#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   = heading;
horizontal       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to END OF LINE waypoint Davidson3_End 
#N36 14.388 W122 33.804
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.2398;
longitude     = -122.5634;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson3_25 
#N36 13.403 W122 34.3969
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.2234;
longitude     = -122.5733;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson3_24
#N36 11.8192 W122 35.3431
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.1970;
longitude     = -122.5891;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson3_23 
#N36 10.2375 W122 36.2946
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.1706;
longitude     = -122.6049;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson3_22 
#N36 08.6561 W122 37.2344
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.1443;
longitude     = -122.6206;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson3_21 
#N36 07.0653 W122 38.1942
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.1178;
longitude     = -122.6366;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson3_20 
#N36 05.4753 W122 39.1389
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.0913;
longitude     = -122.6523;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson3_19
#N36 03.9009 W122 40.088
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.065;
longitude     = -122.6681;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson3_18 
#N36 02.3238 W122 41.0175
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.0387;
longitude     = -122.6836;
captureRadius = 10;
duration     = 2800;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson3_17 
#N36 00.7442 W122 41.9591
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.0124;
longitude     = -122.6993;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson3_16 
#N35 59.1669 W122 42.90
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.9861;
longitude     = -122.715;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}


#waypoint behavior to waypoint Davidson3_15
#N35 57.561 W122 43.863
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 35.9594;
longitude     = -122.7311;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint Davidson3_14
#N35 55.9252 W122 44.8251
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.9321;
longitude     = -122.7471;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint down line to Davidson3_13
#N35 54.3184 W122 45.7823
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 35.9053;
longitude     = -122.7630;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint down line to Davidson3_12
#N35 52.7278 W122 46.7305
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 35.8788;
longitude     = -122.7788;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson3_11
#N35 51.150 W122 47.6657
#max depth 26m
behavior waypoint_yoyo {
latitude     = 35.8525;
longitude     = -122.7944;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint down line Davidson3_10
#N35 49.5623 W122 48.6003
#max depth 200m
behavior waypoint_yoyo {
latitude     = 35.8260;
longitude     = -122.8100;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to Davidson3_9
# N35 47.9908 W122 49.5384
#maxumum depth 500m
behavior waypoint_yoyo {
latitude     = 35.7998;
longitude     = -122.8256;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to Davidson3_8
# N35 46.3931  W122 50.480
#maxumum depth 500m
behavior waypoint_yoyo {
latitude     = 35.7732;
longitude     = -122.8413;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint Davidson3_7
# N35 44.818 W122 51.4127
behavior waypoint_yoyo {
latitude     = 35.7470;
longitude     = -122.8569;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to Davidson3_6
# N35 43.2201 W 122 52.3613
#maximum depth 800m
behavior waypoint_yoyo {
latitude     = 35.7203;
longitude     = -122.8727;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5.0;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to Davidson3_5
#N35 41.6512 W122 53.2928
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.6941;
longitude     = -122.8882;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line Davidson3_4
#N35 40.0335 W122 54.2443
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.6672;
longitude     = -122.9041;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line Davidson3_3
#N35 38.4612 W122 55.1787
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.6410;
longitude     = -122.9196;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to Davidson3_2
#N35 36.866 W122 56.1124
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.6144;
longitude     = -122.9352;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line Davidson3_1
#N35 35.2707 W122 57.0538
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.5878;
longitude     = -122.9508;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
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       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# Leg 1 waypoint behavior start of line at Davidson3_Start
#N35 33.678 W122 58.002
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.5613;
longitude     = -122.9667;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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