# Biospace.cfg
# 
# Distance of single survey track 34.151 km
# 
#should be 18 hour mission, set timer to 24 hours
#set timeout in seconds
behavior missionTimer {
timeOut = 25200;
}

behavior depthEnvelope {
  minDepth = 0;
  maxDepth = 25;
  abortDepth = 35;
  abortAltitude = 2.5;
  abortLockoutDepth = 10.0;
}

# Mission End


# acquire gps fix
behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

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

#Lap 1 leg to waypoint Biospace_12
#N36 55.3300 W121 58.0100
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.9222;
longitude = -121.9668;
captureRadius = 10;
duration = 1200;
speed = 1.5;
minDepth = 2;
maxDepth = 20;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# 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 = 600;
minHits = 15;
abortOnTimeout = True;
}

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

#Lap 1 leg to waypoint Biospace_11
#N36 55.3300 W121 58.7900
#leg distance 500 meters
#water depth 25 meters
behavior waypoint_yoyo {
latitude = 36.9222;
longitude = -121.9798;
captureRadius = 10;
duration = 500;
speed = 1.5;
minDepth = 2;
maxDepth = 20;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 180.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# 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 = 600;
minHits = 15;
abortOnTimeout = True;
}

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

#Lap 1 leg to waypoint Biospace_10
#N36 55.6300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.9272;
longitude = -121.9798;
captureRadius = 10;
duration = 1200;
speed = 1.5;
minDepth = 2;
maxDepth = 20;
minAltitude = 10;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 270.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

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

#Lap 1 leg to waypoint Biospace_9
#N36 55.6300 W121 58.0100
#leg distance 500 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.9272;
longitude = -121.9668;
captureRadius = 10;
duration = 500;
speed = 1.5;
minDepth = 2;
maxDepth = 20;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 180.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# 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 = 600;
minHits = 15;
abortOnTimeout = True;
}

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

#Lap 1 leg to waypoint Biospace_8
#N36 55.9300 W121 58.0100
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.9322;
longitude = -121.9668;
captureRadius = 10;
duration = 1200;
speed = 1.5;
minDepth = 2;
maxDepth = 20;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# 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 = 600;
minHits = 15;
abortOnTimeout = True;
}

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

#Lap 1 leg 5 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.9322;
longitude = -121.9798;
captureRadius = 10;
duration = 2000;
speed = 1.5;
minDepth = 2;
maxDepth = 20;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 327.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 327.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 327;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#Lap 1 leg 4 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.9322;
longitude = -121.9798;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 2;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 327.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 327.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 327;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#Lap 1 leg 3 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.9322;
longitude = -121.9798;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 2;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 327.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 327.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 327;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#Lap 1 leg 2 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.9322;
longitude = -121.9798;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 2;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 327.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 327.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 327;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#Lap 1 leg 1 of 5 to waypoint Biospace_7
#N36 55.9300 W121 58.7900
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.9322;
longitude = -121.9798;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 2;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 327.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 327.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

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

#Lap 1 leg to waypoint Biospace_6
#N36 50.24000 W121 53.5000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.8373;
longitude = -121.9047;
captureRadius = 10;
duration = 1200;
speed = 1.5;
minDepth = 2;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 270.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

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

#Lap 1 leg to waypoint Biospace_5
#N36 50.24000 W121 53.5000
#leg distance 500 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.8373;
longitude = -121.8917;
captureRadius = 10;
duration = 500;
speed = 1.5;
minDepth = 2;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 0.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 0.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

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

#Lap 1 leg to waypoint Biospace_4
#N36 49.94000 W121 53.5000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.8323;
longitude = -121.8917;
captureRadius = 10;
duration = 1200;
speed = 1.5;
minDepth = 2;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# 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 = 600;
minHits = 15;
abortOnTimeout = True;
}

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

#Lap 1 leg to waypoint Biospace_3
#N36 49.94000 W121 54.28000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.8323;
longitude = -121.9047;
captureRadius = 10;
duration = 500;
speed = 1.5;
minDepth = 2;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 0.0;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 0.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

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

#Lap 1 leg to waypoint Biospace_2
#N36 49.64000 W121 54.28000
#leg distance 1200 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.8273;
longitude = -121.9047;
captureRadius = 10;
duration = 1200;
speed = 1.5;
minDepth = 2;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}


# 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 = 600;
minHits = 30;
abortOnTimeout = True;
}



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

#Initial leg to waypoint Biospace_1
#N36 49.62000 W121 53.50000
#leg distance 500 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.8273;
longitude = -121.8917;
captureRadius = 10;
duration = 500;
speed = 1.5;
minDepth = 2;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}

behavior ArmTheGulper
{
    duration = 1;
    gulper0 = 1;
    gulper1 = 1;
    gulper2 = 1;
    gulper3 = 1;
    gulper4 = 1;
    gulper5 = 1;
    gulper6 = 1;
    gulper7 = 1;
    gulper8 = 1;
    gulper9 = 1;
}

# 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 = 600;
minHits = 15;
abortOnTimeout = True;
}


#
# Launch AUV at waypoint Biospace_Launch
#  N36 49.62 W121 53.17
#  500 meters east of first mission waypoint
#  AUV will swim due west from launch point
#  Should surface approx 7 minutes after initial dive
#