# AUVCTD_C1M2C1_start_M1_Gulps.cfg
#
#Mission Description
#Launch at ACI_5 (M1)
#Level flight to M2
#
#  Fire Gulpers 
#
#                   after waypoint M2:  00@5m, 01@100m, 02@250m on descent
#                            and        03@250m, 04@100m, 05@5m on ascent
#           then after next surfacing:  06@250m, 07@100m, 08@5m on ascent
#
#250m YoYo to C1.5
#150m YoYo yo C1
#Expected duration 24.0 hours

# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 103680;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth     = 265;
 abortDepth   = 280;
 abortAltitude  = 2.5;
 abortLockoutDepth = 100.0;
}


# Eighth leg of run from waypoint M1.5 to C1.5 (near head of canyon), will probably be short
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for Waypoint C1 - The End
behavior waypoint_yoyo {
latitude     = 36.7960;
longitude     = -121.8500;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 175;
minAltitude    = 20;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for Waypoint C1.25
behavior waypoint_yoyo {
latitude     = 36.7886;
longitude     = -121.8779;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 175;
minAltitude    = 20;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for Waypoint C1.375
behavior waypoint_yoyo {
latitude     = 36.7816;
longitude     = -121.9030;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 175;
minAltitude    = 20;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for Waypoint Chavez_Survey_Start
behavior waypoint_yoyo {
latitude     = 36.773;
longitude     = -121.9348;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 200;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}



# Seventh leg of run from waypoint M1.5 to C1.5 (near head of canyon)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 23.1 km downrange
# Waypoint ACI_7
behavior waypoint_yoyo {
latitude     = 36.7702;
longitude     = -121.9496;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 200;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# Sixth leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 19.8 km downrange
# Waypoint ACI_6
behavior waypoint_yoyo {
latitude     = 36.7633;
longitude     = -121.9854;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 250;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 10;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}



# Fifth leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 16.5 km downrange
# Waypoint ACI_5
behavior waypoint_yoyo {
latitude     = 36.7564;
longitude     = -122.0214;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 250;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}


# Fourth leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 13.2 km downrange
# Waypoint ACI_4
behavior waypoint_yoyo {
latitude     = 36.7497;
longitude     = -122.0573;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 250;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# Third leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 9.9 km downrange.
# Waypoint ACI_3
behavior waypoint_yoyo {
latitude     = 36.7427;
longitude     = -122.0932;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 250;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}


# Second leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 6.6 km downrange.
# Waypoint ACI_2
behavior waypoint_yoyo {
latitude     = 36.7357;
longitude     = -122.1290;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 250;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}


# First leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 70;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 3.3 km downrange.
# Waypoint ACI_1
behavior waypoint_yoyo {
latitude     = 36.7290;
longitude     = -122.1649;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 250;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 70;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 70;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 80;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# this should reach the waypoint Leg 5 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint_yoyo {
latitude     = 36.7220;
longitude     = -122.2007;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 250;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 80;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 80;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 80;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Leg 4 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint_yoyo {
latitude     = 36.7220;
longitude     = -122.2007;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 250;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 80;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 80;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 80;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Leg 3 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint_yoyo {
latitude     = 36.7220;
longitude     = -122.2007;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 250;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 80;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 80;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 80;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Leg 2 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint_yoyo {
latitude     = 36.7220;
longitude     = -122.2007;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 250;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 80;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 80;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 80;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Leg 1 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint_yoyo {
latitude     = 36.7220;
longitude     = -122.2007;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
minDepth       = 3;
maxDepth       = 250;
minAltitude    = 50;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 80;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 80;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

