# Mission Filename: 2014_265_2053.cfg
#
#
#                   *** CAUTION *** 
#   *** THIS MISSION GENERATED WITH UTILITY WP2M ***
#               *** UNPROVEN CODE ***
#
#               *** LAUNCH WAYPOINT ***
#               LAT/LON: 36.7691 -121.9857
#
#               *** INITIAL HEADING *** 
#                        125.439  
#
#             *** 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 = 7175;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 4;
 maxDepth = 75;
 abortDepth = 100;
 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 = 101.295;
# N36 45.8673 W121 58.6532
latitude = 36.7645;
longitude = -121.9776;
captureRadius = 10;
duration = 132;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 36 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 98.7263;
# N36 45.8127 W121 58.6532
latitude = 36.7635;
longitude = -121.9776;
captureRadius = 10;
duration = 128;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 35 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 101.295;
# N36 45.8127 W121 58.5867
latitude = 36.7635;
longitude = -121.9764;
captureRadius = 10;
duration = 132;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 34 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 98.7251;
# N36 45.8673 W121 58.5867
latitude = 36.7645;
longitude = -121.9764;
captureRadius = 10;
duration = 128;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 33 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 141.448;
# N36 45.8673 W121 58.6532
latitude = 36.7645;
longitude = -121.9776;
captureRadius = 10;
duration = 184;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 32 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 303.885;
# N36 45.9220 W121 58.7197
latitude = 36.7654;
longitude = -121.9787;
captureRadius = 10;
duration = 395;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 31 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 296.182;
# N36 45.7580 W121 58.7197
latitude = 36.7626;
longitude = -121.9787;
captureRadius = 10;
duration = 385;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 30 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 303.885;
# N36 45.7580 W121 58.5202
latitude = 36.7626;
longitude = -121.9753;
captureRadius = 10;
duration = 395;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 29 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 296.172;
# N36 45.9220 W121 58.5202
latitude = 36.7654;
longitude = -121.9753;
captureRadius = 10;
duration = 385;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 28 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 141.448;
# N36 45.9220 W121 58.7197
latitude = 36.7654;
longitude = -121.9787;
captureRadius = 10;
duration = 184;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 27 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 506.475;
# N36 45.9766 W121 58.7862
latitude = 36.7663;
longitude = -121.9798;
captureRadius = 10;
duration = 658;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 26 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 493.643;
# N36 45.7034 W121 58.7862
latitude = 36.7617;
longitude = -121.9798;
captureRadius = 10;
duration = 642;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 25 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 506.475;
# N36 45.7034 W121 58.4538
latitude = 36.7617;
longitude = -121.9742;
captureRadius = 10;
duration = 658;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 24 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 493.614;
# N36 45.9766 W121 58.4538
latitude = 36.7663;
longitude = -121.9742;
captureRadius = 10;
duration = 642;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 23 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 141.448;
# N36 45.9766 W121 58.7862
latitude = 36.7663;
longitude = -121.9798;
captureRadius = 10;
duration = 184;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 22 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 709.065;
# N36 46.0313 W121 58.8527
latitude = 36.7672;
longitude = -121.9809;
captureRadius = 10;
duration = 922;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 21 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 691.109;
# N36 45.6487 W121 58.8527
latitude = 36.7608;
longitude = -121.9809;
captureRadius = 10;
duration = 898;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 20 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 709.065;
# N36 45.6487 W121 58.3873
latitude = 36.7608;
longitude = -121.9731;
captureRadius = 10;
duration = 922;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 19 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 691.051;
# N36 46.0313 W121 58.3873
latitude = 36.7672;
longitude = -121.9731;
captureRadius = 10;
duration = 898;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 18 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 141.448;
# N36 46.0313 W121 58.8527
latitude = 36.7672;
longitude = -121.9809;
captureRadius = 10;
duration = 184;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 17 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 506.475;
# N36 45.9766 W121 58.7862
latitude = 36.7663;
longitude = -121.9798;
captureRadius = 10;
duration = 658;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 16 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 493.643;
# N36 45.7034 W121 58.7862
latitude = 36.7617;
longitude = -121.9798;
captureRadius = 10;
duration = 642;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 15 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 506.475;
# N36 45.7034 W121 58.4538
latitude = 36.7617;
longitude = -121.9742;
captureRadius = 10;
duration = 658;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 14 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 493.614;
# N36 45.9766 W121 58.4538
latitude = 36.7663;
longitude = -121.9742;
captureRadius = 10;
duration = 642;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 13 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 141.448;
# N36 45.9766 W121 58.7862
latitude = 36.7663;
longitude = -121.9798;
captureRadius = 10;
duration = 184;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 12 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 303.885;
# N36 45.9220 W121 58.7197
latitude = 36.7654;
longitude = -121.9787;
captureRadius = 10;
duration = 395;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 11 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 296.182;
# N36 45.7580 W121 58.7197
latitude = 36.7626;
longitude = -121.9787;
captureRadius = 10;
duration = 385;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 10 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 303.885;
# N36 45.7580 W121 58.5202
latitude = 36.7626;
longitude = -121.9753;
captureRadius = 10;
duration = 395;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 9 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 296.172;
# N36 45.9220 W121 58.5202
latitude = 36.7654;
longitude = -121.9753;
captureRadius = 10;
duration = 385;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 8 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 141.448;
# N36 45.9220 W121 58.7197
latitude = 36.7654;
longitude = -121.9787;
captureRadius = 10;
duration = 184;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 7 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 101.295;
# N36 45.8673 W121 58.6532
latitude = 36.7645;
longitude = -121.9776;
captureRadius = 10;
duration = 132;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 6 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 98.7263;
# N36 45.8127 W121 58.6532
latitude = 36.7635;
longitude = -121.9776;
captureRadius = 10;
duration = 128;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 5 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 101.295;
# N36 45.8127 W121 58.5867
latitude = 36.7635;
longitude = -121.9764;
captureRadius = 10;
duration = 132;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 4 ^ *****

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

behavior waypoint_yoyo {
# leg distance = 98.7251;
# N36 45.8673 W121 58.5867
latitude = 36.7645;
longitude = -121.9764;
captureRadius = 10;
duration = 128;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
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: 3 ^ *****

behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 125;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
# leg distance = 890.632;
# N36 45.8673 W121 58.6532
latitude = 36.7645;
longitude = -121.9776;
captureRadius = 10;
duration = 1158;
speed = 1.5;
minDepth = 4;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 125;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 125;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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

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


#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;
}