#define YOYO_MIN_ALTITUDE 7.5
#define MISSION_SPEED 1.5

# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 75500;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth     = 300;
 abortDepth   = 305;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to END OF LINE waypoint Davidson2_End 
#N35 34.600 W122 34.200
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.5767;
longitude     = -122.5700;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson2_25 
#N35 35.9046 W122 34.9118
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.5984;
longitude     = -122.5819;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson2_24
#N35 37.5098 W122 35.7882
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.6252;
longitude     = -122.5965;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson2_23 
#N35 39.1148 W122 36.6653
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.6519;
longitude     = -122.6111;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson2_22 
#N35 40.7198 W122 37.5429
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.6787;
longitude     = -122.6257;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson2_21 
#N35 42.3247 W122 38.4210
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.7054;
longitude     = -122.6403;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson2_20 
#N35 43.9294 W122 39.2998
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.7322;
longitude     = -122.6550;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson2_19
#N35 45.5340 W122 40.1792
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.7589;
longitude     = -122.6697;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson2_18 
#N35 47.1385 W122 41.0591
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.7856;
longitude     = -122.6843;
captureRadius = 10;
duration     = 2800;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson2_17 
#N35 48.7429 W122 41.9397
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.8124;
longitude     = -122.6990;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson2_16 
#N35 50.3472 W122 42.8208
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.8391;
longitude     = -122.7137;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}


#waypoint behavior to waypoint Davidson2_15
#N35 51.9514 W122 43.7025
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 35.8659;
longitude     = -122.7284;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint Davidson2_14
#N35 53.5554 W122 44.5848
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.8926;
longitude     = -122.7431;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint down line to Davidson2_13
#N35 55.1594 W122 45.4678
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 35.9193;
longitude     = -122.7578;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint down line to Davidson2_12
#N35 56.7632 W122 46.3513
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 35.9461;
longitude     = -122.7725;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson2_11
#N35 58.3669 W122 47.2354
#max depth 26m
behavior waypoint_yoyo {
latitude     = 35.9728;
longitude     = -122.7873;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint down line Davidson2_10
#N35 59.9705 W122 48.1201
#max depth 200m
behavior waypoint_yoyo {
latitude     = 35.9995;
longitude     = -122.8020;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to Davidson2_9
# N36 1.5740 W122 49.0053
#maxumum depth 500m
behavior waypoint_yoyo {
latitude     = 36.0262;
longitude     = -122.8168;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to Davidson2_8
# N36 3.1773 W122 49.8912
#maxumum depth 500m
behavior waypoint_yoyo {
latitude     = 36.0530;
longitude     = -122.8315;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint Davidson2_7
# N36 4.7806 W122 50.7777
behavior waypoint_yoyo {
latitude     = 36.0797;
longitude     = -122.8463;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to Davidson2_6
# N36 6.3837 W122 51.6648
#maximum depth 800m
behavior waypoint_yoyo {
latitude     = 36.1064;
longitude     = -122.8611;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5.0;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 155;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to Davidson2_5
#N36 7.9867 W122 52.5525
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.1331;
longitude     = -122.8759;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 155;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 155;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

# second leg waypoint behavior to waypoint down line Davidson2_4
#N36 9.5896 W122 53.4408
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.1598;
longitude     = -122.8907;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 74;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 74;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}


# Fourth leg of run to waypoint M1
# acquire gps fix
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = False;
}


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 74;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# first leg waypoint behavior to waypoint down line Davidson2_4
#N36 9.5896 W122 53.4408
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.1598;
longitude     = -122.8907;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 74;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 74;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}


# Fourth leg of run to waypoint M1
# acquire gps fix
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = False;
}