#June Canon Transect
# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 86400;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 260;
 abortDepth = 270;
 abortAltitude = 2.5;
 abortLockoutDepth = 8.0;
}

# End of mission
# acquire gps fix
behavior getgps {
duration = 3600;
minHits = 3200;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 12
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 11
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 10
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 9
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 8
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 7
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 6
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 5
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 4
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 3
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 2
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#return leg 1
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 25.0;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 12
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 11
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 10
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 9
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 8
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 7
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 6
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 5
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 4
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 3
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 2
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

behavior getgps {
duration = 600;
minHits = 45;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#leg 1
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -122.25;
captureRadius = 10;
duration = 2700;
speed = 1.1;
minDepth = 1.5;
maxDepth = 250.0;
minAltitude = 7.5;
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;
}

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

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.1;
endDepth = 2;
}

#swim to start of line
behavior waypoint_yoyo {
latitude = 36.90;
longitude = -121.90;
captureRadius = 10;
duration = 1900;
speed = 1.1;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 302;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 302;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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