#Chavez_ASAP-B  Deploy near Ano Nuevo Pt
# 
#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   = rudder;
horizontal       = 5;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ACI_6
#N36 45.7980  W122 59.1240
#water depth xx meters
#leg distance 2100 meters
behavior waypoint_yoyo {
latitude     = 36.7633;
longitude     = -121.9854;
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      = 153;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 153;
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       = 153;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}


#leg to waypoint ASAP_B_28
#N36 46.8457  W121 59.7619
#water depth xx meters
#leg distance 2100 meters
behavior waypoint_yoyo {
latitude     = 36.7808;
longitude     = -121.9960;
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      = 153;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 153;
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       = 153;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_B_27
#N36 47.8661  W122 00.3835
#water depth 73 meters
#leg distance 1650 meters
behavior waypoint_yoyo {
latitude     = 36.7978;
longitude     = -122.0064;
captureRadius = 10;
duration     = 2000;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 50;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 153;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 153;
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       = 153;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_B_26
#N36 48.6643 W122 00.8700
#water depth xx meters
#leg distance 1650 meters
behavior waypoint_yoyo {
latitude     = 36.8111;
longitude     = -122.0145;
captureRadius = 10;
duration     = 2000;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 50;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 153;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 153;
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       = 153;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_B_25
#N36 49.4678  W122 01.3600
#water depth 85 meters
#leg distance 1650 meters
behavior waypoint_yoyo {
latitude     = 36.8245;
longitude     = -122.0227;
captureRadius = 10;
duration     = 2000;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 50;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 153;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 153;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# head for waypoint ACI_6

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

#leg to waypoint ASAP_B_SE -- end of the ASAP survey line
#N36 50.2680 W122 01.8480
#water depth 85 meters
#leg distance 1700 meters
behavior waypoint_yoyo {
latitude     = 36.8378;
longitude     = -122.0308;
captureRadius = 10;
duration     = 2000;
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   = rudder;
horizontal       = 5;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_B_24
#N36 49.5890  W122 02.6381
#water depth 91 meters
#leg distance 1700 meters
behavior waypoint_yoyo {
latitude     = 36.8265;
longitude     = -122.0440;
captureRadius = 10;
duration     = 2000;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 70;
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_B_23
#N36 48.9145  W122 03.4227
#water depth 106 meters
#leg distance 1800 meters
behavior waypoint_yoyo {
latitude     = 36.8152;
longitude     = -122.0571;
captureRadius = 10;
duration     = 2400;
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_B_22
#N36 47.6055  W122 04.9441
#water depth 343 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.7934;
longitude     = -122.0824;
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_B_21
#N36 46.2972  W122 06.4637
#water depth 914 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.7716;
longitude     = -122.1077;
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_B_20
#N36 44.9885  W122 07.9824
#water depth 914 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.7498;
longitude     = -122.1330;
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_B_19
#N36 43.6800  W122 09.4995
#water depth 566 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.7280;
longitude     = -122.1583;
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_B_SW
#N36 42.3660  W122 11.0220
#water depth 914 meters
#leg distance 1930 meters
behavior waypoint_yoyo {
latitude     = 36.7061;
longitude     = -122.1837;
captureRadius = 10;
duration     = 2200;
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_B_18
#N36 43.0756  W122 11.9675
#water depth 914 meters
#leg distance 1850 meters
behavior waypoint_yoyo {
latitude     = 36.7179;
longitude     = -122.1995;
captureRadius = 10;
duration     = 2100;
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_B_17
#N36 43.7538  W122 12.8717
#water depth 914 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.7292;
longitude     = -122.2145;
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_B_16
#N36 44.9657  W122 14.4883
#water depth 566 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.7494;
longitude     = -122.2415;
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_B_15
#N36 46.1800  W122 16.1100
#water depth 566 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.7697;
longitude     = -122.2685;
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_B_14
#N36 47.3961  W122 17.7340
#water depth 914 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.7899;
longitude     = -122.2956;
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_B_13
#N36 48.6120  W122 19.3606
#water depth 914 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8102;
longitude     = -122.3227;
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_B_12
#N36 49.8300  W122 20.9906
#water depth 300 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8305;
longitude     = -122.3498;
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_B_11
#N36 51.0419  W122 22.6143
#water depth 914 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8507;
longitude     = -122.3769;
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_B_10
#N36 52.2500  W122 24.2337
#water depth 914 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8708;
longitude     = -122.4039;
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_B_9
#N36 53.4632  W122 25.8613
#water depth 914 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.8911;
longitude     = -122.4310;
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_B_8
#N36 54.6733  W122 27.4861
#water depth 411 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.9112;
longitude     = -122.4581;
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_B_7
#N36 55.8831  W122 29.1120
#water depth 411 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.9314;
longitude     = -122.4852;
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   = rudder;
horizontal       = 5;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint ASAP_B_NW
#N36 57.0960  W122 30.7440
#water depth 411 meters
#leg distance 1760 meters
behavior waypoint_yoyo {
latitude     = 36.9516;
longitude     = -122.5124;
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      = 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_B_6
#N36 57.8000  W122 29.9297
#water depth 411 meters
#leg distance 1760 meters
behavior waypoint_yoyo {
latitude     = 36.9633;
longitude     = -122.4988;
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      = 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_B_5
#N36 58.4780  W122 29.1460
#water depth 120 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.9746;
longitude     = -122.4858;
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_B_4
#N36 59.7880  W122 27.6287
#water depth 120 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 36.9965;
longitude     = -122.4605;
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_B_3
#N37 01.0943  W122 26.1161
#water depth 106 meters
#leg distance 3600 meters
behavior waypoint_yoyo {
latitude     = 37.0182;
longitude     = -122.4353;
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_B_2
#N37 02.4055  W122 24.5956
#water depth 91 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 37.0401;
longitude     = -122.4099;
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_B_1
#N37 03.7089 W122 23.0845
#water depth 86 meters
#leg distance 3300 meters
behavior waypoint_yoyo {
latitude     = 37.0618;
longitude     = -122.3847;
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      = 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 CHAVEZ_ASAP_B_DEPLOY - start of line
#N37 05.0280 W122 21.5520
#water depth 67 meters
behavior waypoint_yoyo {
latitude     = 37.0838;
longitude     = -122.3592;
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      = 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;
}