# Biospace.cfg
# 
# Mission to test McEwen gulper code, running back to ML
# 
#should be 15 minute mission, set timer to 18 minutes
#set timeout in seconds
behavior missionTimer {
timeOut = 1250;
}

behavior depthEnvelope {
  minDepth = 0;
  maxDepth = 25;
  abortDepth = 35;
  abortAltitude = 2.5;
  abortLockoutDepth = 10.0;
}




behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 150;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#Lap 1 leg to waypoint Biospace_6
#N36 50.24000 W121 53.5000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.8373;
longitude = -121.9047;
captureRadius = 10;
duration = 1200;
speed = 1.5;
minDepth = 2;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}


behavior ArmTheGulper
{
    duration = 1;
    gulper0 = 1;
    gulper1 = 1;
    gulper2 = 1;
    gulper3 = 1;
    gulper4 = 1;
    gulper5 = 1;
    gulper6 = 1;
    gulper7 = 1;
    gulper8 = 1;
    gulper9 = 1;
}



# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 150.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 150;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}