behavior missionTimer {
timeOut = 86400;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 55;
 abortDepth = 60;
 minAltitude = 5.0;
 abortAltitude = 3.0;
 abortLockoutDepth = 8.0;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 7200;
heading = 110.0;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}


#end of lap 1 - returned to south waypoint
# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 77;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.8332;
longitude = -121.9007;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 77;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 77;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 77;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.8332;
longitude = -121.9007;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 77;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 77;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 77;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.8332;
longitude = -121.9007;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 77;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 77;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 77;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.8332;
longitude = -121.9007;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 77;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 77;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.805178;
longitude = -121.9873;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.805178;
longitude = -121.9873;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.805178;
longitude = -121.9873;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.805178;
longitude = -121.9873;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.805178;
longitude = -121.9873;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9163;
longitude = -121.9873;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 259.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 259.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}


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

behavior waypoint_yoyo {
latitude = 36.9194;
longitude = -121.9652;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9449;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 259;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 259;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9228;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9228;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9228;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9228;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9228;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9228;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9228;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9228;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9228;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9228;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 169;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.6875705;
longitude = -121.9228;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 169.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 169.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9226;
longitude = -121.9431;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 259.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 259.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9257;
longitude = -121.9210;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9257;
longitude = -121.9210;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9257;
longitude = -121.9210;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9257;
longitude = -121.9210;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 90;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.9257;
longitude = -121.9210;
captureRadius = 10;
duration = 2100;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 350.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 120;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 350.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 120;
abortOnTimeout = True;
}

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

behavior waypoint_yoyo {
latitude = 36.8332;
longitude = -121.9007;
captureRadius = 10;
duration = 1200;
speed = 1.3;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.0;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 1200;
minHits = 15;
abortOnTimeout = True;
}

#don't arm gulper 4 since it doesn't work
behavior ArmTheGulper
{
  duration = 5;
  gulper0 = 1;
  gulper1 = 1;
  gulper2 = 1;
  gulper3 = 1;
  gulper4 = 1;
  gulper5 = 1;
  gulper6 = 1;
  gulper8 = 1;
  gulper9 = 1;
}