#30_APR_Scholin_B.cfg
#   "Box"                      9,500 meters
#
#   Total                      9,500 meters
#
#  Speed 1.6 m/s -- 6,333 seconds = 1.76 hours
#
# launch 300 meters s/w of WPT 23_APR_C
# at waypoint 23_APR_C  N36 49.4905 W121 53.2417





# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 7500;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 40;
 abortDepth = 45;
 abortAltitude = 10.0;
}

# MISSION TOTALLY OVER

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# Waypoint behavior to 23_APR_O
#N36 50.6562 W121 54.0787
# water depth 62 meters
# leg distance 1500 meters
behavior waypoint_yoyo {
latitude = 36.8443;
longitude = -121.9013;
captureRadius = 10;
duration = 1500;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 277;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 277;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# Waypoint behavior to 23_APR_N
#N36 50.5569 W121 53.0783
# water depth 62 meters
# leg distance 500 meters
behavior waypoint_yoyo {
latitude = 36.8426;
longitude = -121.8846;
captureRadius = 10;
duration = 500;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 7;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 7;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# Waypoint behavior to 23_APR_M
#N36 50.2889 W121 53.1212
# water depth 62 meters
# leg distance 750 meters
behavior waypoint_yoyo {
latitude = 36.8382;
longitude = -121.8854;
captureRadius = 10;
duration = 1500;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 97;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 97;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = heading;
horizontal = 97;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# Waypoint behavior to 23_APR_K
#N36 50.3918 W121 54.1273
# water depth 66 meters
# leg distance 500 meters
behavior waypoint_yoyo {
latitude = 36.8399;
longitude = -121.9021;
captureRadius = 10;
duration = 500;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 7;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 7;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# Waypoint behavior to 23_APR_J
#N 36 50.1251 W121 54.1711
# water depth 71 meters
# leg distance 750 meters
behavior waypoint_yoyo {
latitude = 36.8354;
longitude = -121.9029;
captureRadius = 10;
duration = 600;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 2000;
}


# Fire gulper 05 at 10m depth
behavior FireTheGulper {
        duration = 2;
        gulperToFire = 5;
}

behavior setpoint {
duration = 2;
heading = 277;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}

# Fire gulper 04 at 10m depth
behavior FireTheGulper {
        duration = 2;
        gulperToFire = 4;
}

behavior setpoint {
duration = 2;
heading = 277;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}

# Fire gulper 03 at 10m depth
behavior FireTheGulper {
        duration = 2;
        gulperToFire = 3;
}

# Descend behavior to 10 meters
behavior descend {
horizontalMode = heading;
horizontal = 277;
pitch = -15;
speed = 1.5;
maxDepth = 10;
minAltitude = 9;
duration = 60;
}

# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = heading;
horizontal = 277;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


# Waypoint behavior to 23_APR_J will be short
#N 36 50.1251 W121 54.1711
# water depth 71 meters
# leg distance 750 meters
behavior waypoint_yoyo {
latitude = 36.8354;
longitude = -121.9029;
captureRadius = 10;
duration = 200;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 2000;
}



# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 277;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 277;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = heading;
horizontal = 277;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# Waypoint behavior to 23_APR_I   (ESP)
#N 36 50.0744 W121 53.6655
# water depth 71 meters
# leg distance 750
behavior waypoint_yoyo {
latitude = 36.8346;
longitude = -121.8944;
captureRadius = 10;
duration = 600;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 2000;
}



# Fire gulper 02 at 10m depth
behavior FireTheGulper {
        duration = 2;
        gulperToFire = 2;
}

behavior setpoint {
duration = 2;
heading = 277;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}

# Fire gulper 01 at 10m depth
behavior FireTheGulper {
        duration = 2;
        gulperToFire = 1;
}

behavior setpoint {
duration = 2;
heading = 277;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}

# Fire gulper 00 at 10m depth
behavior FireTheGulper {
        duration = 2;
        gulperToFire = 0;
}

# Descend behavior to 10 meters
behavior descend {
horizontalMode = heading;
horizontal = 277;
pitch = -15;
speed = 1.5;
maxDepth = 10;
minAltitude = 9;
duration = 60;
}


# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = heading;
horizontal = 277;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# Waypoint behavior to 23_APR_I   (ESP) will be short
#N 36 50.0744 W121 53.6655
# water depth 71 meters
# leg distance 750
behavior waypoint_yoyo {
latitude = 36.8346;
longitude = -121.8944;
captureRadius = 10;
duration = 200;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 277;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 277;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#Waypoint behavior to 23_APR_H
#N 36 50.0231 W121 53.1657
# water depth 71 meters
# leg distance 500
behavior waypoint_yoyo {
latitude = 36.8337;
longitude = -121.8861;
captureRadius = 10;
duration = 500;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 7;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 7;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = True;
}


# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# Waypoint behavior to 23_APR_G
#N 36 49.7543 W121 53.2063
# water depth 71 meters
# leg distance 1500
behavior waypoint_yoyo {
latitude = 36.8292;
longitude = -121.8868;
captureRadius = 10;
duration = 1500;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 97;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 97;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#Waypoint behavior to 23_APR_E
#N36 49.8524 W121 54.2071
# water depth 77 meters
# leg distance 500
behavior waypoint_yoyo {
latitude = 36.8308;
longitude = -121.9035;
captureRadius = 10;
duration = 500;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 7;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 7;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# waypoint behavior to 23_APR_D
#N36 49.5872 W121 53.2417
# water depth 77 meters
# leg distance 1500 meters
behavior waypoint_yoyo {
latitude = 36.8265;
longitude = -121.9041;
captureRadius = 10;
duration = 1500;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 277;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 277;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 60;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# waypoint behavior to 23_APR_C
#N36 49.4905 W121 53.2417
# water depth 77 meters
# leg distance 500 meters
behavior waypoint_yoyo {
latitude = 36.8248;
longitude = -121.8874;
captureRadius = 10;
duration = 600;
speed = 1.6;
minDepth = 2;
maxDepth = 30;
minAltitude = 12;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 334;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 334;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}