# Biospace.cfg
# 
# Distance of single survey track 34.151 km
# 


#define YOYO_MIN_ALTITUDE 10
#define MISSION_YOYO_MIN_DEPTH 2
#define MISSION_YOYO_MAX_DEPTH 25
#define MISSION_YOYO_MAX_DEPTH_SHALLOW 20
#define MISSION_SPEED 1.37
#define MISSION_SPEED_SLOW 1.37


#should be 22 hour mission, set timer to 24 hours
#set timeout in seconds
behavior missionTimer {
timeOut = 86400;
}

behavior depthEnvelope {
  minDepth = 0;
  maxDepth = 25;
  abortDepth = 35;
  abortAltitude = 6.0;
  abortLockoutDepth = 10.0;
}

# Mission End
behavior setpoint {
duration = 3600;
heading = 132;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

#Lap 2.5 leg to waypoint Biospace_12
#N36 55.3300 W121 58.0100
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9222;
longitude     = -121.9668;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2.5 leg to waypoint Biospace_11
#N36 55.3300 W121 58.7900
#leg distance 500 meters
#water depth 25 meters
behavior waypoint_yoyo {
latitude     = 36.9222;
longitude     = -121.9798;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2.5 leg to waypoint Biospace_10
#N36 55.6300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 270.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2.5 leg to waypoint Biospace_9
#N36 55.6300 W121 58.0100
#leg distance 500 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9668;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2.5 leg to waypoint Biospace_8
#N36 55.9300 W121 58.0100
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9668;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2.5 leg 5 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 2000;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2.5 leg 4 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2.5 leg 3 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2.5 leg 2 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2.5 leg 1 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2.5 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        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 270.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2.5 leg to waypoint Biospace_5
#N36 50.24000 W121 53.5000
#leg distance 500 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8373;
longitude     = -121.8917;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 0.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 0.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2.5 leg to waypoint Biospace_4
#N36 49.94000 W121 53.5000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8323;
longitude     = -121.8917;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2.5 leg to waypoint Biospace_3
#N36 49.94000 W121 54.28000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8323;
longitude     = -121.9047;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 0.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 0.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2.5 leg to waypoint Biospace_2
#N36 49.64000 W121 54.28000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8273;
longitude     = -121.9047;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}


# Run back up to N ESP box

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

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

#Lap 2 leg to waypoint Biospace_14
#N36 49.64 W121 53.5
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8273;
longitude     = -121.8917;
captureRadius = 10;
duration     = 900;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# stationary setpoint on surface
behavior setpoint {
duration = 4;
heading = 132;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

# stationary setpoint on surface
behavior setpoint {
duration = 4;
heading = 132;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 132.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 10;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 132.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 leg to waypoint Biospace_13
#N36 49.94 W121 53.89
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8323;
longitude     = -121.8982;
captureRadius = 10;
duration     = 3000;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# stationary setpoint on surface
behavior setpoint {
duration = 4;
heading = 270;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

# stationary setpoint on surface
behavior setpoint {
duration = 4;
heading = 270;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 148.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 10;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 148.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 148;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2 leg to waypoint BioGulp_4
#N36 51.36 W121 54.9800
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8560;
longitude     = -121.9163;
captureRadius = 10;
duration     = 3000;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# stationary setpoint on surface
behavior setpoint {
duration = 4;
heading = 148;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

# stationary setpoint on surface
behavior setpoint {
duration = 4;
heading = 148;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 148.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 10;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 148.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 148;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2 leg to waypoint BioGulp_3
#N36 52.79 W121 556.0600
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8798;
longitude     = -121.9343;
captureRadius = 10;
duration     = 3000;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# stationary setpoint on surface
behavior setpoint {
duration = 4;
heading = 148;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

# stationary setpoint on surface
behavior setpoint {
duration = 4;
heading = 148;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 148.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 10;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 148.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 148;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2 leg to waypoint BioGulp_2
#N36 54.2100 W121 57.1500
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9035;
longitude     = -121.9525;
captureRadius = 10;
duration     = 3000;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 148.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 148.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 leg to waypoint Biospace_12
#N36 55.3300 W121 58.0100
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9222;
longitude     = -121.9668;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 leg to waypoint Biospace_11
#N36 55.3300 W121 58.7900
#leg distance 500 meters
#water depth 25 meters
behavior waypoint_yoyo {
latitude     = 36.9222;
longitude     = -121.9798;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 leg to waypoint Biospace_10
#N36 55.6300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# stationary setpoint on surface
behavior setpoint {
duration = 4;
heading = 270;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

