#  CircumBay.cfg
#
#  Fire Gulpers 
#
#                   after waypoint M1:  00@5m, 01@100m, 02@250m on descent
#                            and        03@5m, 04@100m, 05@250m on ascent
#                 then after E1M1D1_6:  06@5m, 07@100m, 08@250m on ascent
#
#  After reaching waypoint LOCO1, mission goes into "time wasting" run 
#            back to LOCO2, then back again to LOCO1
#
#  Mission length:     80650 meters (from survey line)
#
#
#   From C1 to D1:     19200   1.25 m/s  15360s  4h 16m 
#
#   From D1 to M1:     19150   1.6  m/s  11969s  3h 20m
#
#   From M1 to E1:     22300   1.6  m/s  12938s  3h 53m
#
#   Transit to Loco6:   4000   1.6  m/s  11111s  1h  7m
#
#   Loco6 to Loco1:    16150   1.25 m/s  12920s  3h 36m
#
#                                        -----   ------
#
#                                        64298s 17h 52m
#
#  Expected duration: ?? hours ?? min ( ??????? seconds )
#            ( including four "time wasting" legs at end )
#
#  Expected duration without "time wasting" legs:
#                     ?? hours
#
#define YOYO_MIN_ALTITUDE 7.0
#define MISSION_SPEED_SOUTH = 1.25
#define MISSION_SPEED 1.6
#define MISSION_SPEED_LOCO 1.25


# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = ?????;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth     = 260;
 abortDepth   = 275;
 abortAltitude  = 3.0;
 abortLockoutDepth = 6.0;
}

# End of mission
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

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

#Final time wasting leg to waypoint LOCO1
#N36 49.5181 W121 49.2562
# leg distance 1400 meters
# water depth 20 meters
behavior waypoint_yoyo {
latitude     = 36.8253;
longitude     = -121.8209;
captureRadius = 10;
duration     = 1600;
speed        = MISSION_SPEED_LOCO;
minDepth       = 2.0;
maxDepth       = 13;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 142;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 142;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 318;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#Time wasting leg to waypoint LOCO2 
#N36 50.1100 W121 49.8200
# leg distance 1400 meters
#water depth 20 meters
behavior waypoint_yoyo {
latitude     = 36.8352;
longitude     = -121.8303;
captureRadius = 10;
duration     = 1600;
speed        = MISSION_SPEED_LOCO;
minDepth       = 2.0;
maxDepth       = 13;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 318;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 318;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

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

#Time wasting leg to waypoint LOCO1
#N36 49.5181 W121 49.2562
# leg distance 1400
#water depth 20 meters
behavior waypoint_yoyo {
latitude     = 36.8253;
longitude     = -121.8209;
captureRadius = 10;
duration     = 1600;
speed        = MISSION_SPEED_LOCO;
minDepth       = 2.0;
maxDepth       = 13;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 142;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 142;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 318;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#time wasting leg to waypoint LOCO2 
#N36 50.1100 W121 49.8200
# leg distance 1400
#water depth 20 meters
behavior waypoint_yoyo {
latitude     = 36.8352;
longitude     = -121.8303;
captureRadius = 10;
duration     = 1600;
speed        = MISSION_SPEED_LOCO;
minDepth       = 2.0;
maxDepth       = 13;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 318;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 318;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

