#Bham_ASAP  deploy near Davenport
# gulping between Bham_1_2 and Bham_1_3
#
#define YOYO_MIN_ALTITUDE 6.5
#define MISSION_SPEED 1.25

#should be 19 hour mission, set timer to 24 hours
behavior missionTimer {
timeOut = 86400;
}

behavior depthEnvelope {
  minDepth = 0;
  maxDepth = 275;
  abortDepth = 300;
  abortAltitude = 2.5;
  abortLockoutDepth = 10.0;
}

# Mission End

# acquire gps fix
behavior getgps {
duration = 7200;
minHits = 15;
abortOnTimeout = False;
}

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

# waypoint behavior
# Aiming for Waypoint C1 - The End
behavior waypoint_yoyo {
latitude     = 36.7960;
longitude     = -121.8500;
captureRadius = 10;
duration     = 2700;
speed        = 1.5;
minDepth       = 3;
maxDepth       = 175;
minAltitude    = 20;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior
# Aiming for Waypoint C1.25
behavior waypoint_yoyo {
latitude     = 36.7886;
longitude     = -121.8779;
captureRadius = 10;
duration     = 2700;
speed        = 1.5;
minDepth       = 3;
maxDepth       = 175;
minAltitude    = 20;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior
# Aiming for Waypoint C1.375
behavior waypoint_yoyo {
latitude     = 36.7816;
longitude     = -121.9030;
captureRadius = 10;
duration     = 2700;
speed        = 1.5;
minDepth       = 3;
maxDepth       = 175;
minAltitude    = 20;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior
# Aiming for Waypoint Chavez_Survey_Start
behavior waypoint_yoyo {
latitude     = 36.773;
longitude     = -121.9348;
captureRadius = 10;
duration     = 2700;
speed        = 1.5;
minDepth       = 3;
maxDepth       = 200;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior
# Waypoint ACI_7
behavior waypoint_yoyo {
latitude     = 36.7702;
longitude     = -121.9496;
captureRadius = 10;
duration     = 2700;
speed        = 1.5;
minDepth       = 3;
maxDepth       = 200;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = False;
}

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

#next head for waypoint C1

#leg to waypoint ACI-6
#N36 45.7980  W121 59.1240
#water depth 300 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.7633;
longitude     = -121.9854;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 176;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 176;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = horizontal;
horizontal       = 176;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_3_5
#N36 46.5649  W121 59.1647
#water depth 365 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.7761;
longitude     = -121.9861;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 176;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 176;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = horizontal;
horizontal       = 176;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_3_4
#N36 47.4577  W121 59.2118
#water depth 182 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.7910;
longitude     = -121.9869;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 170;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 176;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 176;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = horizontal;
horizontal       = 176;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_3_3
#N36 48.3412  W121 59.2589
#water depth 182 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8057;
longitude     = -121.9877;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 170;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 176;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 176;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = horizontal;
horizontal       = 176;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_3_2
#N36 49.2191  W121 59.3054
#water depth 96 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8203;
longitude     = -121.9884;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 80;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 176;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 176;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = horizontal;
horizontal       = 176;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_3_1
#N36 50.1097  W121 59.3530
#water depth 82 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8352;
longitude     = -121.9892;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 70;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 176;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 176;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

#head for ACI_6 for retrieval

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

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

#leg to waypoint Bham_3
#N36 51.0000  W121 59.4000
#water depth 82 meters
behavior waypoint_yoyo {
latitude     = 36.8500;
longitude     = -121.9900;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 70;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 65;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 65;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 65;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_2_9
#N36 50.4244  W122 0.9910
#water depth 82 meters
behavior waypoint_yoyo {
latitude     = 36.8404;
longitude     = -122.0165;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 70;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 65;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 65;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 65;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_2_8
#N36 49.6911  W122 3.0156
#water depth 82 meters
behavior waypoint_yoyo {
latitude     = 36.8282;
longitude     = -122.0503;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 70;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 65;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 65;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 65;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_2_7
#N36 48.9584  W122 5.0362
#water depth 95 meters
behavior waypoint_yoyo {
latitude     = 36.8160;
longitude     = -122.0839;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 80;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 65;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 65;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 65;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_2_6
#N36 48.2217  W122 7.0659
#water depth 112 meters
behavior waypoint_yoyo {
latitude     = 36.8037;
longitude     = -122.1178;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 100;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 65;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 65;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 65;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_2_5
#N36 47.4873  W122 09.0874
#water depth 137 meters
behavior waypoint_yoyo {
latitude     = 36.7915;
longitude     = -122.1515;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 120;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 65;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 65;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 65;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_2_4
#N36 46.7509  W122 11.1113
#water depth 366 meters
behavior waypoint_yoyo {
latitude     = 36.7792;
longitude     = -122.1852;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 65;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 65;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 65;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}


#leg to waypoint Bham_2_3
#N36 46.0162  W122 13.1283
#water depth 366 meters
behavior waypoint_yoyo {
latitude     = 36.7669;
longitude     = -122.2188;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 65;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 65;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 65;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_2_2
#N36 45.2781  W122 15.1536
#water depth 549 meters
behavior waypoint_yoyo {
latitude     = 36.7546;
longitude     = -122.2526;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 65;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 65;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 65;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_2_1
#N36 44.5392  W122 17.1778
#water depth 732 meters
behavior waypoint_yoyo {
latitude     = 36.7423;
longitude     = -122.2863;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 65;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 65;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

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

#leg to waypoint Bham_2
#N36 43.800  W122 19.2000
#water depth 915 meters
behavior waypoint_yoyo {
latitude     = 36.7300;
longitude     = -122.3200;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_1_9
#N36 44.7231  W122 18.8817
#water depth 1097 meters
behavior waypoint_yoyo {
latitude     = 36.7454;
longitude     = -122.3147;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_1_8
#N36 45.6621  W122 18.5573
#water depth 1097 meters
behavior waypoint_yoyo {
latitude     = 36.7610;
longitude     = -122.3093;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_1_7
#N36 47.3848  W122 17.9627
#water depth 1097 meters
behavior waypoint_yoyo {
latitude     = 36.7898;
longitude     = -122.2994;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_1_6
#N36 49.1000  W122 17.3699
#water depth 1097 meters
behavior waypoint_yoyo {
latitude     = 36.8183;
longitude     = -122.2895;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_1_5
#N36 50.8178  W122 16.7759
#water depth 1097 meters
behavior waypoint_yoyo {
latitude     = 36.8470;
longitude     = -122.2796;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_1_4
#N36 52.5280  W122 16.1836
#water depth 549 meters
behavior waypoint_yoyo {
latitude     = 36.8755;
longitude     = -122.2697;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_1_3
#N36 54.2449  W122 15.5887
#water depth 183 meters
behavior waypoint_yoyo {
latitude     = 36.9041;
longitude     = -122.2598;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 150;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Fire The Gulper
behavior FireTheGulper {
duration = 3;
dummy = 1;
}

# Descend behavior to 50 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 50;
minAltitude  = 9;
duration     = 2400;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_1_2
#N36 55.9656  W122 14.9921
#water depth 88 meters
behavior waypoint_yoyo {
latitude     = 36.9328;
longitude     = -122.2499;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 70;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint Bham_1_1
#N36 57.6789  W122 14.3975
#water depth 79 meters
behavior waypoint_yoyo {
latitude     = 36.9613;
longitude     = -122.2400;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 50;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Initial leg to waypoint Bham_1 - start of line
#N36 59.4000  W122 13.8000
#water depth 46 meters
behavior waypoint_yoyo {
latitude     = 36.9900;
longitude     = -122.2300;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 25;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}