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = 7;
minAltitude    = YOYO_MIN_ALTITUDE_ISOBATH;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 331;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 331;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 331;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint 12m_isobath_9
# N36 51.6480 W121 49.7820
# maximum depth 20m
# water depth 12 meters
# leg distance 1800
behavior waypoint_yoyo {
latitude     = 36.8608;
longitude     = -121.8297;
captureRadius = 10;
duration     = 2340;
speed        = MISSION_SPEED_ISOBATH;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = 7;
minAltitude    = YOYO_MIN_ALTITUDE_ISOBATH;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 337;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 337;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 337;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint 12m_isobath_10
# N36 50.7600 W121 49.3320
# water depth 12 meters
# leg distance 2100
behavior waypoint_yoyo {
latitude     = 36.8460;
longitude     = -121.8222;
captureRadius = 10;
duration     = 2730;
speed        = MISSION_SPEED_ISOBATH;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = 7;
minAltitude    = YOYO_MIN_ALTITUDE_ISOBATH;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 334;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 334;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = heading;
horizontal       = 334;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint 12m_isobath_11
# N36 49.7280 W121 48.7320
# water depth 12 meters
# leg distance 1000
behavior waypoint_yoyo {
latitude     = 36.8288;
longitude     = -121.8122;
captureRadius = 10;
duration     = 1400;
speed        = MISSION_SPEED_ISOBATH;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = 7;
minAltitude    = YOYO_MIN_ALTITUDE_ISOBATH;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 334;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 7;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 334;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 700;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# Launch waypoint behavior to 12m_isobath_12
# N36 49.26 W121 48.45
# water depth 12 meters
# leg distance 500
behavior waypoint_yoyo {
latitude     = 36.8210;
longitude     = -121.8075;
captureRadius = 10;
duration     = 1000;
speed        = MISSION_SPEED_ISOBATH;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = 7;
minAltitude    = YOYO_MIN_ALTITUDE_ISOBATH;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

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

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}