#overnite transect two times

behavior missionTimer
{
  timeOut = 64800; #16 hours overnight
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 1020; #Meters
  abortDepth = 1025; #Meters
  minAltitude = 40.0; #Meters
  abortAltitude = 30.0; #Meters
}

#hang out on surface to give time to pick it up
behavior setpoint {
duration = 9000;
heading = 0.0;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}

#M1 reached ~0200

# acquire gps fix
behavior getgps 
{
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45.0; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.7533;
 longitude = -122.045;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

#hang out on surface to give time to pick it up
behavior setpoint {
duration = 3600;
heading = 0.0;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}

#M1 reached ~0200

# acquire gps fix
behavior getgps 
{
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45.0; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.7533;
 longitude = -122.045;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

#hang out on surface to give time to pick it up
behavior setpoint {
duration = 3600;
heading = 0.0;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}

#M1 reached ~0200

# acquire gps fix
behavior getgps 
{
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45.0; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.7533;
 longitude = -122.045;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45.0; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.7533;
 longitude = -122.045;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.7533;
 longitude = -122.045;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#start transit to M1 0000 - 0100

#end of sixth transect with camera and lights

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior CARL
{
  id = 2622;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}

behavior ascend
{
  duration = 3600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 5; #Meters
}

behavior CARL
{
  id = 2621;
  clipname = 1;
  duration = 1;
  record = 1;
  fstop = 31;
}

#32. End 11.
behavior waypoint
{
  duration = 878;
  depth = 1000;
  speed = 1.1;
  latitude =   36.696318;
  longitude = -122.053721;
}

behavior CARL
{
  id = 2712;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}

#31. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 1000;
  speed = 1.5;
  latitude =   36.696318;
  longitude = -122.049800;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2620;
  duration = 1;
  fstop = 31;
}
#30. Dive.
behavior waypoint
{
  duration = 385;
  depth = 1000;
  speed = 1.5;
  latitude =   36.696318;
  longitude = -122.048343;
}

behavior CARL
{
  id = 2619;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}

#29.  End 10.
behavior waypoint
{
  duration = 870;
  depth = 900;
  speed = 1.1;
  latitude =   36.697009;
  longitude = -122.049837;
}

behavior CARL
{
  id = 2711;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}

#28. Turn, stabilize, set up.
behavior waypoint
{
  duration = 227;
  depth = 900;
  speed = 1.5;
  latitude =   36.697039;
  longitude = -122.053721;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2618;
  duration = 1;
  fstop = 31;
}

#27. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 900;
  speed = 1.5;
  latitude =   36.697039;
  longitude = -122.054729;
}

behavior CARL
{
  id = 2617;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}

#26. End 9.
behavior waypoint
{
  duration = 878;
  depth = 800;
  speed = 1.1;
  latitude =   36.696227;
  longitude = -122.053721;
}

behavior CARL
{
  id = 2710;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}

#25.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 800;
  speed = 1.5;
  latitude =   36.696227;
  longitude = -122.049800;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2616;
  duration = 1;
  fstop = 31;
}

#24. Dive.
behavior waypoint
{
  duration = 385;
  depth = 800;
  speed = 1.5;
  latitude =   36.696227;
  longitude = -122.048343;
}

behavior CARL
{
  id = 2615;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}

#23. End 8.
behavior waypoint
{
  duration = 870;
  depth = 700;
  speed = 1.1;
  latitude =   36.696918;
  longitude = -122.049837;
}

behavior CARL
{
  id = 2709;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}

#22. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 227;
  depth = 700;
  speed = 1.5;
  latitude =   36.696948;
  longitude = -122.053721;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2614;
  duration = 1;
  fstop = 31;
}

#21.  Dive.
behavior waypoint
{
  duration = 319;
  depth = 700;
  speed = 1.5;
  latitude =   36.696948;
  longitude = -122.054729;
}

behavior CARL
{
  id = 2613;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}

#20.  End Seven.
behavior waypoint
{
  duration = 878;
  depth = 600;
  speed = 1.1;
  latitude =   36.696137;
  longitude = -122.053721;
}

behavior CARL
{
  id = 2708;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}

#19. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 600;
  speed = 1.5;
  latitude =   36.696137;
  longitude = -122.049800;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2612;
  duration = 1;
  fstop = 31;
}

