#Southern_Ryjo_23m_FINAL.cfg

#This run starts just SW of the ML Harbor and heads south close to the 23m isobath


#define YOYO_MIN_ALTITUDE 6.5
#define MISSION_SPEED 1.25

#should be 24 hour mission, set timer to 26 hours
behavior missionTimer {
timeOut = 93600;
}

behavior depthEnvelope {
  minDepth = 0;
  maxDepth = 45;
  abortDepth = 50;
  abortAltitude = 2.5;
  abortLockoutDepth = 10.0;
}


#get gps at end of mission just because
behavior getgps {
duration = 1800;
minHits = 100;
abortOnTimeout = True;
}





###########################  END OF NORTHBOUND LEG 3 ##################################



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

#Leg to waypoint LOCO1
#N36 47.38 W121 49.21
#maximum depth 26m
behavior waypoint_yoyo {
latitude     = 36.7897;
longitude     = -121.8202;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 22;
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       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO2
#N36 47.00 W121 49.33
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7833;
longitude     = -121.8222;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO3
#N36 46.57 W121 49.49
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7762;
longitude     = -121.8248;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO4
#N36 46.12 W121 49.64
#maximum depth 22m
behavior waypoint_yoyo {
latitude     = 36.7687;
longitude     = -121.8273;
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      = 15;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO5
#N36 45.66 W121 49.82
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7610;
longitude     = -121.8303;
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      = 15;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO6
#N36 45.14 W121 49.96
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7523;
longitude     = -121.8327;
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      = 15;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


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

#Leg to waypoint LOCO7
#N36 44.59 W121 50.03
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7432;
longitude     = -121.8338;
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      = 5;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 5;
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 43.97 W121 50.05
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7328;
longitude     = -121.8342;
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       = 0;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO9
#N36 43.35 W121 50.05
#maximum depth 25m
behavior waypoint_yoyo {
latitude     = 36.7225;
longitude     = -121.8342;
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      = 0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 0;
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 LOCO10
#N36 42.69 W121 50.09
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7115;
longitude     = -121.8348;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
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       = 5;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO11
#N36 41.98 W121 50.17
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6997;
longitude     = -121.8362;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 5;
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 LOCO12
#N36 41.32 W121 50.29
#maximum depth 44m
behavior waypoint_yoyo {
latitude     = 36.6887;
longitude     = -121.8382;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 40;
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       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO13
#N36 40.67 W121 50.46
#maximum depth 40m
behavior waypoint_yoyo {
latitude     = 36.6778;
longitude     = -121.8410;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 36;
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       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO14
#N36 40.14 W121 50.65
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6690;
longitude     = -121.8442;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
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 39.71 W121 50.85
#maximum depth 36m
behavior waypoint_yoyo {
latitude     = 36.6618;
longitude     = -121.8475;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 32;
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;
}





########################  END OF SOUTHBOUND LEG 3  #################################




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

#Leg to waypoint LOCO16
#N36 39.37 W121 51.03
#maximum depth 36m
behavior waypoint_yoyo {
latitude     = 36.6562;
longitude     = -121.8505;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 32;
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 39.71 W121 50.85
#maximum depth 36m
behavior waypoint_yoyo {
latitude     = 36.6618;
longitude     = -121.8475;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 32;
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 40.14 W121 50.65
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6690;
longitude     = -121.8442;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
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       = 190;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO13
#N36 40.67 W121 50.46
#maximum depth 40m
behavior waypoint_yoyo {
latitude     = 36.6778;
longitude     = -121.8410;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 36;
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       = 190;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO12
#N36 41.32 W121 50.29
#maximum depth 44m
behavior waypoint_yoyo {
latitude     = 36.6887;
longitude     = -121.8382;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 40;
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       = 185;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO11
#N36 41.98 W121 50.17
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6997;
longitude     = -121.8362;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 185;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 185;
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 LOCO10
#N36 42.69 W121 50.09
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7115;
longitude     = -121.8348;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
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       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO9
#N36 43.35 W121 50.05
#maximum depth 25m
behavior waypoint_yoyo {
latitude     = 36.7225;
longitude     = -121.8342;
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      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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 43.97 W121 50.05
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7328;
longitude     = -121.8342;
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       = 185;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO7
#N36 44.59 W121 50.03
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7432;
longitude     = -121.8338;
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      = 185;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 185;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO6
#N36 45.14 W121 49.96
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7523;
longitude     = -121.8327;
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      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO5
#N36 45.66 W121 49.82
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7610;
longitude     = -121.8303;
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      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO4
#N36 46.12 W121 49.64
#maximum depth 22m
behavior waypoint_yoyo {
latitude     = 36.7687;
longitude     = -121.8273;
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      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO3
#N36 46.57 W121 49.49
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7762;
longitude     = -121.8248;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO2
#N36 47.00 W121 49.33
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7833;
longitude     = -121.8222;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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






