#sc_esp_box.cfg
#
# Launch_AUV N36 56.23 W121 59.63 
#
#  No Gulpers 
#
#define YOYO_MIN_ALTITUDE 6.5
#define MISSION_SPEED 1.5
#define MISSION_SPEED_SLOW 1.4
#

# mission distance 88835 meters
#  at 1.46 commanded speed,
#  expected speed over ground 1.37 meters per sec
#
#should be 18 hour mission, set timer to 24 hours
#set timeout in seconds
behavior missionTimer {
timeOut = 86400;
}

behavior depthEnvelope {
  minDepth = 0;
  maxDepth = 30;
  abortDepth = 40;
  abortAltitude = 2.5;
  abortLockoutDepth = 10.0;
}

#
# Mission End
#

# acquire gps fix
behavior getgps {
duration = 7200;
minHits = 45;
abortOnTimeout = True;
}

#Leg to waypoint SCESP_6 Tour 4.5
#N36 55.63 W121 57.5
#water depth 23 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 18;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_5 Tour 4.5
#N36 55.63 W121 59.3
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_4 Tour 4.5
#N36 55.93 W121 59.3
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9883;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
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;
}

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

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

#Leg to waypoint SCESP_3 Tour 4.5
#N36 55.93 W121 57.5
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9583;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_2 Tour 4.5
#N36 56.23 W121 57.5
#water depth 16 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9372;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 11;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 90;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_1 Tour 4.5
#N36 56.23000 W121 59.30000
#water depth 16 meters
#leg distance 1000 meters
behavior waypoint_yoyo {
latitude     = 36.9372;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 11;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 309;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 309;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_DIAG Tour 4.5
#N36 55.8843 W121 58.7813
#water depth 25 meters
#leg distance 2475 meters
behavior waypoint_yoyo {
latitude     = 36.9314;
longitude     = -121.9799;
captureRadius = 10;
duration     = 2500;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 309;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 309;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

###################################
# End of Box Tour 4
###################################

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

#Leg to waypoint SCESP_10 Tour 4
#N36 55.03 W121 57.5
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9172;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_9 Tour 4
#N36 55.03 W121 59.3
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9172;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_8 Tour 4
#N36 55.33 W121 59.3
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9221;
longitude     = -121.9883;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
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;
}

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

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

#Leg to waypoint SCESP_7 Tour 4
#N36 55.33 W121 57.5
#water depth 25 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9222;
longitude     = -121.9583;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_6 Tour 4
#N36 55.63 W121 57.5
#water depth 23 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 18;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_5 Tour 4
#N36 55.63 W121 59.3
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_4 Tour 4
#N36 55.93 W121 59.3
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9883;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
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;
}

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

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

#Leg to waypoint SCESP_3 Tour 4
#N36 55.93 W121 57.5
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9583;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_2 Tour 4
#N36 56.23 W121 57.5
#water depth 16 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9372;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 11;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#######################################
# End of Box Tour 3
#######################################

#Leg to waypoint SCESP_1 Tour 3
#N36 56.23000 W121 59.30000
#water depth 16 meters
#leg distance 1000 meters
behavior waypoint_yoyo {
latitude     = 36.9372;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 11;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 309;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 309;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_DIAG Tour 3
#N36 55.8843 W121 58.7813
#water depth 25 meters
#leg distance 2475 meters
behavior waypoint_yoyo {
latitude     = 36.9314;
longitude     = -121.9799;
captureRadius = 10;
duration     = 2500;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 309;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 309;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_10 Tour 3
#N36 55.03 W121 57.5
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9172;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_9 Tour 3
#N36 55.03 W121 59.3
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9172;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_8 Tour 3
#N36 55.33 W121 59.3
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9221;
longitude     = -121.9883;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
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;
}

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

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

#Leg to waypoint SCESP_7 Tour 3
#N36 55.33 W121 57.5
#water depth 25 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9222;
longitude     = -121.9583;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_6 Tour 3
#N36 55.63 W121 57.5
#water depth 23 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 18;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_5 Tour 3
#N36 55.63 W121 59.3
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_4 Tour 3
#N36 55.93 W121 59.3
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9883;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
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;
}

