# mission timer set to full endurance of batteries (24 hours)




behavior missionTimer {
timeOut = 1800;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 265;
 abortDepth = 285;
 abortAltitude = 2.5;
 abortLockoutDepth = 100.0;
}


# acquire gps fix
behavior getgps {
duration = 600;
minHits = 60;
abortOnTimeout = True;
}


# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 30;
speed = 1.5;
endDepth = 2;
}

# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

behavior FireTheGulper {
 duration = 2;
 gulperToFire = 9;
}

# Descend behavior to 100 meters
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 100;
duration = 120;
}

# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

behavior FireTheGulper {
 duration = 2;
 gulperToFire = 8;
}

# Descend behavior to 80 meters
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 80;
duration = 120;
}

# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

behavior FireTheGulper {
 duration = 2;
 gulperToFire = 7;
}

# Descend behavior to 60 meters
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 60;
duration = 120;
}

# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

behavior FireTheGulper {
 duration = 2;
 gulperToFire = 6;
}

# Descend behavior to 40 meters
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 40;
duration = 120;
}

# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

behavior FireTheGulper {
 duration = 2;
 gulperToFire = 5;
}

# Descend behavior to 30 meters
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 30;
duration = 120;
}

# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

behavior FireTheGulper {
 duration = 2;
 gulperToFire = 4;
}

# Descend behavior to 20 meters
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 20;
duration = 120;
}

# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

# Descend behavior to 10 meters
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -15;
speed = 1.5;
maxDepth = 10;
duration = 120;
}

# setpoint to pause for gulper
behavior setpoint {
duration = 5;
heading = 256;
speed = 0;
verticalMode = pitch;
pitch = 0;
}

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

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

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

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

# setpoint on surface to stay still while firing gulper
behavior setpoint {
duration = 5;
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 = 60;
abortOnTimeout = True;
}