###########################  END OF NORTHBOUND LEG 2 ##################################



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

#Leg to waypoint LOCO1
#N36 47.38 W121 49.21
#maximum depth 26m
behavior waypoint_yoyo {
latitude     = 36.7897;
longitude     = -121.8202;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 22;
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       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO2
#N36 47.00 W121 49.33
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7833;
longitude     = -121.8222;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO3
#N36 46.57 W121 49.49
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7762;
longitude     = -121.8248;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO4
#N36 46.12 W121 49.64
#maximum depth 22m
behavior waypoint_yoyo {
latitude     = 36.7687;
longitude     = -121.8273;
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      = 15;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO5
#N36 45.66 W121 49.82
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7610;
longitude     = -121.8303;
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      = 15;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO6
#N36 45.14 W121 49.96
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7523;
longitude     = -121.8327;
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      = 15;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


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

#Leg to waypoint LOCO7
#N36 44.59 W121 50.03
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7432;
longitude     = -121.8338;
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      = 5;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 5;
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 43.97 W121 50.05
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7328;
longitude     = -121.8342;
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       = 0;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO9
#N36 43.35 W121 50.05
#maximum depth 25m
behavior waypoint_yoyo {
latitude     = 36.7225;
longitude     = -121.8342;
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      = 0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 0;
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 LOCO10
#N36 42.69 W121 50.09
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7115;
longitude     = -121.8348;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
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       = 5;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO11
#N36 41.98 W121 50.17
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6997;
longitude     = -121.8362;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 5;
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 LOCO12
#N36 41.32 W121 50.29
#maximum depth 44m
behavior waypoint_yoyo {
latitude     = 36.6887;
longitude     = -121.8382;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 40;
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       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO13
#N36 40.67 W121 50.46
#maximum depth 40m
behavior waypoint_yoyo {
latitude     = 36.6778;
longitude     = -121.8410;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 36;
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       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO14
#N36 40.14 W121 50.65
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6690;
longitude     = -121.8442;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
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 39.71 W121 50.85
#maximum depth 36m
behavior waypoint_yoyo {
latitude     = 36.6618;
longitude     = -121.8475;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 32;
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;
}





########################  END OF SOUTHBOUND LEG 2  #################################




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

#Leg to waypoint LOCO16
#N36 39.37 W121 51.03
#maximum depth 36m
behavior waypoint_yoyo {
latitude     = 36.6562;
longitude     = -121.8505;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 32;
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 39.71 W121 50.85
#maximum depth 36m
behavior waypoint_yoyo {
latitude     = 36.6618;
longitude     = -121.8475;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 32;
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 40.14 W121 50.65
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6690;
longitude     = -121.8442;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
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       = 190;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO13
#N36 40.67 W121 50.46
#maximum depth 40m
behavior waypoint_yoyo {
latitude     = 36.6778;
longitude     = -121.8410;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 36;
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       = 190;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO12
#N36 41.32 W121 50.29
#maximum depth 44m
behavior waypoint_yoyo {
latitude     = 36.6887;
longitude     = -121.8382;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 40;
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       = 185;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO11
#N36 41.98 W121 50.17
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6997;
longitude     = -121.8362;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 185;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 185;
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 LOCO10
#N36 42.69 W121 50.09
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7115;
longitude     = -121.8348;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
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       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO9
#N36 43.35 W121 50.05
#maximum depth 25m
behavior waypoint_yoyo {
latitude     = 36.7225;
longitude     = -121.8342;
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      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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 43.97 W121 50.05
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7328;
longitude     = -121.8342;
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       = 185;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO7
#N36 44.59 W121 50.03
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7432;
longitude     = -121.8338;
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      = 185;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 185;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO6
#N36 45.14 W121 49.96
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7523;
longitude     = -121.8327;
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      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO5
#N36 45.66 W121 49.82
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7610;
longitude     = -121.8303;
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      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO4
#N36 46.12 W121 49.64
#maximum depth 22m
behavior waypoint_yoyo {
latitude     = 36.7687;
longitude     = -121.8273;
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      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO3
#N36 46.57 W121 49.49
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7762;
longitude     = -121.8248;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO2
#N36 47.00 W121 49.33
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7833;
longitude     = -121.8222;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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