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

#leg to waypoint LOCO1
#N36 49.5181 W121 49.2562
# leg distance 1400 meters
# water depth 20 meters
behavior waypoint_yoyo {
latitude     = 36.8253;
longitude     = -121.8209;
captureRadius = 10;
duration     = 1600;
speed        = MISSION_SPEED_LOCO;
minDepth       = 2.0;
maxDepth       = 13;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 142;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 142;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 142;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#leg to waypoint LOCO2
#N36 50.1100 W121 49.8200
# leg distance 3500 meters
#water depth 23 meters
behavior waypoint_yoyo {
latitude     = 36.8352;
longitude     = -121.8303;
captureRadius = 10;
duration     = 3700;
speed        = MISSION_SPEED_LOCO;
minDepth       = 2.0;
maxDepth       = 16;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 138;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 138;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 138;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#next leg - waypoint LOCO3
#N36 51.5100 W121 51.3900
# leg distance 4200
#water depth 23 meters
behavior waypoint_yoyo {
latitude = 36.8585;
longitude = -121.8565;
captureRadius = 10;
duration      = 4500;
speed         = MISSION_SPEED_LOCO;
minDepth      = 2.0;
maxDepth      = 16;
minAltitude   = YOYO_MIN_ALTITUDE;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 145;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 145;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 145;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#next leg - waypoint LOCO4
#N 36 53.3400 W121 53.0000
# leg distance 3350 meters
# water depth 24 meters
behavior waypoint_yoyo  {
latitude = 36.8890;
longitude = -121.8833;
captureRadius = 10;
duration      = 3650;
speed         = MISSION_SPEED_LOCO;
minDepth      = 2.0;
maxDepth      = 17;
minAltitude   = YOYO_MIN_ALTITUDE;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 133;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 133;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 133;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#next leg - waypoint LOCO5
#N 36 54.5600 W121 54.6200
# leg distance 3700 meters
# water depth 21 meters
behavior waypoint_yoyo  {
latitude = 36.9093;
longitude = -121.9103;
captureRadius = 10;
duration      = 3900;
speed         = MISSION_SPEED_LOCO;
minDepth      = 2.0;
maxDepth      = 14;
minAltitude   = YOYO_MIN_ALTITUDE;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 122;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 122;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

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

#next leg - waypoint LOCO6
#N 36 55.6300 W121 56.7100
# leg distance 2200 meters
#water depth 20 meters
behavior waypoint_yoyo  {
latitude = 36.9272;
longitude = -121.9452;
captureRadius = 10;
duration      = 2600;
speed         = MISSION_SPEED;
minDepth      = 2.0;
maxDepth      = 13;
minAltitude   = YOYO_MIN_ALTITUDE;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 266;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 266;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


#next leg - waypoint Transit_E1_LOCO6
#N 36 55.730 W121 55.280
# leg distance 1950
#water depth 16 meters
behavior waypoint_yoyo  {
latitude = 36.9288;
longitude = -121.9213;
captureRadius = 10;
duration      = 2750;
speed         = MISSION_SPEED;
minDepth      = 2.0;
maxDepth      = 9;
minAltitude   = YOYO_MIN_ALTITUDE;
maxCycles     = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 266;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 266;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


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


#Final Leg to waypoint E1
#N36 55.800 W121 54.00
# leg distance 850 meters
#water depth 16 meters
behavior waypoint_yoyo {
latitude     = 36.9300;
longitude     = -121.900;
captureRadius = 10;
duration     = 1650;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 9;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 22;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 22;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# run to waypoint E1
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint just before E1
#waypoint E1M1D1_0.5
#N36 36 55.4121 W121 54.2854
# leg distance 2600 meters
# water depth 20 meters
behavior waypoint_yoyo {
latitude     = 36.9235;
longitude     = -121.9048;
captureRadius = 10;
duration     = 3400;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 13;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 22;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 22;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to E1M1D1_1
#N36 54.174 W121 55.093
# leg distance 3500 meters
# water depth 25 meters
behavior waypoint_yoyo {
latitude     = 36.9029;
longitude     = -121.9182;
captureRadius = 10;
duration     = 4200;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 18;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 22;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 22;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# run to waypoint E1M1D1_1
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to E1M1D1_2
#N36 52.491 W121 56.225
# leg distance 3500 meters
# water depth 47 meters
behavior waypoint_yoyo {
latitude     = 36.8749;
longitude     = -121.9371;
captureRadius = 10;
duration     = 4200;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 40;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 22;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 22;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# run to waypoint E2
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to E1M1D1_3
#N36 50.844 W121 57.330
# leg distance 3500 meters
# water depth 140 meters
behavior waypoint_yoyo {
latitude     = 36.8474;
longitude     = -121.9555;
captureRadius = 10;
duration     = 4200;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 100;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 22;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 22;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# run to waypoint E3
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

#waypoint behavior to waypoint down line E1M1D1_4
#N36 49.155 W121 58.460
# leg distance 3500 meters
# water depth 100 meters
behavior waypoint_yoyo {
latitude     = 36.8193;
longitude     = -121.9743;
captureRadius = 10;
duration     = 4200;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 93;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 22;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 22;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# leg of run to waypoint E1M1D1_4
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to E1M1D1_5
# N36 47.487 W121 59.581
# leg distance 2400 meters
# allow extra time for gulper firing at depths
# water depth 457 meters
behavior waypoint_yoyo {
latitude     = 36.7915;
longitude     = -121.9930;
captureRadius = 10;
duration     = 4200;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 100;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Fire gulper 08 at 5m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 8;
}