#inbound YoYo legs all the way back to C1
# Fire Gulpers 00, 01, 02, 03, 04 ,05
# run to first inbound surfacing
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = rudder;
horizontal       = 10;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# finally - Leg 5 to waypoint M2 - may be short
# N36.6958 W122.3967 
behavior waypoint {
latitude     = 36.6958;
longitude     = -122.3967;
captureRadius = 10;
duration     = 2800;
speed        = 1.25;
depth 	     = 10.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 260;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 260;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 260;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Leg 4 to waypoint M2
# N36.6958 W122.3967 
behavior waypoint {
latitude     = 36.6958;
longitude     = -122.3967;
captureRadius = 10;
duration     = 2800;
speed        = 1.25;
depth 	     = 150.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 260;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 260;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 260;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Leg 3 to waypoint M2
# N36.6958 W122.3967 
behavior waypoint {
latitude     = 36.6958;
longitude     = -122.3967;
captureRadius = 10;
duration     = 2800;
speed        = 1.25;
depth 	     = 30.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 260;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 260;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 260;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Leg 2 to waypoint M2
# N36.6958 W122.3967 
behavior waypoint {
latitude     = 36.6958;
longitude     = -122.3967;
captureRadius = 10;
duration     = 2800;
speed        = 1.25;
depth 	     = 10.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 260;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 260;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 300;
horizontalMode   = heading;
horizontal       = 256;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Leg 1 to waypoint M2
# N36.6958 W122.3967 
behavior waypoint {
latitude     = 36.6958;
longitude     = -122.3967;
captureRadius = 10;
duration     = 2800;
speed        = 1.25;
depth 	     = 150.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 260;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 260;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 256;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Leg 1 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint {
latitude     = 36.7220;
longitude     = -122.2007;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
depth 	     = 30.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 256;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 100;
horizontalMode   = heading;
horizontal       = 256;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 3.3 km downrange.
# Waypoint ACI_1
behavior waypoint {
latitude     = 36.7290;
longitude     = -122.1649;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
depth 	     = 10.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 256;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 256;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 6.6 km downrange.
# Waypoint ACI_2
behavior waypoint {
latitude     = 36.7357;
longitude     = -122.1290;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
depth 	     = 150.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 2400;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 256;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 256;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 9.9 km downrange.
# Waypoint ACI_3
behavior waypoint {
latitude     = 36.7427;
longitude     = -122.0932;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
depth 	     = 30.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 256;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 256;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 13.2 km downrange
# Waypoint ACI_4
behavior waypoint {
latitude     = 36.7497;
longitude     = -122.0573;
captureRadius = 10;
duration     = 3000;
speed        = 1.25;
depth 	     = 150.0;
}




behavior FireTheGulper {
	duration = 2;
	gulperToFire = 9;
}

# Descend behavior to 150 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -30;
speed        = 1.5;
maxDepth     = 150;
duration     = 60;
}





behavior FireTheGulper {
	duration = 2;
	gulperToFire = 8;
}

# Descend behavior to 10 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -30;
speed        = 1.5;
maxDepth     = 100;
duration     = 60;
}

behavior FireTheGulper {
	duration = 2;
	gulperToFire = 7;
}

# Descend behavior to 10 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -30;
speed        = 1.5;
maxDepth     = 80;
duration     = 60;
}

behavior FireTheGulper {
	duration = 2;
	gulperToFire = 6;
}

# Descend behavior to 10 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -30;
speed        = 1.5;
maxDepth     = 60;
duration     = 60;
}

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

# Descend behavior to 10 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -30;
speed        = 1.5;
maxDepth     = 40;
duration     = 60;
}

behavior FireTheGulper {
	duration = 2;
	gulperToFire = 4;
}

# Descend behavior to 10 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -30;
speed        = 1.5;
maxDepth     = 30;
duration     = 60;
}

behavior FireTheGulper {
	duration = 2;
	gulperToFire = 3;
}

# Descend behavior to 10 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -30;
speed        = 1.5;
maxDepth     = 20;
duration     = 60;
}

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

# Descend behavior to 10 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -30;
speed        = 1.5;
maxDepth     = 10;
duration     = 60;
}

behavior FireTheGulper {
	duration = 2;
	gulperToFire = 1;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 256;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}


# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 256;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

#fire gulper 0 at surface
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 120;
horizontalMode   = heading;
horizontal       = 256;
pitch            = 30;
speed            = 1.25;
endDepth         = 2;
}

# waypoint behavior
# Aiming for point 16.5 km downrange
# Waypoint ACI_5
behavior waypoint {
latitude     = 36.7564;
longitude     = -122.0214;
captureRadius = 10;
duration     = 2800;
speed        = 1.25;
depth 	     = 30.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 244;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 244;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}