#CANON_SoCal_2013_inshore_to_offshore
#fire the Gulper after 12misobath_5
# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 30000;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 90;
 abortDepth = 100;
 abortAltitude = 2.5;
 abortLockoutDepth = 8.0;
}

behavior getgps {
duration = 1800;
minHits = 300;
abortOnTimeout = False;
}

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

behavior waypoint_yoyo {
latitude = 33.6210;
longitude = -118.0100;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 32;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 32;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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;
}

behavior waypoint_yoyo {
latitude = 33.6210;
longitude = -118.0100;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 32;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 32;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 32;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 33.6210;
longitude = -118.0100;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 1.5;
maxDepth = 40;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 32;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 32;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 32;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 33.6210;
longitude = -118.0100;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 1.5;
maxDepth = 80;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 32;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 32;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 32;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 33.6210;
longitude = -118.0100;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 1.5;
maxDepth = 80;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 32;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 32;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 32;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 33.6210;
longitude = -118.0100;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 1.5;
maxDepth = 80;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 32;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 32;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 32;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 33.6210;
longitude = -118.0100;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 1.5;
maxDepth = 80;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 32;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 32;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}

behavior ArmTheGulper
{
  duration = 5;
  gulper0 = 0;
  gulper1 = 1;
  gulper2 = 1;
  gulper3 = 1;
  gulper4 = 1;
  gulper5 = 1;
  gulper6 = 1;
  gulper7 = 1;
  gulper8 = 1;
}