# AUVCTD_C1M2C1_start_M1_GulpTesting.cfg
#
#Mission Description
#Launch at ACI_5 (M1) as close to R/V Point Lobos as possible
#Level flight to M2
#
#  Fire Gulpers 
#                   00,01,02,03 at surface at M1 in conjunction with Lobos rosette deployment
#                   
#
#250m YoYo to C1.5
#150m YoYo yo C1
#Expected duration 24.0 hours

# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 103680;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 265;
 abortDepth = 280;
 abortAltitude = 2.5;
 abortLockoutDepth = 100.0;
}


# Eighth leg of run from waypoint M1.5 to C1.5 (near head of canyon), will probably be short
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for Waypoint C1 - The End
behavior waypoint_yoyo {
latitude = 36.7960;
longitude = -121.8500;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 175;
minAltitude = 20;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for Waypoint C1.25
behavior waypoint_yoyo {
latitude = 36.7886;
longitude = -121.8779;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 175;
minAltitude = 20;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for Waypoint C1.375
behavior waypoint_yoyo {
latitude = 36.7816;
longitude = -121.9030;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 175;
minAltitude = 20;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for Waypoint Chavez_Survey_Start
behavior waypoint_yoyo {
latitude = 36.773;
longitude = -121.9348;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 200;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



# Seventh leg of run from waypoint M1.5 to C1.5 (near head of canyon)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 23.1 km downrange
# Waypoint ACI_7
behavior waypoint_yoyo {
latitude = 36.7702;
longitude = -121.9496;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 200;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# Sixth leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 19.8 km downrange
# Waypoint ACI_6
behavior waypoint_yoyo {
latitude = 36.7633;
longitude = -121.9854;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 10;
duration = 90;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



# Fifth leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 16.5 km downrange
# Waypoint ACI_5
behavior waypoint_yoyo {
latitude = 36.7564;
longitude = -122.0214;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


# Fourth leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 13.2 km downrange
# Waypoint ACI_4
behavior waypoint_yoyo {
latitude = 36.7497;
longitude = -122.0573;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# Third leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 9.9 km downrange.
# Waypoint ACI_3
behavior waypoint_yoyo {
latitude = 36.7427;
longitude = -122.0932;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


# Second leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 6.6 km downrange.
# Waypoint ACI_2
behavior waypoint_yoyo {
latitude = 36.7357;
longitude = -122.1290;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


# First leg of run from waypoint M1.5 to C1.5 (deep water)
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 3.3 km downrange.
# Waypoint ACI_1
behavior waypoint_yoyo {
latitude = 36.7290;
longitude = -122.1649;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# this should reach the waypoint Leg 5 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint_yoyo {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 80;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Leg 4 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint_yoyo {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 80;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Leg 3 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint_yoyo {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 80;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Leg 2 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint_yoyo {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 80;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Leg 1 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint_yoyo {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 80;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

#inbound YoYo legs all the way back to C1
# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# finally - Leg 5 to waypoint M2 - may be short
# N36.6958 W122.3967 
behavior waypoint {
latitude = 36.6958;
longitude = -122.3967;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 10.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 260;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 260;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 260;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Leg 4 to waypoint M2
# N36.6958 W122.3967 
behavior waypoint {
latitude = 36.6958;
longitude = -122.3967;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 150.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 260;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 260;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 260;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Leg 3 to waypoint M2
# N36.6958 W122.3967 
behavior waypoint {
latitude = 36.6958;
longitude = -122.3967;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 30.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 260;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 260;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 260;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Leg 2 to waypoint M2
# N36.6958 W122.3967 
behavior waypoint {
latitude = 36.6958;
longitude = -122.3967;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 10.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 260;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 260;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Leg 1 to waypoint M2
# N36.6958 W122.3967 
behavior waypoint {
latitude = 36.6958;
longitude = -122.3967;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 150.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 260;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 260;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Leg 1 to waypoint: ChavezSurveyEnd
# N36 43.3200 W122 12.0420
behavior waypoint {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
depth = 30.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 256;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 3.3 km downrange.
# Waypoint ACI_1
behavior waypoint {
latitude = 36.7290;
longitude = -122.1649;
captureRadius = 10;
duration = 3000;
speed = 1.25;
depth = 10.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 256;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 6.6 km downrange.
# Waypoint ACI_2
behavior waypoint {
latitude = 36.7357;
longitude = -122.1290;
captureRadius = 10;
duration = 3000;
speed = 1.25;
depth = 150.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 2400;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 256;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 9.9 km downrange.
# Waypoint ACI_3
behavior waypoint {
latitude = 36.7427;
longitude = -122.0932;
captureRadius = 10;
duration = 3000;
speed = 1.25;
depth = 30.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 256;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 13.2 km downrange
# Waypoint ACI_4
behavior waypoint {
latitude = 36.7497;
longitude = -122.0573;
captureRadius = 10;
duration = 3000;
speed = 1.25;
depth = 150.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 244;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}

# waypoint behavior
# Aiming for point 16.5 km downrange
# Waypoint ACI_5
behavior waypoint {
latitude = 36.7564;
longitude = -122.0214;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 30.0;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 3;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior FireTheGulper {
        duration = 2;
        gulperToFire = 3;
}

# setpoint on surface to stay still while firing gulper
behavior setpoint {
duration = 10;
heading = 256;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

behavior FireTheGulper {
        duration = 2;
        gulperToFire = 2;
}

# setpoint on surface to stay still while firing gulper
behavior setpoint {
duration = 10;
heading = 256;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

behavior FireTheGulper {
        duration = 2;
        gulperToFire = 1;
}

# setpoint on surface to stay still while firing gulper
behavior setpoint {
duration = 10;
heading = 256;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

#fire gulper 0 at surface
behavior FireTheGulper {
        duration = 2;
        gulperToFire = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}