###########################  END OF NORTHBOUND LEG 1 ##################################



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

#Leg to waypoint LOCO1
#N36 47.38 W121 49.21
#maximum depth 26m
behavior waypoint_yoyo {
latitude     = 36.7897;
longitude     = -121.8202;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 22;
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       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO2
#N36 47.00 W121 49.33
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7833;
longitude     = -121.8222;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO3
#N36 46.57 W121 49.49
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7762;
longitude     = -121.8248;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO4
#N36 46.12 W121 49.64
#maximum depth 22m
behavior waypoint_yoyo {
latitude     = 36.7687;
longitude     = -121.8273;
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      = 15;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO5
#N36 45.66 W121 49.82
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7610;
longitude     = -121.8303;
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      = 15;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO6
#N36 45.14 W121 49.96
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7523;
longitude     = -121.8327;
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      = 15;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 15;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


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

#Leg to waypoint LOCO7
#N36 44.59 W121 50.03
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7432;
longitude     = -121.8338;
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      = 5;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 5;
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 43.97 W121 50.05
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7328;
longitude     = -121.8342;
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       = 0;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO9
#N36 43.35 W121 50.05
#maximum depth 25m
behavior waypoint_yoyo {
latitude     = 36.7225;
longitude     = -121.8342;
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      = 0;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 0;
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 LOCO10
#N36 42.69 W121 50.09
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7115;
longitude     = -121.8348;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
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       = 5;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO11
#N36 41.98 W121 50.17
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6997;
longitude     = -121.8362;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

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

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 5;
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 LOCO12
#N36 41.32 W121 50.29
#maximum depth 44m
behavior waypoint_yoyo {
latitude     = 36.6887;
longitude     = -121.8382;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 40;
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       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO13
#N36 40.67 W121 50.46
#maximum depth 40m
behavior waypoint_yoyo {
latitude     = 36.6778;
longitude     = -121.8410;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 36;
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       = 10;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO14
#N36 40.14 W121 50.65
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6690;
longitude     = -121.8442;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
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 39.71 W121 50.85
#maximum depth 36m
behavior waypoint_yoyo {
latitude     = 36.6618;
longitude     = -121.8475;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 32;
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;
}




########################  END OF SOUTHBOUND LEG 1  #################################




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

#Leg to waypoint LOCO16
#N36 39.37 W121 51.03
#maximum depth 36m
behavior waypoint_yoyo {
latitude     = 36.6562;
longitude     = -121.8505;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 32;
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 39.71 W121 50.85
#maximum depth 36m
behavior waypoint_yoyo {
latitude     = 36.6618;
longitude     = -121.8475;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 32;
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 40.14 W121 50.65
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6690;
longitude     = -121.8442;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
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       = 190;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO13
#N36 40.67 W121 50.46
#maximum depth 40m
behavior waypoint_yoyo {
latitude     = 36.6778;
longitude     = -121.8410;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 36;
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       = 190;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO12
#N36 41.32 W121 50.29
#maximum depth 44m
behavior waypoint_yoyo {
latitude     = 36.6887;
longitude     = -121.8382;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 40;
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       = 185;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO11
#N36 41.98 W121 50.17
#maximum depth 37m
behavior waypoint_yoyo {
latitude     = 36.6997;
longitude     = -121.8362;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 33;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 185;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 185;
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 LOCO10
#N36 42.69 W121 50.09
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7115;
longitude     = -121.8348;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
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       = 180;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO9
#N36 43.35 W121 50.05
#maximum depth 25m
behavior waypoint_yoyo {
latitude     = 36.7225;
longitude     = -121.8342;
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      = 180;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 180;
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 43.97 W121 50.05
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7328;
longitude     = -121.8342;
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       = 185;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO7
#N36 44.59 W121 50.03
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7432;
longitude     = -121.8338;
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      = 185;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 185;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO6
#N36 45.14 W121 49.96
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7523;
longitude     = -121.8327;
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      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO5
#N36 45.66 W121 49.82
#maximum depth 20m
behavior waypoint_yoyo {
latitude     = 36.7610;
longitude     = -121.8303;
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      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO4
#N36 46.12 W121 49.64
#maximum depth 22m
behavior waypoint_yoyo {
latitude     = 36.7687;
longitude     = -121.8273;
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      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO3
#N36 46.57 W121 49.49
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7762;
longitude     = -121.8248;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

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


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 195;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Leg to waypoint LOCO2
#N36 47.00 W121 49.33
#maximum depth 27m
behavior waypoint_yoyo {
latitude     = 36.7833;
longitude     = -121.8222;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 195;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 195;
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 47.38 W121 49.21
#maximum depth 26m
behavior waypoint_yoyo {
latitude     = 36.7897;
longitude     = -121.8202;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.0;
maxDepth       = 22;
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;
}