#should be 18 hour mission, set timer to 24 hours
#set timeout in seconds
behavior missionTimer {
timeOut = 25200;
}

behavior depthEnvelope {
  minDepth = 0;
  maxDepth = 35;
  abortDepth = 45;
  abortAltitude = 2.5;
  abortLockoutDepth = 10.0;
}


#end of first lap

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.65;
endDepth = 2;
}

#fourth & final leg from waypoint ESPmoe back to waypoint ESPmack
#N36.8339 W121.8983
#leg distance 3000 meters
#water depth 75 meters
behavior waypoint_yoyo {
latitude = 36.8339;
longitude = -121.8983;
captureRadius = 10;
duration = 2400;
speed = 1.40;
minDepth = 2.0;
maxDepth = 35;
minAltitude = 10;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.65;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 147;
speed = 1.65;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 147;
pitch = 20;
speed = 1.65;
endDepth = 2;
}

#third leg from waypoint ESPmoe back to waypoint ESPmack
#N36.8339 W121.8983
#leg distance 3000 meters
#water depth ~60 meters
behavior waypoint_yoyo {
latitude = 36.8339;
longitude = -121.8983;
captureRadius = 10;
duration = 2400;
speed = 1.40;
minDepth = 2.0;
maxDepth = 35;
minAltitude = 10;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.65;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 147;
speed = 1.65;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 147;
pitch = 20;
speed = 1.65;
endDepth = 2;
}

#second leg from waypoint ESPmoe back to waypoint ESPmack
#N36.8339 W121.8983
#leg distance 3000 meters
#water depth ~40 meters
behavior waypoint_yoyo {
latitude = 36.8339;
longitude = -121.8983;
captureRadius = 10;
duration = 2400;
speed = 1.40;
minDepth = 2.0;
maxDepth = 35;
minAltitude = 10;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.65;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 147;
speed = 1.65;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 147;
pitch = 20;
speed = 1.65;
endDepth = 2;
}

#first leg from waypoint ESPmoe back to waypoint ESPmack
#N36.8339 W121.8983
#leg distance 3000 meters
#water depth ~30 meters
behavior waypoint_yoyo {
latitude = 36.8339;
longitude = -121.8983;
captureRadius = 10;
duration = 2400;
speed = 1.40;
minDepth = 2.0;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.65;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 147;
speed = 1.65;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.65;
endDepth = 2;
}

#Third & final leg from waypoint ESPbruce to waypoint ESPmoe
#N36.9272 W121.9734
#leg distance 3000 meters
#water depth 25 meters
behavior waypoint_yoyo {
latitude = 36.9272;
longitude = -121.9734;
captureRadius = 10;
duration = 2200;
speed = 1.40;
minDepth = 2.0;
maxDepth = 25;
minAltitude = 10;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 290;
pitch = -15;
speed = 1.65;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 290;
speed = 1.65;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 290;
pitch = 20;
speed = 1.65;
endDepth = 2;
}

#second leg from waypoint ESPbruce to waypoint ESPmoe
#N36.9272 W121.9734
#leg distance 3000 meters
#water depth 25 meters
behavior waypoint_yoyo {
latitude = 36.9272;
longitude = -121.9734;
captureRadius = 10;
duration = 2200;
speed = 1.40;
minDepth = 2.0;
maxDepth = 22;
minAltitude = 10;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 290;
pitch = -15;
speed = 1.65;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 290;
speed = 1.65;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 290;
pitch = 20;
speed = 1.65;
endDepth = 2;
}

#first leg from waypoint ESPbruce to waypoint ESPmoe
#N36.9272 W121.9734
#leg distance 3080 meters
#water depth 20 meters to 25 meters
behavior waypoint_yoyo {
latitude = 36.9272;
longitude = -121.9734;
captureRadius = 10;
duration = 2200;
speed = 1.40;
minDepth = 2.0;
maxDepth = 22;
minAltitude = 10;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 290;
pitch = -15;
speed = 1.65;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 290;
speed = 1.65;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior - do a rudder ascend at waypoint ESPBruce
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.65;
endDepth = 2;
}

#Third & final leg from waypoint ESPmack to waypoint ESPbruce
#N36.9000 W121.8820
#leg distance 1600 meters
#water depth 30 meters to 20 meters
behavior waypoint_yoyo {
latitude = 36.900;
longitude = -121.8820;
captureRadius = 10;
duration = 2000;
speed = 1.40;
minDepth = 2.0;
maxDepth = 25.0;
minAltitude = 10;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 11;
pitch = -15;
speed = 1.65;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 11;
speed = 1.65;
verticalMode = pitch;
pitch = 0;
}

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


# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 11;
pitch = 20;
speed = 1.65;
endDepth = 2;
}

#Second leg from waypoint ESPmack to waypoint ESPbruce
#N36.9000 W121.8820
#leg distance 2900 meters
#water depth 50 meters to 30 meters
behavior waypoint_yoyo {
latitude = 36.900;
longitude = -121.8820;
captureRadius = 10;
duration = 2000;
speed = 1.40;
minDepth = 2.0;
maxDepth = 35;
minAltitude = 10;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 11;
pitch = -15;
speed = 1.65;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 11;
speed = 1.65;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 11;
pitch = 20;
speed = 1.65;
endDepth = 2;
}

#First leg from ESPmack to waypoint ESPbruce
#N36.9000 W121.8820
#leg distance 2900 meters
#water depth 73 meters to 50 meters
behavior waypoint_yoyo {
latitude = 36.9000;
longitude = -121.8820;
captureRadius = 10;
duration = 2000;
speed = 1.40;
minDepth = 2.0;
maxDepth = 35;
minAltitude = 10;
maxCycles = 2000;
}

#arm all gulpers for adaptive firing
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 = 11;
pitch = -15;
speed = 1.65;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 11;
speed = 1.65;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior - use a rudder ascend to minimize overshoot
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.65;
endDepth = 2;
}

#Initial leg to waypoint ESPmack
#N36.8339 W121.8983
#leg distance 300 meters
#water depth 73 meters
behavior waypoint_yoyo {
latitude = 36.8339;
longitude = -121.8983;
captureRadius = 10;
duration = 500;
speed = 1.40;
minDepth = 2.0;
maxDepth = 35;
minAltitude = 10;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -15;
speed = 1.65;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 270;
speed = 1.65;
verticalMode = pitch;
pitch = 0;
}

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


#
# Launch AUV at waypoint ESP_Survey_Fall_2009_Launch
#  N36 50.03918 W121 53.67100
#  300 meters east of first mission waypoint
#  AUV will swim due west from launch point
#  Should surface approx 7 minutes after initial dive
#