behavior missionTimer
{
timeOut = 4000;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 65;
abortDepth = 70;
minAltitude = 10.0;
abortAltitude = 8.0;
}
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
behavior waypoint_bottom
{
latitude =    36.699546015793537; 
longitude = -121.9433805664232;
lastLatitude =    36.697358939781850; 
lastLongitude = -121.9407238896241;
duration = 300;
depth = 50.;
speed = 1.5;
reinitFilter = True;
}
#
# Eight (above). Northern waypoint.
# 
behavior waypoint_bottom
{
latitude =    36.697358939781850; 
longitude = -121.9407238896241;
duration = 300;
depth = 50;
speed = 1.5;
}
#
# Seven (above). Now pass through Eastern waypoint again but with the desired
# heading.  Reinit the filter.
#
behavior waypoint_bottom
{
latitude =    36.69668;
longitude = -121.93985;
duration = 300;
depth = 50;
speed = 1.5;
}
#
#  Six (above). Turn to Eastern offset waypoint.
#
behavior waypoint_bottom
{
latitude =    36.697358939781850; 
longitude = -121.9407238896241;
lastLatitude =    36.697923612690794; 
lastLongitude = -121.9434027728280;
duration = 300;
depth = 50;
speed = 1.5;
}
#
# Five. Turn East (above).
#
behavior waypoint_bottom
{
latitude =    36.697923612690794; 
longitude = -121.9434027728280;
lastLatitude =    36.699546015793537; 
lastLongitude = -121.9433805664232;
duration = 300;
depth = 50.000000;
speed = 1.500000;
reinitFilter = True;
}
#
# Four. Head south (above).
#
behavior waypoint_bottom
{
latitude =    36.699546015793537; 
longitude = -121.9433805664232;
duration = 300;
depth = 50.;
speed = 1.5;
}
#
# Three. Start of Steve's leg,  North end (above).
# 
behavior waypoint_bottom
{
latitude =    36.7004;
longitude = -121.9434;
duration = 200;
depth = 50.000000;
speed = 1.500000;
}
#
# Two. Northern offset waypoint (above).
# 
behavior waypoint_bottom
{
latitude =    36.699546015793537; 
longitude = -121.9433805664232;
lastLatitude =    36.697358939781850; 
lastLongitude = -121.9407238896241;
duration = 300;
depth = 50.;
speed = 1.5;
reinitFilter = True;
}
#
# 15. (above) Northern waypoint.
# 
behavior waypoint_bottom
{
latitude =    36.697358939781850; 
longitude = -121.9407238896241;
duration = 300;
depth = 50;
speed = 1.5;
}
#
# 14. (above) Now pass through Eastern waypoint again but with the desired
# heading. 
#
behavior waypoint_bottom
{
latitude =    36.69668;
longitude = -121.93985;
duration = 300;
depth = 50;
speed = 1.5;
}
#
# 13. (above) Turn to Eastern offset waypoint.
#
behavior waypoint_bottom
{
latitude =    36.697358939781850; 
longitude = -121.9407238896241;
lastLatitude =    36.697923612690794; 
lastLongitude = -121.9434027728280;
duration = 300;
depth = 50;
speed = 1.5;
}
#
# 12. Turn East (above).
#
behavior waypoint_bottom
{
latitude =    36.697923612690794; 
longitude = -121.9434027728280;
lastLatitude =    36.699546015793537; 
lastLongitude = -121.9433805664232;
duration = 300;
depth = 50.000000;
speed = 1.500000;
reinitFilter = True;
}
#
# 11. Head south (above).
#
behavior waypoint_bottom
{
latitude =    36.699546015793537; 
longitude = -121.9433805664232;
duration = 300;
depth = 50.;
speed = 1.5;
}
#
# 10. Start of Steve's leg,  North end (above).
# 
behavior waypoint_bottom
{
latitude =    36.7004;
longitude = -121.9434;
duration = 200;
depth = 50.000000;
speed = 1.500000;
}
#
# Nine. Northern offset waypoint (above).
# 
behavior waypoint_bottom
{
latitude =    36.699546015793537; 
longitude = -121.9433805664232;
lastLatitude =    36.697358939781850; 
lastLongitude = -121.9407238896241;
duration = 300;
depth = 50.;
speed = 1.5;
reinitFilter = True;
}
#
# Eight (above). Northern waypoint.
# 
behavior waypoint_bottom
{
latitude =    36.697358939781850; 
longitude = -121.9407238896241;
duration = 300;
depth = 50;
speed = 1.5;
}
#
# Seven (above). Now pass through Eastern waypoint again but with the desired
# heading.  Reinit the filter.
#
behavior waypoint_bottom
{
latitude =    36.69668;
longitude = -121.93985;
duration = 300;
depth = 50;
speed = 1.5;
}
#
#  Six (above). Turn to Eastern offset waypoint.
#
behavior waypoint_bottom
{
latitude =    36.697358939781850; 
longitude = -121.9407238896241;
lastLatitude =    36.697923612690794; 
lastLongitude = -121.9434027728280;
duration = 300;
depth = 50;
speed = 1.5;
}
#
# Five. Turn East (above).
#
behavior waypoint_bottom
{
latitude =    36.697923612690794; 
longitude = -121.9434027728280;
lastLatitude =    36.699546015793537; 
lastLongitude = -121.9433805664232;
duration = 300;
depth = 50.000000;
speed = 1.500000;
reinitFilter = True;
}
#
# Four. Head south (above).
#
behavior waypoint_bottom
{
latitude =    36.699546015793537; 
longitude = -121.9433805664232;
duration = 300;
depth = 50.;
speed = 1.5;
}
#
# Three. Start of Steve's leg,  North end (above).
# 
behavior waypoint_bottom
{
latitude =    36.7004;
longitude = -121.9434;
duration = 200;
depth = 50.000000;
speed = 1.500000;
}
#
# Two. Northern offset waypoint (above).
# 
behavior descend
{
horizontalMode = rudder;
horizontal = -3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 48;
minAltitude = 10.000000;
duration = 300;
}
behavior waypoint_bottom
{
latitude =    36.7004;
longitude = -121.9434;
duration = 1000;
depth = 15.000000;
speed = 1.500000;
}
#
# One. Start at the North end (above).  This is an offset waypoint.
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 90.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 15.000000;
minAltitude = 15.;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 90.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}