#18. Dive.
behavior waypoint
{
  duration = 385;
  depth = 600;
  speed = 1.5;
  latitude =   36.696137;
  longitude = -122.048343;
}

behavior CARL
{
  id = 2611;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}

#17. End 6.
behavior waypoint
{
  duration = 870;
  depth = 500;
  speed = 1.1;
  latitude =   36.696828;
  longitude = -122.049837;
}

behavior CARL
{
  id = 2707;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}

#16. Turn, stabilize, setup.
behavior waypoint
{
  duration = 227;
  depth = 500;
  speed = 1.5;
  latitude =   36.696858;
  longitude = -122.053721;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2610;
  duration = 1;
  fstop = 31;
}

#15. Dive.
behavior waypoint
{
  duration = 319;
  depth = 500;
  speed = 1.5;
  latitude =   36.696858;
  longitude = -122.054729;
}

behavior CARL
{
  id = 2609;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}

#14. End 5.
behavior waypoint
{
  duration = 878;
  depth = 400;
  speed = 1.1;
  latitude =   36.696047;
  longitude = -122.053721;
}

behavior CARL
{
  id = 2706;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}

#13. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 400;
  speed = 1.5;
  latitude =   36.696047;
  longitude = -122.049800;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2608;
  duration = 1;
  fstop = 31;
}

#12. Dive.
behavior waypoint
{
  duration = 385;
  depth = 400;
  speed = 1.5;
  latitude =   36.696047;
  longitude = -122.048343;
}

behavior CARL
{
  id = 2607;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}

#11.  End 4
behavior waypoint
{
  duration = 870;
  depth = 300;
  speed = 1.1;
  latitude =   36.696738;
  longitude = -122.049837;
}

behavior CARL
{
  id = 2705;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}

#10. Turn, stabilize, set up.
behavior waypoint
{
  duration = 226;
  depth = 300;
  speed = 1.5;
  latitude =   36.696768;
  longitude = -122.053721;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2606;
  duration = 1;
  fstop = 31;
}

#9. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 300;
  speed = 1.5;
  latitude =   36.696768;
  longitude = -122.054729;
}

behavior CARL
{
  id = 2605;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}

#8. End 3.
behavior waypoint
{
  duration = 877;
  depth = 200;
  speed = 1.1;
  latitude =   36.695957;
  longitude = -122.053721;
}

behavior CARL
{
  id = 2704;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}

#Seven.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 200;
  speed = 1.5;
  latitude =   36.695957;
  longitude = -122.049800;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2604;
  duration = 1;
  fstop = 31;
}

#Six. Dive.
behavior waypoint
{
  duration = 385;
  depth = 200;
  speed = 1.5;
  latitude =   36.695957;
  longitude = -122.048343;
}

behavior CARL
{
  id = 2603;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}

#Five End 2
behavior waypoint
{
  duration = 870;
  depth = 100;
  speed = 1.1;
  latitude =   36.696648;
  longitude = -122.049837;
}

behavior CARL
{
  id = 2703;
  lightSwitch = 1;
  fstop = 31;
  clipname = 1;
  duration = 1;
  record = 1;
}

#Four. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 226;
  depth = 100;
  speed = 1.5;
  latitude =   36.696678;
  longitude = -122.053721;
}

#Open the iris at the acute angle.
behavior CARL
{
  id = 2602;
  duration = 1;
  fstop = 31;
}

#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 100;
  speed = 1.5;
  latitude =   36.696678;
  longitude = -122.054729;
}

behavior CARL
{
  id = 2601;
  duration = 1;
  record = 0;
  lightSwitch = 0;
  homeIris = 1;
}

#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 50;
  speed = 1.1;
  latitude =   36.695867;
  longitude = -122.053721;
}

behavior CARL
{
  id = 2702;
  fstop = 41;
  brightness = 95;
  lightSwitch = 1;
  clipname = 1;
  duration = 1;
  record = 1;
}

#One.  Start the Segment.
# 36 41.750  -122 2.990
behavior waypoint
{
 duration = 415;
 depth = 50;
 speed = 1.5;
 latitude =   36.695867;
 longitude = -122.049800;
}

#Zero.  Lead-in waypoint.
behavior waypoint
{
 duration = 1250;
 depth = 50;
 speed = 1.5;
 latitude =   36.696227;
 longitude = -122.048007;
}