# ascend behavior
behavior ascend {
duration  = 600;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 5;
}

# Fire gulper 07 at 100m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 7;
}

# ascend behavior
behavior ascend {
duration  = 600;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 100;
}

# Fire gulper 06 at 250m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 6;
}

# ascend behavior
behavior ascend {
duration  = 100;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 250;
}

# Descend behavior to 260 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 22;
pitch        = -15;
speed        = 1.5;
maxDepth     = 260;
minAltitude  = 9;
duration     = 700;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 22;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

#run to waypoint E1M1D1_5
# Fire Gulpers 06, 07, 08
# acquire gps fix
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to E1M1D1_6
# N36 46.3319  W122 00.2630
# leg distance 2500 meters
# allow extra time for gulper firing at depths
# water depth 682 meters
behavior waypoint_yoyo {
latitude     = 36.7722;
longitude     = -122.0044;
captureRadius = 10;
duration     = 4200;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 100;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Fire gulper 05 at 5m depth
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 5;
}

# ascend behavior
behavior ascend {
duration  = 300;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 5;
}

# Fire gulper 04 at 100m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 4;
}

# ascend behavior
behavior ascend {
duration  = 600;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 100;
}

# Fire gulper 03 at 250m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 3;
}

# ascend behavior
behavior ascend {
duration  = 100;
horizontalMode   = heading;
horizontal       = 22;
pitch            = 20;
speed            = 1.5;
endDepth         = 250;
}

# Descend behavior to 260 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 22;
pitch        = -30;
speed        = 1.5;
maxDepth     = 260;
duration     = 300;
}

# Fire gulper 02 at 250m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 2;
}

# Descend behavior to 250 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 22;
pitch        = -30;
speed        = 1.5;
maxDepth     = 250;
duration     = 600;
}

# Fire gulper 01 at 100m
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 1;
}

# Descend behavior to 100 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 22;
pitch        = -30;
speed        = 1.5;
maxDepth     = 250;
duration     = 300;
}

# Fire gulper 00 at 5m depth
behavior FireTheGulper {
	duration = 2;
	gulperToFire = 0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 22;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 22;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# Run to waypoint E6
# Fire Gulpers 00, 01, 02, 03, 04 ,05
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior at M1
behavior ascend {
duration  = 1200;
horizontalMode   = rudder;
horizontal       = 15;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# finally, waypoint behavior DIRECTLY to waypoint M1 - 1100m run
# N36 45.2 W122 1.112
# leg distance 1100 meters
# water depth 965 meters
behavior waypoint_yoyo {
latitude     = 36.7533;
longitude     = -122.0185;
captureRadius = 10;
duration     = 1800;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 100;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 318;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 318;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# Run to waypoint M1
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 318;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to just before M1 to E1M1D1_6.5
# N36 44.7929 W 122 00.6122
# leg distance 2300 meters
# water depth 150 meters
behavior waypoint_yoyo {
latitude     = 36.7465;
longitude     = -122.0102;
captureRadius = 10;
duration     = 3100;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 100;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 318;
pitch        = -15;
speed        = 1.5;
maxDepth     = 10.0;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 318;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 318;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to E1M1D1_7
#N36 43.8558 W121 59.6039
# leg distance 3400 meters
# water depth 111 meters
behavior waypoint_yoyo {
latitude     = 36.73093;
longitude     = -121.9934;
captureRadius = 10;
duration     = 4200;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 100;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 318;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 318;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 318;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line E1M1D1_8
#N36 42.4850 W121 58.0701
# leg distance 3500 meters
# water depth 93 meters
behavior waypoint_yoyo {
latitude     = 36.7081;
longitude     = -121.9678;
captureRadius = 10;
duration     = 4200;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 86;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 50 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 318;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 2400;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 318;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}