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

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

#Leg to waypoint SCESP_3 Tour 3
#N36 55.93 W121 57.5
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9583;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_2 Tour 3
#N36 56.23 W121 57.5
#water depth 16 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9372;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 11;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#########################################
# End of Box Tour 2
#########################################

#Leg to waypoint SCESP_1 Tour 2
#N36 56.23 W121 59.3
#water depth 16 meters
#leg distance 1000 meters
behavior waypoint_yoyo {
latitude     = 36.9372;
longitude     = -121.9883;
captureRadius = 10;
duration     = 1000;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 11;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 309;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 309;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_DIAG Tour 2
#N36 55.8843 W121 58.7813
#water depth 25 meters
#leg distance 2475 meters
behavior waypoint_yoyo {
latitude     = 36.9314;
longitude     = -121.9799;
captureRadius = 10;
duration     = 2500;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 309;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 309;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_10 Tour 2
#N36 55.03 W121 57.5
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9172;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_9 Tour 2
#N36 55.03 W121 59.3
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9172;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_8 Tour 2
#N36 55.33 W121 59.3
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9221;
longitude     = -121.9883;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
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;
}

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

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

#Leg to waypoint SCESP_7 Tour 2
#N36 55.33 W121 57.5
#water depth 25 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9222;
longitude     = -121.9583;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_6 Tour 2
#N36 55.63 W121 57.5
#water depth 23 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 18;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_5 Tour 2
#N36 55.63 W121 59.3
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_4 Tour 2
#N36 55.93 W121 59.3
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9883;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
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;
}

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

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

#Leg to waypoint SCESP_3 Tour 2
#N36 55.93 W121 57.5
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9583;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_2 Tour 2
#N36 56.23 W121 57.5
#water depth 16 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9372;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 11;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

######################################
# End of Box Tour 1
######################################

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

#Leg to waypoint SCESP_1 Tour 1
#N36 56.23 W121 59.3
#water depth 16 meters
#leg distance 1000 meters
behavior waypoint_yoyo {
latitude     = 36.9372;
longitude     = -121.9883;
captureRadius = 10;
duration     = 1000;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 11;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 309;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 309;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_DIAG Tour 1
#N36 55.8843 W121 58.7813
#water depth 25 meters
#leg distance 2475 meters
behavior waypoint_yoyo {
latitude     = 36.9314;
longitude     = -121.9799;
captureRadius = 10;
duration     = 2500;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 309;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 309;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_10 Tour 1
#N36 55.03 W121 57.5
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9172;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_9 Tour 1
#N36 55.03 W121 59.3
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9172;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_8 Tour 1
#N36 55.33 W121 59.3
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9221;
longitude     = -121.9883;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
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;
}

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

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

#Leg to waypoint SCESP_7 Tour 1
#N36 55.33 W121 57.5
#water depth 25 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9222;
longitude     = -121.9583;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_6 Tour 1
#N36 55.63 W121 57.5
#water depth 23 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 18;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_5 Tour 1
#N36 55.63 W121 59.3
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_4 Tour 1
#N36 55.93 W121 59.3
#water depth 21 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9883;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
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;
}

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

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

#Leg to waypoint SCESP_3 Tour 1
#N36 55.93 W121 57.5
#water depth 21 meters
#leg distance 555 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9583;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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       = 2;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint SCESP_2 Tour 1
#N36 56.23 W121 57.5
#water depth 16 meters
#leg distance 2673 meters
behavior waypoint_yoyo {
latitude     = 36.9372;
longitude     = -121.9583;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 11;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
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       = 90;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Initial leg to waypoint SCESP_1 - start of line Tour 1
#N36 56.23000 W121 59.30000
#water depth 16 meters
#leg distance 500 meters
behavior waypoint_yoyo {
latitude     = 36.9372;
longitude     = -121.9883;
captureRadius = 10;
duration     = 600;
speed        = MISSION_SPEED_SLOW;
minDepth       = 2.0;
maxDepth       = 11;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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