#
# Descend and transit to starting waypoint.
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 48;
minAltitude = 50.000000;
duration = 600;
}

behavior CARL
{
  id = 2701;
  fstop = 31;
  brightness = 95;
  lightSwitch = 0;
  clipname = 1;
  duration = 1;
  record = 1;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 90.0;
pitch = -35;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#
# Begin recording on the surface
#
behavior CARL
{
  id = 2700;
  clipname = 1;
  record = 1;
  duration = 1;
  fstop = 561;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

#
# Bring up the lights and close the iris since we're on the surface
#
behavior CARL
{
  id = 2600;
  lightSwitch = 1;
  brightness = 95;
  duration = 1;
  homeIris = 1;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.696227;
 longitude = -122.048007;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.696227;
 longitude = -122.048007;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#start of sixth transect with video and lights 2100

#end of transect with no video or lights

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior ascend
{
  duration = 3600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 5; #Meters
}

#32. End 11.
behavior waypoint
{
  duration = 878;
  depth = 1000;
  speed = 1.1;
  latitude =   36.696318;
  longitude = -122.053721;
}

#31. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 1000;
  speed = 1.5;
  latitude =   36.696318;
  longitude = -122.049800;
}

#30. Dive.
behavior waypoint
{
  duration = 385;
  depth = 1000;
  speed = 1.5;
  latitude =   36.696318;
  longitude = -122.048343;
}

#29.  End 10.
behavior waypoint
{
  duration = 870;
  depth = 900;
  speed = 1.1;
  latitude =   36.697009;
  longitude = -122.049837;
}

#28. Turn, stabilize, set up.
behavior waypoint
{
  duration = 227;
  depth = 900;
  speed = 1.5;
  latitude =   36.697039;
  longitude = -122.053721;
}

#27. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 900;
  speed = 1.5;
  latitude =   36.697039;
  longitude = -122.054729;
}

#26. End 9.
behavior waypoint
{
  duration = 878;
  depth = 800;
  speed = 1.1;
  latitude =   36.696227;
  longitude = -122.053721;
}

#25.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 800;
  speed = 1.5;
  latitude =   36.696227;
  longitude = -122.049800;
}

#24. Dive.
behavior waypoint
{
  duration = 385;
  depth = 800;
  speed = 1.5;
  latitude =   36.696227;
  longitude = -122.048343;
}

#23. End 8.
behavior waypoint
{
  duration = 870;
  depth = 700;
  speed = 1.1;
  latitude =   36.696918;
  longitude = -122.049837;
}

#22. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 227;
  depth = 700;
  speed = 1.5;
  latitude =   36.696948;
  longitude = -122.053721;
}

#21.  Dive.
behavior waypoint
{
  duration = 319;
  depth = 700;
  speed = 1.5;
  latitude =   36.696948;
  longitude = -122.054729;
}

#20.  End Seven.
behavior waypoint
{
  duration = 878;
  depth = 600;
  speed = 1.1;
  latitude =   36.696137;
  longitude = -122.053721;
}

#19. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 600;
  speed = 1.5;
  latitude =   36.696137;
  longitude = -122.049800;
}

#18. Dive.
behavior waypoint
{
  duration = 385;
  depth = 600;
  speed = 1.5;
  latitude =   36.696137;
  longitude = -122.048343;
}

#17. End 6.
behavior waypoint
{
  duration = 870;
  depth = 500;
  speed = 1.1;
  latitude =   36.696828;
  longitude = -122.049837;
}

#16. Turn, stabilize, setup.
behavior waypoint
{
  duration = 227;
  depth = 500;
  speed = 1.5;
  latitude =   36.696858;
  longitude = -122.053721;
}

#15. Dive.
behavior waypoint
{
  duration = 319;
  depth = 500;
  speed = 1.5;
  latitude =   36.696858;
  longitude = -122.054729;
}

#14. End 5.
behavior waypoint
{
  duration = 878;
  depth = 400;
  speed = 1.1;
  latitude =   36.696047;
  longitude = -122.053721;
}

#13. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 400;
  speed = 1.5;
  latitude =   36.696047;
  longitude = -122.049800;
}

#12. Dive.
behavior waypoint
{
  duration = 385;
  depth = 400;
  speed = 1.5;
  latitude =   36.696047;
  longitude = -122.048343;
}

#11.  End 4
behavior waypoint
{
  duration = 870;
  depth = 300;
  speed = 1.1;
  latitude =   36.696738;
  longitude = -122.049837;
}

