# Mission Filename: 2015_281_168.cfg
#
#
#                   *** CAUTION *** 
#   *** THIS MISSION GENERATED WITH UTILITY WP2M ***
#               *** UNPROVEN CODE ***
#
#               *** LAUNCH WAYPOINT ***
#               LAT/LON: 36.7571 -121.9843
#
#               *** INITIAL HEADING *** 
#                        50.2  
#
#             *** abortOnTimeout is True ***
#
#   *** GULPERS ARMED AT START OF MISSION ***
# *** MOVE THE ARMING BEHAVIOR IF NECESSARY ***
#
# Expected survey line distance: 28174.3 meters
# Expected mission time: 19988.3 seconds
#    5 hours
#    33 minutes
# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 23986;
}
# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 10.0;
 maxDepth = 90.0;
 abortDepth = 100.0;
 abortAltitude = 2.5;
 abortLockoutDepth = 8.0;
}
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 = 2511.2;
# N36 47.8500 W121 49.2000
latitude = 36.7975;
longitude = -121.8200;
captureRadius = 10;
duration = 2511;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 34;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 34;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** FINAL WAYPOINT NUMBER: 11 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 34;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 46.7258 W121 50.1446
latitude = 36.7788;
longitude = -121.8357;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 34;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 34;
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 = 1750.6;
# N36 45.1140 W121 51.4980
latitude = 36.7519;
longitude = -121.8583;
captureRadius = 10;
duration = 1751;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 178;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 178;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 9 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 178;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 46.0582 W121 51.5314
latitude = 36.7676;
longitude = -121.8589;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 178;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 178;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 8 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 141;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2848.9;
# N36 48.0000 W121 51.6000
latitude = 36.8000;
longitude = -121.8600;
captureRadius = 10;
duration = 2849;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 141;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 141;
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 = 90;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2670.4;
# N36 49.2000 W121 52.8000
latitude = 36.8200;
longitude = -121.8800;
captureRadius = 10;
duration = 2670;
speed = 1.500;
minDepth = 10;
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: 6 ^ *****
#Arm UNFIRED gulpers for adaptive firing#
behavior ArmTheGulper{
duration = 5;
gulper15 = 1;
gulper16 = 1;
gulper17 = 1;
gulper18 = 1;
gulper19 = 1;
}
#   Point E achieved   arm Gulpers 15 16 17 18 19
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3335.8;
# N36 49.2000 W121 54.6000
latitude = 36.8200;
longitude = -121.9100;
captureRadius = 10;
duration = 3336;
speed = 1.500;
minDepth = 10;
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: 5 ^ *****
#Arm UNFIRED gulpers for adaptive firing#
behavior ArmTheGulper{
duration = 5;
gulper10 = 1;
gulper11 = 1;
gulper12 = 1;
gulper13 = 1;
gulper14 = 1;
}
#   Point D achieved  arm Gulpers 10 11 12 13 14 
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2099.7;
# N36 47.4000 W121 54.6000
latitude = 36.7900;
longitude = -121.9100;
captureRadius = 10;
duration = 2100;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 58;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 58;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 4 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1781.2;
# N36 46.8000 W121 55.8000
latitude = 36.7800;
longitude = -121.9300;
captureRadius = 10;
duration = 1781;
speed = 1.500;
minDepth = 10;
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 ^ *****
#Arm UNFIRED gulpers for adaptive firing#
behavior ArmTheGulper{
duration = 5;
gulper5 = 1;
gulper6 = 1;
gulper7 = 1;
gulper8 = 1;
gulper9 = 1;
}
#   Point B achieved   arm Gulpers 5 6 7 8 9
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 50;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3476.5;
# N36 46.8000 W121 57.0000
latitude = 36.7800;
longitude = -121.9500;
captureRadius = 10;
duration = 3477;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 50;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 50;
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;
}
#   Point A achieved  arm Gulpers 0 1 2 3 4 
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 50;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 500.0;
# N36 45.6000 W121 58.8000
latitude = 36.7600;
longitude = -121.9800;
captureRadius = 10;
duration = 650;
speed = 1.500;
minDepth = 10;
maxDepth = 75;
minAltitude = 15;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 50;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 50;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 1 ^ *****
# ***** LAUNCH WAYPOINT 0 *****
# LAT/LON: 36.7571 -121.9843
# N36 45.4274 W121 59.0588
# INITIAL HEADING:  50.2