}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 35;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO1 
#N36 47.78 W121 48.41
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7963;
longitude     = -121.8068;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 35;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 25;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO2
#N36 47.36 W121 48.66
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7893;
longitude     = -121.811;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 25;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 25;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}



}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 42;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO3
#N36 47.36 W121 49.06
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7835;
longitude     = -121.8177;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 42;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 42;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 35;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO4
#N36 46.63 W121 49.27
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7772;
longitude     = -121.8212;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 35;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

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

#Leg to waypoint LOCO5
#N36 46.08 W121 49.63
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7680;
longitude     = -121.8272;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 20;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 20;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}



}

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

#Leg to waypoint LOCO6
#N36 45.64 W121 49.86
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7607;
longitude     = -121.8310;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 20;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 20;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO7
#N36 45.25 W121 49.98
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7542;
longitude     = -121.8330;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 10;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}



}

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

#Leg to waypoint LOCO8
#N36 44.52 W121 50.04
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7420;
longitude     = -121.8340;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 2;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 2;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 340;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO9
#N36 44.01 W121 49.88
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7335;
longitude     = -121.8313;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 340;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 340;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 340;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO10
#N36 43.40 W121 49.63
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7233;
longitude     = -121.8272;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 340;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 340;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}



}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 350;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO11
#N36 42.63 W121 49.47
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7105;
longitude     = -121.8245;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 350;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 350;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}



}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 350;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO12
#N36 42.02 W121 49.41
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7003;
longitude     = -121.8235;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 350;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 350;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}



}

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

#Leg to waypoint LOCO13
#N36 41.29 W121 49.47
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.6882;
longitude     = -121.8245;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 2;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 2;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}



}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO14
#N36 40.65 W121 49.65
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.6775;
longitude     = -121.8275;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 10;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}



}

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

#Leg to waypoint LOCO15
#N36 40.08 W121 49.90
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.6680;
longitude     = -121.8317;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 20;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 20;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}



}

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

#Leg to waypoint LOCO16
#N36 39.69 W121 50.06
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.6615;
longitude     = -121.8343;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 20;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 20;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}



}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 200;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO17
#N36 39.37 W121 50.25
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.6562
longitude     = -121.8375;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 200;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 200;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 200;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO16
#N36 39.69 W121 50.06
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.6615;
longitude     = -121.8343;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 200;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 200;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 200;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO15
#N36 40.08 W121 49.90
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.6680;
longitude     = -121.8317;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 200;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 200;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 190;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO14
#N36 40.65 W121 49.65
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.6775;
longitude     = -121.8275;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 190;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 190;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 182;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO13
#N36 41.29 W121 49.47
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.6882;
longitude     = -121.8245;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 182;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 182;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 170;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO12
#N36 42.02 W121 49.41
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7003;
longitude     = -121.8235;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 170;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 170;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 170;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO11
#N36 42.63 W121 49.47
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7105;
longitude     = -121.8245;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 170;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 170;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 160;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO10
#N36 43.40 W121 49.63
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7233;
longitude     = -121.8272;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 160;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 160;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}



}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 160;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO9
#N36 44.01 W121 49.88
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7335;
longitude     = -121.8313;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 160;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 160;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 182;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO8
#N36 44.52 W121 50.04
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7420;
longitude     = -121.8340;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 182;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 182;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 190;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO7
#N36 45.25 W121 49.98
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7542;
longitude     = -121.8330;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 190;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 190;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 200;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO6
#N36 45.64 W121 49.86
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7607;
longitude     = -121.8310;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 200;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 200;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 200;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO5
#N36 46.08 W121 49.63
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7680;
longitude     = -121.8272;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 200;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 200;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 215;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO4
#N36 46.63 W121 49.27
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7772;
longitude     = -121.8212;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 215;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 215;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}

}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 222;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO3
#N36 47.36 W121 49.06
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7835;
longitude     = -121.8177;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 222;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 222;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}


}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 205;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO2
#N36 47.36 W121 48.66
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7893;
longitude     = -121.811;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 205;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 205;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}

}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 215;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO1 - start of line
#N36 47.78 W121 48.41
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7963;
longitude     = -121.8068;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 20;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 215;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 215;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}