# Mission Filename: 2014_265_145.cfg
#
#
#                   *** CAUTION *** 
#   *** THIS MISSION GENERATED WITH UTILITY WP2M ***
#               *** UNPROVEN CODE ***
#
#               *** LAUNCH WAYPOINT ***
#               LAT/LON: 36.7803 -121.997
#
#               *** INITIAL HEADING *** 
#                        89.9901  
#
#             *** abortOnTimeout is True ***
#
#   *** GULPERS ARMED AT START OF MISSION ***
# *** MOVE THE ARMING BEHAVIOR IF NECESSARY ***
#






# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 43725;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 2;
 maxDepth = 100;
 abortDepth = 120;
 abortAltitude = 2.5;
 abortLockoutDepth = 8;
}

behavior getgps {
duration = 1800;
minHits = 300;
abortOnTimeout = True;
}

# ***** Mission Ends ^ *****

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

behavior waypoint_yoyo {
# leg distance = 3038.91;
# N36 46.8198 W121 59.4976
latitude = 36.7803;
longitude = -121.9916;
captureRadius = 10;
duration = 3951;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 360;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 360;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** FINAL WAYPOINT NUMBER: 25 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 2962.23;
# N36 45.1800 W121 59.4976
latitude = 36.7530;
longitude = -121.9916;
captureRadius = 10;
duration = 3851;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -30;
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 = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 24 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 3038.91;
# N36 45.1800 W121 57.5027
latitude = 36.7530;
longitude = -121.9584;
captureRadius = 10;
duration = 3951;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 180;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 23 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 2961.18;
# N36 46.8198 W121 57.5027
latitude = 36.7803;
longitude = -121.9584;
captureRadius = 10;
duration = 3850;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -30;
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 = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 22 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 707.239;
# N36 46.8198 W121 59.4976
latitude = 36.7803;
longitude = -121.9916;
captureRadius = 10;
duration = 919;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 316;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 316;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 21 ^ *****

behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 360;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
# leg distance = 2025.94;
# N36 46.5466 W121 59.1651
latitude = 36.7758;
longitude = -121.9861;
captureRadius = 10;
duration = 2634;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 360;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 360;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 20 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 1974.7;
# N36 45.4534 W121 59.1651
latitude = 36.7576;
longitude = -121.9861;
captureRadius = 10;
duration = 2567;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -30;
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 = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 19 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 2025.94;
# N36 45.4534 W121 57.8351
latitude = 36.7576;
longitude = -121.9639;
captureRadius = 10;
duration = 2634;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 180;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 18 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 1974.24;
# N36 46.5466 W121 57.8351
latitude = 36.7758;
longitude = -121.9639;
captureRadius = 10;
duration = 2567;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -30;
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 = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 17 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 707.238;
# N36 46.5466 W121 59.1651
latitude = 36.7758;
longitude = -121.9861;
captureRadius = 10;
duration = 919;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 316;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 316;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 16 ^ *****

behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 360;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
# leg distance = 1012.97;
# N36 46.2733 W121 58.8325
latitude = 36.7712;
longitude = -121.9805;
captureRadius = 10;
duration = 1317;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 360;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 360;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 15 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 987.294;
# N36 45.7267 W121 58.8325
latitude = 36.7621;
longitude = -121.9805;
captureRadius = 10;
duration = 1283;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -30;
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 = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 14 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 1012.97;
# N36 45.7267 W121 58.1675
latitude = 36.7621;
longitude = -121.9695;
captureRadius = 10;
duration = 1317;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 180;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 13 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 987.176;
# N36 46.2733 W121 58.1675
latitude = 36.7712;
longitude = -121.9695;
captureRadius = 10;
duration = 1283;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -30;
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 = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 12 ^ *****

behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 136;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
# leg distance = 707.238;
# N36 46.2733 W121 58.8325
latitude = 36.7712;
longitude = -121.9805;
captureRadius = 10;
duration = 919;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 136;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 136;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 11 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 2025.94;
# N36 46.5466 W121 59.1651
latitude = 36.7758;
longitude = -121.9861;
captureRadius = 10;
duration = 2634;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 360;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 360;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 10 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 1974.7;
# N36 45.4534 W121 59.1651
latitude = 36.7576;
longitude = -121.9861;
captureRadius = 10;
duration = 2567;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -30;
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 = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 9 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 2025.94;
# N36 45.4534 W121 57.8351
latitude = 36.7576;
longitude = -121.9639;
captureRadius = 10;
duration = 2634;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 180;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 8 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 1974.24;
# N36 46.5466 W121 57.8351
latitude = 36.7758;
longitude = -121.9639;
captureRadius = 10;
duration = 2567;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -30;
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 = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 7 ^ *****

behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 136;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
# leg distance = 707.239;
# N36 46.5466 W121 59.1651
latitude = 36.7758;
longitude = -121.9861;
captureRadius = 10;
duration = 919;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 136;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 136;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 6 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 3038.91;
# N36 46.8198 W121 59.4976
latitude = 36.7803;
longitude = -121.9916;
captureRadius = 10;
duration = 3951;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 360;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 360;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 5 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 2962.23;
# N36 45.1800 W121 59.4976
latitude = 36.7530;
longitude = -121.9916;
captureRadius = 10;
duration = 3851;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -30;
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 = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 4 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 3038.91;
# N36 45.1800 W121 57.5027
latitude = 36.7530;
longitude = -121.9584;
captureRadius = 10;
duration = 3951;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 180;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 3 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 2961.18;
# N36 46.8198 W121 57.5027
latitude = 36.7803;
longitude = -121.9584;
captureRadius = 10;
duration = 3850;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -30;
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 = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 2 ^ *****

behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
# leg distance = 500;
# N36 46.8198 W121 59.4976
latitude = 36.7803;
longitude = -121.9916;
captureRadius = 10;
duration = 650;
speed = 1.5;
minDepth = 2;
maxDepth = 100;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -30;
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 = 30;
abortOnTimeout = True;
}

# ***** WAYPOINT NUMBER: 1 ^ *****

#Arm UNFIRED gulpers for adaptive firing#
behavior ArmTheGulper{
duration = 5;
gulper0 = 1;
gulper1 = 1;
gulper2 = 1;
gulper3 = 1;
gulper4 = 1;
gulper5 = 1;
gulper6 = 1;
gulper7 = 1;
gulper8 = 1;
gulper9 = 1;
gulper10 = 1;
gulper11 = 1;
gulper12 = 1;
gulper13 = 1;
gulper14 = 1;
gulper15 = 1;
gulper16 = 1;
gulper17 = 1;
gulper18 = 1;
gulper19 = 1;

}

# ***** LAUNCH WAYPOINT 0 *****
# LAT/LON: 36.7803 -121.9972
# N36 46.8198 W121 59.8345
# INITIAL HEADING:  89.9901