# MISSION A
# SIMZ_AUV_OCT_2014
# 
# Arm gulpers #0, 1, 2, 3, 4, 5, 6, 7 at the start of transect T1
#  ([36.9485 -121.9302]).
#  Fire these 8 gulpers on transect T1.
#
# Arm gulpers #8, 9, 10, 11 at the end of transect T1
# ([36.9010 -122.0000]).
#  Fire these 4 gulpers on the transit (from the end of transect
#  T1 to the start of transect T2).
#
# Arm gulpers #12, 13, 14, 15, 16, 17, 18, 19 at the start of T2
#  ([36.8570 -121.9569]).
#  Fire these 8 gulpers on transect T2.
# 
# Use adaptiveSampler_T1TrT2.cfg. I have already copied 
#  adaptiveSampler_T1TrT2.cfg to 
#  adaptiveSampler.cfg 
#
# Transect T1
#
#Harvey August 12 2013 inshore to offshore transect
#
# Transec 2
#
# mission timer set to 120% of estimated time of mission
# 25000 meters / 1.0825 m/s SOG = 23094s = 6h 25min
# 23094s * 1.2 = 27712s
#  using 28800s mission timeout = 8h
behavior missionTimer {
timeOut = 28800;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 85;
 abortDepth = 90;
 abortAltitude = 2.5;
 abortLockoutDepth = 8.0;
}



behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 1;
}

behavior waypoint_yoyo {
latitude = 36.9112;
longitude = -121.8807;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 80;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 49.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 49.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 49.0;
pitch = 20;
speed = 1.5;
endDepth = 1;
}

behavior waypoint_yoyo {
latitude = 36.9062;
longitude = -121.8876;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 80;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 49.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 49.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 49.0;
pitch = 20;
speed = 1.5;
endDepth = 1;
}

behavior waypoint_yoyo {
latitude = 36.8981;
longitude = -121.8994;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 80;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 49.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 49.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 49.0;
pitch = 20;
speed = 1.5;
endDepth = 1;
}

behavior waypoint_yoyo {
latitude = 36.8858;
longitude = -121.9167;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 80;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 49.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 49.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 49.0;
pitch = 20;
speed = 1.5;
endDepth = 1;
}

behavior waypoint_yoyo {
latitude = 36.8739;
longitude = -121.9335;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 80;
minAltitude = 9.0;
maxCycles = 2000;
}

behavior ArmTheGulper
{
  duration = 5;
  gulper12 = 1;
  gulper13 = 1;
  gulper14 = 1;
  gulper15 = 1;
  gulper16 = 1;
  gulper17 = 1;
  gulper18 = 1;
  gulper19 = 1;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 49.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 49.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 49.0;
pitch = 20;
speed = 1.5;
endDepth = 1;
}


behavior waypoint_yoyo {
latitude = 36.8634;
longitude = -121.9484;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 80;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 49.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 49.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 1;
}

behavior waypoint_yoyo {
latitude = 36.8570;
longitude = -121.9569;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 80;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 229.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 229.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


# ^*************** Start of Transect T2 ********************^


# **************** End of Transit **********************

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 1;
}

behavior waypoint_yoyo {
latitude = 36.8634;
longitude = -121.9484;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 80;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 132.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 132.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 132.0;
pitch = 20;
speed = 1.5;
endDepth = 1;
}

behavior waypoint_yoyo {
latitude = 36.8648;
longitude = -121.9503;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 80;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 132.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 132.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 132.0;
pitch = 20;
speed = 1.5;
endDepth = 1;
}

behavior waypoint_yoyo {
latitude = 36.8768;
longitude = -121.9670;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 80;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 132.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 132.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 15;
abortOnTimeout = True;
}

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 132.0;
pitch = 20;
speed = 1.5;
endDepth = 1;
}

behavior waypoint_yoyo {
latitude = 36.8889;
longitude = -121.9837;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 40;
minAltitude = 9.0;
maxCycles = 2000;
}

behavior ArmTheGulper
{
  duration = 5;
  gulper8 = 1;
  gulper9 = 1;
  gulper10 = 1;
  gulper11 = 1;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 132.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 80;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}

# ^*************** Start of Transit ****************^

# **************** End of Transect T1 ****************

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

behavior waypoint_yoyo {
latitude = 36.9010;
longitude = -122.0000;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 35;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 230.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 230.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 230.0;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.9078;
longitude = -121.9902;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 35;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 230.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 230.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 230.0;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.9195;
longitude = -121.9731;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 35;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 230.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 230.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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

# ascend behavior
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 230.0;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

behavior waypoint_yoyo {
latitude = 36.9342;
longitude = -121.9515;
captureRadius = 10;
duration = 2700;
speed = 1.75;
minDepth = 2.0;
maxDepth = 30;
minAltitude = 9.0;
maxCycles = 2000;
}

behavior ArmTheGulper
{
  duration = 5;
  gulper0 = 1;
  gulper1 = 1;
  gulper2 = 1;
  gulper3 = 1;
  gulper4 = 1;
  gulper5 = 1;
  gulper6 = 1;
  gulper7 = 1;
}


# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 230.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 230.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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

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


behavior waypoint_yoyo {
latitude = 36.9485;
longitude = -121.9302;
captureRadius = 10;
duration = 1000;
speed = 1.75;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 9.0;
maxCycles = 2000;
}

# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 180.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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


# *************** start of Transect T1 *****************