# Fourth leg of run to waypoint M1
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 318;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line E1M1D1_9
#N36 41.0647 W121 56.480
# leg distance 3500 meters
# water depth 82 meters
behavior waypoint_yoyo {
latitude     = 36.6844;
longitude     = -121.9413;
captureRadius = 10;
duration     = 4200;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 75;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 318;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 318;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 318;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line to E1M1D1_10
#N36 39.6758 W121 54.9244
# leg distance 3500 meters
# water depth 64 meters
behavior waypoint_yoyo {
latitude     = 36.6613;
longitude     = -121.9154;
captureRadius = 10;
duration     = 4200;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 57;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 318;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 318;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}


# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 318;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# waypoint behavior to waypoint down line E1M1D1_11
#N36 38.2707 W121 53.3560
# skip waypoint E1M1D1_12
# leg distance 1920 meters
# water depth 30 meters
behavior waypoint_yoyo {
latitude     = 36.6378;
longitude     = -121.8893;
captureRadius = 10;
duration     = 2700;
speed        = MISSION_SPEED;
minDepth       = 2.5;
maxDepth       = 23;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 318;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 318;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}


# First leg of run to waypoint Mooring-1 (aiming for intermediate point)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


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

# Leg 1 waypoint behavior to waypoint D1 
#N36 37.500 W121 52.500
# leg distance 2500 meters
# water depth 47 meters
behavior waypoint_yoyo {
latitude     = 36.625;
longitude     = -121.875;
captureRadius = 10;
duration     = 3300;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 30;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 191;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 191;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 191;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# Early launch waypoint 3 - behavior to waypoint D1 
#N36 38.8075 W121 52.0538
# run distance 2600 meters
# water depth 47 meters
behavior waypoint_yoyo {
latitude     = 36.6468;
longitude     = -121.8676;
captureRadius = 10;
duration     = 3300;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 30;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 191;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 191;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


# ascend behavior
behavior ascend {
duration  = 1200;
horizontalMode   = heading;
horizontal       = 191;
pitch            = 20;
speed            = 1.5;
endDepth         = 2;
}

# Early launch waypoint 2 - behavior to waypoint D1 
#N36 40.1421 W121 51.642
# water depth 53 meters
# leg distance 2300 meters
behavior waypoint_yoyo {
latitude     = 36.6690;
longitude     = -121.8607;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 30;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 191;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 191;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}



# Early launch RunSouth_E - running south to waypoint D1 
# N36 41.38179 W121 51.53732
#  water depth 51 meters
#  leg distance 2345 meters
behavior waypoint_yoyo {
latitude     = 36.6897;
longitude     = -121.8590;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 30;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 183;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 183;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


# Early launch RunSouth_D - running south to waypoint D1 
# N36 42.64904 W121 51.43068
#  water depth 51 meters
#  leg distance 2345 meters
behavior waypoint_yoyo {
latitude     = 36.7108;
longitude     = -121.8572;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 30;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 183;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 183;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


# Early launch RunSouth_C - running south to waypoint D1 
# N36 43.96419 W121 51.31987
#  water depth 51 meters
#  leg distance 2345 meters
behavior waypoint_yoyo {
latitude     = 36.7327;
longitude     = -121.8553;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 30;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 183;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 183;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


# Early launch RunSouth_B - running south to waypoint D1 
# N36 45.23109 W121 51.21314
#  water depth 51 meters
#  leg distance 2345 meters
behavior waypoint_yoyo {
latitude     = 36.7539;
longitude     = -121.8536;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 30;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 183;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 183;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}



# Early launch RunSouth_A - running south to waypoint D1 
# N36 46.49596 W121 51.10640
#  water depth 51 meters
#  leg distance 2345 meters
behavior waypoint_yoyo {
latitude     = 36.7749;
longitude     = -121.8518;
captureRadius = 10;
duration     = 2400;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 30;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 183;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 183;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}



# Early launch C1 - running south to waypoint D1 
# N36 47.7600 W121 51.0000
#  water depth 60 meters
behavior waypoint_yoyo {
latitude     = 36.7960;
longitude     = -121.8500;
captureRadius = 10;
duration     = 3300;
speed        = MISSION_SPEED_SOUTH;
minDepth       = 2.5;
maxDepth       = 30;
minAltitude    = YOYO_MIN_ALTITUDE;
maxCycles      = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode   = heading;
horizontal      = 183;
pitch        = -15;
speed        = 1.5;
maxDepth     = 5;
minAltitude  = 9;
duration     = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 30;
heading      = 183;
speed        = 1.5;
verticalMode = pitch;
pitch        = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}