#10. Turn, stabilize, set up.
behavior waypoint
{
  duration = 226;
  depth = 300;
  speed = 1.5;
  latitude =   36.696768;
  longitude = -122.053721;
}

#9. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 300;
  speed = 1.5;
  latitude =   36.696768;
  longitude = -122.054729;
}

#8. End 3.
behavior waypoint
{
  duration = 877;
  depth = 200;
  speed = 1.1;
  latitude =   36.695957;
  longitude = -122.053721;
}

#Seven.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 200;
  speed = 1.5;
  latitude =   36.695957;
  longitude = -122.049800;
}

#Six. Dive.
behavior waypoint
{
  duration = 385;
  depth = 200;
  speed = 1.5;
  latitude =   36.695957;
  longitude = -122.048343;
}

#Five End 2
behavior waypoint
{
  duration = 870;
  depth = 100;
  speed = 1.1;
  latitude =   36.696648;
  longitude = -122.049837;
}

#Four. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 226;
  depth = 100;
  speed = 1.5;
  latitude =   36.696678;
  longitude = -122.053721;
}

#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 100;
  speed = 1.5;
  latitude =   36.696678;
  longitude = -122.054729;
}

#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 50;
  speed = 1.1;
  latitude =   36.695867;
  longitude = -122.053721;
}

#One.  Start the Segment.
# 36 41.750  -122 2.990
behavior waypoint
{
 duration = 415;
 depth = 50;
 speed = 1.5;
 latitude =   36.695867;
 longitude = -122.049800;
}

#Zero.  Lead-in waypoint.
behavior waypoint
{
 duration = 1250;
 depth = 50;
 speed = 1.5;
 latitude =   36.696227;
 longitude = -122.048007;
}

#
# Descend and transit to starting waypoint.
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 48;
minAltitude = 50.000000;
duration = 600;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 90.0;
pitch = -35;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.696227;
 longitude = -122.048007;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 45; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.696227;
 longitude = -122.048007;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 45.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 45.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#start of fifth transect with no video and no lights

#end of transect with no video or lights constant depth 50m 1800

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior ascend
{
  duration = 3600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 5; #Meters
}

#32. End 11.
behavior waypoint
{
  duration = 878;
  depth = 50;
  speed = 1.1;
  latitude =   36.696318;
  longitude = -122.053721;
}

#31. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 50;
  speed = 1.5;
  latitude =   36.696318;
  longitude = -122.049800;
}

#30. Dive.
behavior waypoint
{
  duration = 385;
  depth = 50;
  speed = 1.5;
  latitude =   36.696318;
  longitude = -122.048343;
}

#29.  End 10.
behavior waypoint
{
  duration = 870;
  depth = 50;
  speed = 1.1;
  latitude =   36.697009;
  longitude = -122.049837;
}

#28. Turn, stabilize, set up.
behavior waypoint
{
  duration = 227;
  depth = 50;
  speed = 1.5;
  latitude =   36.697039;
  longitude = -122.053721;
}

#27. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 50;
  speed = 1.5;
  latitude =   36.697039;
  longitude = -122.054729;
}

#26. End 9.
behavior waypoint
{
  duration = 878;
  depth = 50;
  speed = 1.1;
  latitude =   36.696227;
  longitude = -122.053721;
}

#25.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 50;
  speed = 1.5;
  latitude =   36.696227;
  longitude = -122.049800;
}

#24. Dive.
behavior waypoint
{
  duration = 385;
  depth = 50;
  speed = 1.5;
  latitude =   36.696227;
  longitude = -122.048343;
}

#23. End 8.
behavior waypoint
{
  duration = 870;
  depth = 50;
  speed = 1.1;
  latitude =   36.696918;
  longitude = -122.049837;
}

#22. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 227;
  depth = 50;
  speed = 1.5;
  latitude =   36.696948;
  longitude = -122.053721;
}

#21.  Dive.
behavior waypoint
{
  duration = 319;
  depth = 50;
  speed = 1.5;
  latitude =   36.696948;
  longitude = -122.054729;
}

#20.  End Seven.
behavior waypoint
{
  duration = 878;
  depth = 50;
  speed = 1.1;
  latitude =   36.696137;
  longitude = -122.053721;
}