# stationary setpoint on surface
behavior setpoint {
duration = 4;
heading = 270;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

behavior FireTheGulper {
        duration = 2;
        gulperToFire = 0;
}

behavior descend {
horizontalMode   = heading;
horizontal      = 270.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 10;
minAltitude  = 9;
duration     = 60;
}

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 270;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2 leg to waypoint BioGulp_1
#N36 55.6300 W121 58.4000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9733;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 270.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 leg to waypoint Biospace_9
#N36 55.6300 W121 58.0100
#leg distance 500 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9668;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 leg to waypoint Biospace_8
#N36 55.9300 W121 58.0100
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9668;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 leg 5 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 2000;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2 leg 4 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2 leg 3 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2 leg 2 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 2 leg 1 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 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        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 270.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 leg to waypoint Biospace_5
#N36 50.24000 W121 53.5000
#leg distance 500 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8373;
longitude     = -121.8917;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 0.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 0.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 leg to waypoint Biospace_4
#N36 49.94000 W121 53.5000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8323;
longitude     = -121.8917;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 leg to waypoint Biospace_3
#N36 49.94000 W121 54.28000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8323;
longitude     = -121.9047;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 0.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 0.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 2 leg to waypoint Biospace_2
#N36 49.64000 W121 54.28000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8273;
longitude     = -121.9047;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
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 = 600;
minHits = 15;
abortOnTimeout = True;
}

#second lap - do gulper firings

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

#Lap 1 leg to waypoint Biospace_14
#N36 49.64 W121 53.5
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8273;
longitude     = -121.8917;
captureRadius = 10;
duration     = 900;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 132.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 132.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 1 leg to waypoint Biospace_13
#N36 49.94 W121 53.89
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8323;
longitude     = -121.8982;
captureRadius = 10;
duration     = 3000;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 148.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 148.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 148;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg to waypoint BioGulp_4
#N36 51.36 W121 54.9800
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8560;
longitude     = -121.9163;
captureRadius = 10;
duration     = 3000;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 148.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 148.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 148;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg to waypoint BioGulp_3
#N36 52.79 W121 556.0600
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8798;
longitude     = -121.9343;
captureRadius = 10;
duration     = 3000;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 148.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 148.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 148;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg to waypoint BioGulp_2
#N36 54.2100 W121 57.1500
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9035;
longitude     = -121.9525;
captureRadius = 10;
duration     = 3000;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 148.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 148.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 1 leg to waypoint Biospace_12
#N36 55.3300 W121 58.0100
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9222;
longitude     = -121.9668;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 1 leg to waypoint Biospace_11
#N36 55.3300 W121 58.7900
#leg distance 500 meters
#water depth 25 meters
behavior waypoint_yoyo {
latitude     = 36.9222;
longitude     = -121.9798;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 1 leg to waypoint Biospace_10
#N36 55.6300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 270.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 1 leg to waypoint Biospace_9
#N36 55.6300 W121 58.0100
#leg distance 500 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9272;
longitude     = -121.9668;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 180.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 1 leg to waypoint Biospace_8
#N36 55.9300 W121 58.0100
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9668;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 1 leg 5 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 2000;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH_SHALLOW;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg 4 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg 3 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg 2 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 327;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Lap 1 leg 1 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.9322;
longitude     = -121.9798;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 327.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 327.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

behavior ascend {
duration  = 1200;
horizontalMode   = rudder;
horizontal       = 5;
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        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 270.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 1 leg to waypoint Biospace_5
#N36 50.24000 W121 53.5000
#leg distance 500 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8373;
longitude     = -121.8917;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 0.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 0.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 1 leg to waypoint Biospace_4
#N36 49.94000 W121 53.5000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8323;
longitude     = -121.8917;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 90.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 90.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 1 leg to waypoint Biospace_3
#N36 49.94000 W121 54.28000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8323;
longitude     = -121.9047;
captureRadius = 10;
duration     = 500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 0.0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 0.0;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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

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

#Lap 1 leg to waypoint Biospace_2
#N36 49.64000 W121 54.28000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8273;
longitude     = -121.9047;
captureRadius = 10;
duration     = 1200;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}



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

#Initial leg to waypoint Biospace_1
#N36 49.62000 W121 53.50000
#leg distance 500 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude     = 36.8273;
longitude     = -121.8917;
captureRadius = 10;
duration     = 1500;
speed        = MISSION_SPEED;
minDepth       = MISSION_YOYO_MIN_DEPTH;
maxDepth       = MISSION_YOYO_MAX_DEPTH;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 270;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
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 = 600;
minHits = 15;
abortOnTimeout = True;
}


#
# Launch AUV at waypoint Biospace_Launch
#  N36 49.62 W121 53.17
#  500 meters east of first mission waypoint
#  AUV will swim due west from launch point
#  Should surface approx 7 minutes after initial dive
#