#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       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to END OF LINE waypoint Davidson South 
#N35 30.000 W122 45.000
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.5;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson 25 
#N35 31.25 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.5208;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson 24
#N35 33.0 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.55;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson 23 
#N35 34.75 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.5792;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson 22 
#N35 36.50 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.6083;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson 21 
#N35 38.25 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.6375;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson 20 
#N35 40.0 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.6667;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson 19
#N35 41.75 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.6958;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson 18 
#N35 43.50 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.725;
longitude     = -122.75;
captureRadius = 10;
duration     = 2800;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson 17 
#N35 45.25 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.7542;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson 16 
#N35 47.0 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.7833;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = 1.5;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}


#waypoint behavior to waypoint Davidson 15
#N35 48.75 W122 45.0
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 35.8125;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint Davidson 14
#N35 50.50 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 35.8417;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint down line to Davidson 13
#N35 52.25 W122 45.0
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 35.8708;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint down line to Davidson 12
#N35 54.0 W122 45.0
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 35.900;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint Davidson 11
#N35 55.75 W122 45.0
#max depth 26m
behavior waypoint_yoyo {
latitude     = 35.9292;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint down line Davidson 10
#N35 57.50 W122 45.0
#max depth 200m
behavior waypoint_yoyo {
latitude     = 35.9583;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to Davidson 9
# N35 59.25 W122 45.0
#maxumum depth 500m
behavior waypoint_yoyo {
latitude     = 35.9875;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to Davidson 8
# N36 01.000  W122 45.0
#maxumum depth 500m
behavior waypoint_yoyo {
latitude     = 36.0167;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint Davidson 7
# N36 02.75 W122 45.0
behavior waypoint_yoyo {
latitude     = 36.0458;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to Davidson 6
# N36 04.50 W 122 45.0
#maximum depth 800m
behavior waypoint_yoyo {
latitude     = 36.075;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5.0;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to Davidson 5
#N36 06.25 W122 45.0
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.1042;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line Davidson 4
#N36 08.00 W122 45.0
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.1333;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}


# 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       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line Davidson 3
#N36 09.75 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.1625;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to Davidson 2
#N36 11.5 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.1917;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.6;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}


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

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line Davidson 1
#N36 13.25 W122 45.0
#maximum depth 50m?
#maximum water depth 500m
behavior waypoint_yoyo {
latitude     = 36.2208;
longitude     = -122.75;
captureRadius = 10;
duration     = 2900;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 290;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180;
pitch        = -15;
speed        = 1.6;
maxDepth     = 5;
minAltitude = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
speed        = 1.6;
verticalMode = pitch;
pitch        = 0;
}


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