#19. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 50;
  speed = 1.5;
  latitude =   36.696137;
  longitude = -122.049800;
}

#18. Dive.
behavior waypoint
{
  duration = 385;
  depth = 50;
  speed = 1.5;
  latitude =   36.696137;
  longitude = -122.048343;
}

#17. End 6.
behavior waypoint
{
  duration = 870;
  depth = 50;
  speed = 1.1;
  latitude =   36.696828;
  longitude = -122.049837;
}

#16. Turn, stabilize, setup.
behavior waypoint
{
  duration = 227;
  depth = 50;
  speed = 1.5;
  latitude =   36.696858;
  longitude = -122.053721;
}

#15. Dive.
behavior waypoint
{
  duration = 319;
  depth = 50;
  speed = 1.5;
  latitude =   36.696858;
  longitude = -122.054729;
}

#14. End 5.
behavior waypoint
{
  duration = 878;
  depth = 50;
  speed = 1.1;
  latitude =   36.696047;
  longitude = -122.053721;
}

#13. Turn, stabilize, setup.
behavior waypoint
{
  duration = 326;
  depth = 50;
  speed = 1.5;
  latitude =   36.696047;
  longitude = -122.049800;
}

#12. Dive.
behavior waypoint
{
  duration = 385;
  depth = 50;
  speed = 1.5;
  latitude =   36.696047;
  longitude = -122.048343;
}

#11.  End 4
behavior waypoint
{
  duration = 870;
  depth = 50;
  speed = 1.1;
  latitude =   36.696738;
  longitude = -122.049837;
}

#10. Turn, stabilize, set up.
behavior waypoint
{
  duration = 226;
  depth = 50;
  speed = 1.5;
  latitude =   36.696768;
  longitude = -122.053721;
}

#9. Dive. 
behavior waypoint
{
  duration = 319;
  depth = 50;
  speed = 1.5;
  latitude =   36.696768;
  longitude = -122.054729;
}

#8. End 3.
behavior waypoint
{
  duration = 877;
  depth = 50;
  speed = 1.1;
  latitude =   36.695957;
  longitude = -122.053721;
}

#Seven.  Turn, stabilize, and set up.
behavior waypoint
{
  duration = 326;
  depth = 50;
  speed = 1.5;
  latitude =   36.695957;
  longitude = -122.049800;
}

#Six. Dive.
behavior waypoint
{
  duration = 385;
  depth = 50;
  speed = 1.5;
  latitude =   36.695957;
  longitude = -122.048343;
}

#Five End 2
behavior waypoint
{
  duration = 870;
  depth = 50;
  speed = 1.1;
  latitude =   36.696648;
  longitude = -122.049837;
}

#Four. Turn, stabilize, and set up for the next segment.
behavior waypoint
{
  duration = 226;
  depth = 50;
  speed = 1.5;
  latitude =   36.696678;
  longitude = -122.053721;
}

#Three.  Descend.  
behavior waypoint
{
  duration = 319;
  depth = 50;
  speed = 1.5;
  latitude =   36.696678;
  longitude = -122.054729;
}

#Two.  End Segment.
behavior waypoint
{
  duration = 877;
  depth = 50;
  speed = 1.1;
  latitude =   36.695867;
  longitude = -122.053721;
}

#One.  Start the Segment.
# 36 41.750  -122 2.990
behavior waypoint
{
 duration = 415;
 depth = 50;
 speed = 1.5;
 latitude =   36.695867;
 longitude = -122.049800;
}

#Zero.  Lead-in waypoint.
behavior waypoint
{
 duration = 1250;
 depth = 50;
 speed = 1.5;
 latitude =   36.696227;
 longitude = -122.048007;
}

#
# Descend and transit to starting waypoint.
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 48;
minAltitude = 50.000000;
duration = 600;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 90.0;
pitch = -35;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

#vehicle appeared to reach this point at 1606L

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 180.0; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.696227;
 longitude = -122.048007;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 180.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 180.0; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.696227;
 longitude = -122.048007;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 180.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 180.0; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.696227;
 longitude = -122.048007;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 180.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 86400;
minHits = 30;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 180.0; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior waypoint
{
 duration = 1200;
 depth = 10;
 speed = 1.5;
 latitude =   36.696227;
 longitude = -122.048007;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 180.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#start of fourth transect with no video or lights constant depth 50m 1430

#end of transect with no video or lights 1500