################################################################################
#
# File Name: Mission_Two.cfg
#
# PURPOSE: Temp-following behavior over entire survey line to track internal wave
# AUTHOR:  Hoover
# DATE:    2007AUG24
# NOTE:    Planned as second mission, 19 hour overnight run.
#	   Sequential behavoirs are bottom-up.  Priorities are top-down.
#          Start this with vehicle near MISO_Inshore Waypoint
# MODS:	remove deg symbol and replace with simple text
#          All ascend behavior durations now 700 sec: drthom 26 nov 2007
#          Timer set to 22 hours: drthom 26 nov 2007
#
################################################################################



#
# 25M_Curve_MISO   36deg 37min 0.00secN	121deg 52min 30.00secW	
# latitude = 36.6167
# longitude = -121.875
# Depth = 25 meters or 14 fathoms
#
# MISO_Inshore	   36deg 38min 15.00secN 121deg 53min 20.00secW		
# latitude = 36.6375
# longitude = -121.8889
# Depth = 62 meters or 34 fathoms
#
# MISO_Offshore	   36deg 40min 00.00secN 121deg 55min 20.00secW	
# latitude = 36.6667
# longitude = -121.9222
# Depth = 86 meters or 47 fathoms
#
# 25_Curve_MISO to MISO_Inshore
# Course of 330 or 150 true	
# Distance is 2600m
# Time to travel at effective 1.3m/sec is 2000s or 33.33 min
#
# MISO_Inshore to MISO_Offshore
# Course of 317 or 137 true	
# Distance is 4400m
# Time to travel at effective 1.3m/sec is 3384s or 56.41 min
#

# Enter values for mintemp and maxtemp here
#
#
#define MINTEMP 11.2
#define MAXTEMP 11.6


################################################################################
# End of Mission
################################################################################


# Mission timer
# Total time in subroutines is 81476s or 1357.9m or 22.63hrs 
# Time to travel distance is   64912s or 1081.9m or 18.00hrs
# Est. for total mission is    69000s or 1150.0m or 19.20hrs
# Max time set at 79200 or 22 hours
behavior missionTimer {
timeOut = 79200;
}

# Maximum depth and Abort Depth
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 76;
 abortDepth = 81;
 abortAltitude = 2.5;
}



################################################################################
# Recovery at 25M_Curve_MISO
################################################################################
################################################################################
# T+1838 : Vehicle is now at MISO_Inshore
################################################################################

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Offshore to MISO_Inshore
# Latitude:  	   36deg38min15.00secN (36.6375)
# Longitude:	  121deg53min20.00secW (-121.8889)
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 137;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 137
behavior setpoint {
duration = 30;
heading = 137;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}



################################################################################
# T+1742 : Vehicle is now at MISO_Offshore
################################################################################


# Surface, 20 upangle, for 3 minutes
# estimate 135sec from max depth (76m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Inshore to MISO_Offshore
# Latitude:  	   36deg40min00.00secN (36.6667)
# Longitude:	  121deg55min20.00secW (-121.9222)
behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 317;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 317
behavior setpoint {
duration = 30;
heading = 317;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}


################################################################################
#add more legs
################################################################################


################################################################################
# T+1646 : Vehicle is now at MISO_Inshore
################################################################################

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Offshore to MISO_Inshore
# Latitude:  	   36deg38min15.00secN (36.6375)
# Longitude:	  121deg53min20.00secW (-121.8889)
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 137;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 137
behavior setpoint {
duration = 30;
heading = 137;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}



################################################################################
# T+1550 : Vehicle is now at MISO_Offshore
################################################################################


# Surface, 20 upangle, for 3 minutes
# estimate 135sec from max depth (76m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Inshore to MISO_Offshore
# Latitude:  	   36deg40min00.00secN (36.6667)
# Longitude:	  121deg55min20.00secW (-121.9222)
behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 317;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 317
behavior setpoint {
duration = 30;
heading = 317;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

################################################################################
# T+1454 : Vehicle is now at MISO_Inshore
################################################################################

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Offshore to MISO_Inshore
# Latitude:  	   36deg38min15.00secN (36.6375)
# Longitude:	  121deg53min20.00secW (-121.8889)
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 137;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 137
behavior setpoint {
duration = 30;
heading = 137;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}


################################################################################
# T+1358 : Vehicle is now at MISO_Offshore
################################################################################


# Surface, 20 upangle, for 3 minutes
# estimate 135sec from max depth (76m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Inshore to MISO_Offshore
# Latitude:  	   36deg40min00.00secN (36.6667)
# Longitude:	  121deg55min20.00secW (-121.9222)
behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 317;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 317
behavior setpoint {
duration = 30;
heading = 317;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

################################################################################
# T+1302 : Vehicle is now at MISO_Inshore
################################################################################

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Offshore to MISO_Inshore
# Latitude:  	   36deg38min15.00secN (36.6375)
# Longitude:	  121deg53min20.00secW (-121.8889)
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 137;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 137
behavior setpoint {
duration = 30;
heading = 137;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}


################################################################################
# T+1206 : Vehicle is now at MISO_Offshore
################################################################################


