behavior missionTimer {
timeOut = 600;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 55;
 abortDepth = 60;
 minAltitude = 5.0;
 abortAltitude = 3.0;
 abortLockoutDepth = 8.0;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 7200;
heading = 110.0;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}


# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 30;
abortOnTimeout = True;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 30;
abortOnTimeout = True;
}

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

behavior FireTheGulper {
duration=5;
gulperToFire = 2;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 110.0;
pitch = -15;
speed = 1.5;
maxDepth = 35;
minAltitude = 9;
duration = 120;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 110;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.8631;
longitude = -121.8869;
captureRadius = 10;
duration = 90;
speed = 1.5;
minDepth = 2.5;
maxDepth = 35;
minAltitude = 6.0;
maxCycles = 1;
}

behavior FireTheGulper {
duration=5;
gulperToFire = 1;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 110.0;
pitch = -15;
speed = 1.5;
maxDepth = 35;
minAltitude = 9;
duration = 120;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 110;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.8631;
longitude = -121.8869;
captureRadius = 10;
duration = 90;
speed = 1.5;
minDepth = 2.5;
maxDepth = 35;
minAltitude = 6.0;
maxCycles = 1;
}

behavior FireTheGulper {
duration=5;
gulperToFire = 0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -15;
speed = 1.5;
maxDepth = 35;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 15;
abortOnTimeout = True;
}