#Chavez_ASAP  near Davenport
# ***** verify WAYPOINTS vs Winfrog *****
#define YOYO_MIN_ALTITUDE 6.5
#define MISSION_SPEED 1.25

#should be 19.5 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   = heading;
horizontal       = 132;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_25
#N36 51.6534  W122 03.4500
#water depth 76 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8609;
longitude     = -122.0575;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 60;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 132;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 132;
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       = 132;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_24
#N36 52.8429  W122 05.0979
#water depth 73 meters
#leg distance 1650 meters
behavior waypoint_yoyo {
latitude     = 36.8807;
longitude     = -122.0850;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 60;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 132;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 132;
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       = 132;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_23A
#N36 53.4302 W122 05.9223
#water depth 54 meters
#leg distance 1650 meters
behavior waypoint_yoyo {
latitude     = 36.8905;
longitude     = -122.0987;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 50;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 132;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 132;
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       = 132;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_23
#N36 54.0243  W122 06.7499
#water depth 54 meters
#leg distance 1650 meters
behavior waypoint_yoyo {
latitude     = 36.9004;
longitude     = -122.1125;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 50;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 132;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 132;
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       = 132;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_SEA
#N36 54.6100 W122 07.5723
#water depth 54 meters
#leg distance 1650 meters
behavior waypoint_yoyo {
latitude     = 36.9102;
longitude     = -122.1262;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 50;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 132;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 132;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# head for wypt Chavez_Survey_Start

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

#Final leg to waypoint ASAP_SE - end of ASAP survey line
#N36 55.2000  W122 8.4000
#water depth 68 meters
#leg distance 1800 meters
behavior waypoint_yoyo {
latitude     = 36.9200;
longitude     = -122.1400;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 50;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 43;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 43;
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       = 43;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_22
#N36 54.4657  W122 09.2644
#water depth 78 meters
#leg distance 1800 meters
behavior waypoint_yoyo {
latitude     = 36.9078;
longitude     = -122.1544;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 62;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 43;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 43;
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       = 43;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_21
#N36 53.7492  W122 10.0996
#water depth 91 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8958;
longitude     = -122.1683;
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      = 43;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 43;
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       = 43;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_20
#N36 52.4428  W122 11.6243
#water depth 128 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8741;
longitude     = -122.1937;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 125;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 43;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 43;
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       = 43;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_19
#N36 51.1407  W122 13.1424
#water depth 731 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8523;
longitude     = -122.2190;
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      = 43;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 43;
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       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_18
#N36 49.8382  W122 14.6654
#water depth 731 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8306;
longitude     = -122.2444;
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      = 43;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 43;
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       = 43;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_17
#N36 48.5308  W122 16.1819
#water depth 731 meters
#leg distance 3300 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8088;
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      = 43;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 43;
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 ASAP_SW
#N36 47.2320  W122 17.6940
#water depth 914 meters
#leg distance 2050 meters
behavior waypoint_yoyo {
latitude     = 36.7872;
longitude     = -122.2949;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 133;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 133;
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       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_16A
#N36 47.9968  W122 18.6998
#water depth 1280 meters
#leg distance 2050 meters
behavior waypoint_yoyo {
latitude     = 36.8000;
longitude     = -122.3117;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 250;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 133;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 133;
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       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_16
#N36 48.7485  W122 19.7009
#water depth 1097 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8125;
longitude     = -122.3283;
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      = 133;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 133;
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       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_15
#N36 49.9416  W122 21.2866
#water depth 914 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8324;
longitude     = -122.3548;
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      = 133;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 133;
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       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_14
#N36 51.1580  W122 22.9022
#water depth 1097 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8526;
longitude     = -122.3817;
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      = 133;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 133;
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       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_13
#N36 52.3672  W122 24.5062
#water depth 1097 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8728;
longitude     = -122.4084;
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      = 133;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 133;
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       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_12
#N36 53.5793  W122 26.1068
#water depth 914 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8930;
longitude     = -122.4351;
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      = 133;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 133;
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       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_11
#N36 54.7912  W122 27.7251
#water depth 656 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.9132;
longitude     = -122.4621;
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      = 133;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 133;
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       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_10
#N36 56.0061  W122 29.3484
#water depth 411 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.9334;
longitude     = -122.4891;
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      = 133;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 133;
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       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_9
#N36 57.2206  W122 30.9684
#water depth 338 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.9537;
longitude     = -122.5161;
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      = 133;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 133;
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       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_8
#N36 58.4310  W122 32.6012
#water depth 338 meters
#leg distance 2100 meters
behavior waypoint_yoyo {
latitude     = 36.9739;
longitude     = -122.5434;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 230;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 158;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 158;
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       = 158;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_7
#N36 59.4973  W122 33.1300
#water depth 232 meters
#leg distance 2100 meters
behavior waypoint_yoyo {
latitude     = 36.9916;
longitude     = -122.5522;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 110;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 158;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 158;
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       = 158;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_6
#N37 0.5129  W122 33.6335
#water depth 137 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 37.0085;
longitude     = -122.5606;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 110;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 158;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 158;
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       = 158;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_5
#N37 2.1786  W122 34.4493
#water depth 120 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 37.0363;
longitude     = -122.5742;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 105;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 158;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 158;
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 ASAP_NW_SAFE
#N37 3.8222  W122 35.2599
#water depth 119 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 37.0637;
longitude     = -122.5877;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 105;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 223;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 223;
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       = 223;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_4
#N37 4.7110  W122 34.2326
#water depth 115 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 37.0785;
longitude     = -122.5707;
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      = 223;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 223;
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       = 223;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_3
#N37 6.0183  W122 32.7071
#water depth 110 meters
#leg distance 3600 meters
behavior waypoint_yoyo {
latitude     = 37.1003;
longitude     = -122.5451;
captureRadius = 10;
duration     = 3700;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 90;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 223;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 223;
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       = 223;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_2
#N37 7.3221  W122 31.1928
#water depth 91 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 37.1220;
longitude     = -122.5199;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 78;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 223;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 223;
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       = 223;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_1
#N37 08.6217  W122 29.6797
#water depth 86 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 37.1437;
longitude     = -122.4947;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 68;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 223;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 223;
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       = 223;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Initial leg to waypoint ASAP_DEPLOY - start of line
#N37 9.924  W122 28.164
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 37.1654;
longitude     = -122.4694;
captureRadius = 10;
duration     = 3600;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 63;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 223;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 223;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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