# 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 20m
behavior waypoint_yoyo {
latitude     = 36.6562;
longitude     = -121.8505;
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;
}