# Surface, 20 upangle, for 3 minutes
# estimate 135sec from max depth (76m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Inshore to MISO_Offshore
# Latitude:  	   36deg40min00.00secN (36.6667)
# Longitude:	  121deg55min20.00secW (-121.9222)
behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 317;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 317
behavior setpoint {
duration = 30;
heading = 317;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

################################################################################
# T+1110 : Vehicle is now at MISO_Inshore
################################################################################

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Offshore to MISO_Inshore
# Latitude:  	   36deg38min15.00secN (36.6375)
# Longitude:	  121deg53min20.00secW (-121.8889)
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 137;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 137
behavior setpoint {
duration = 30;
heading = 137;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}


################################################################################
# T+1014 : Vehicle is now at MISO_Offshore
################################################################################


# Surface, 20 upangle, for 3 minutes
# estimate 135sec from max depth (76m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Inshore to MISO_Offshore
# Latitude:  	   36deg40min00.00secN (36.6667)
# Longitude:	  121deg55min20.00secW (-121.9222)
behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 317;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 317
behavior setpoint {
duration = 30;
heading = 317;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

################################################################################
# T+0918 : Vehicle is now at MISO_Inshore
################################################################################

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Offshore to MISO_Inshore
# Latitude:  	   36deg38min15.00secN (36.6375)
# Longitude:	  121deg53min20.00secW (-121.8889)
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 137;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 137
behavior setpoint {
duration = 30;
heading = 137;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}


################################################################################
# T+0822 : Vehicle is now at MISO_Offshore
################################################################################


# Surface, 20 upangle, for 3 minutes
# estimate 135sec from max depth (76m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Inshore to MISO_Offshore
# Latitude:  	   36deg40min00.00secN (36.6667)
# Longitude:	  121deg55min20.00secW (-121.9222)
behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 317;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 317
behavior setpoint {
duration = 30;
heading = 317;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

################################################################################
# T+0726 : Vehicle is now at MISO_Inshore
################################################################################

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Offshore to MISO_Inshore
# Latitude:  	   36deg38min15.00secN (36.6375)
# Longitude:	  121deg53min20.00secW (-121.8889)
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 137;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 137
behavior setpoint {
duration = 30;
heading = 137;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

################################################################################
# T+0630 : Vehicle is now at MISO_Offshore
################################################################################


# Surface, 20 upangle, for 3 minutes
# estimate 135sec from max depth (76m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Inshore to MISO_Offshore
# Latitude:  	   36deg40min00.00secN (36.6667)
# Longitude:	  121deg55min20.00secW (-121.9222)
behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 317;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 317
behavior setpoint {
duration = 30;
heading = 317;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

################################################################################
# T+0534 : Vehicle is now at MISO_Inshore
################################################################################

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Offshore to MISO_Inshore
# Latitude:  	   36deg38min15.00secN (36.6375)
# Longitude:	  121deg53min20.00secW (-121.8889)
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 137;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 137
behavior setpoint {
duration = 30;
heading = 137;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

################################################################################
# T+0438 : Vehicle is now at MISO_Offshore
################################################################################


# Surface, 20 upangle, for 3 minutes
# estimate 135sec from max depth (76m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Inshore to MISO_Offshore
# Latitude:  	   36deg40min00.00secN (36.6667)
# Longitude:	  121deg55min20.00secW (-121.9222)
behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 317;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 317
behavior setpoint {
duration = 30;
heading = 317;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

################################################################################
# T+0342 : Vehicle is now at MISO_Inshore
################################################################################

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Offshore to MISO_Inshore
# Latitude:  	   36deg38min15.00secN (36.6375)
# Longitude:	  121deg53min20.00secW (-121.8889)
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 137;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 137
behavior setpoint {
duration = 30;
heading = 137;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}


################################################################################
# T+0248 : Vehicle is now at MISO_Offshore
################################################################################


# Surface, 20 upangle, for 3 minutes
# estimate 135sec from max depth (76m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Inshore to MISO_Offshore
# Latitude:  	   36deg40min00.00secN (36.6667)
# Longitude:	  121deg55min20.00secW (-121.9222)
behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 317;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 317
behavior setpoint {
duration = 30;
heading = 317;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

################################################################################
# T+0154 : Vehicle is now at MISO_Inshore
################################################################################

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Offshore to MISO_Inshore
# Latitude:  	   36deg38min15.00secN (36.6375)
# Longitude:	  121deg53min20.00secW (-121.8889)
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 137;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 137
behavior setpoint {
duration = 30;
heading = 137;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}


################################################################################
# T+0056 : Vehicle is now at MISO_Offshore
################################################################################


# Surface, 20 upangle, for 3 minutes
# estimate 135sec from max depth (76m - 10m) to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Inshore to MISO_Offshore
# Latitude:  	   36deg40min00.00secN (36.6667)
# Longitude:	  121deg55min20.00secW (-121.9222)
behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 317;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 317
behavior setpoint {
duration = 30;
heading = 317;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

################################################################################
# T+0000 : Vehicle is now at MISO_Inshore
################################################################################
################################################################################
# T+0000 : Launch at MISO_Inshore.
################################################################################