# Mission Filename: 2019_275_1233.cfg
#
#
#                   *** CAUTION *** 
#   *** THIS MISSION GENERATED WITH UTILITY wp2mc ***
#          *** Check the script file carefully ! ***
#
#               *** LAUNCH WAYPOINT ***
#               LAT/LON: 36.7984 -121.8417
#
#               *** INITIAL HEADING *** 
#                        251.6  
#
#             *** abortOnTimeout is True ***
#
#   *** GULPERS ARMED AT START OF MISSION ***
# *** MOVE THE ARMING BEHAVIOR IF NECESSARY ***
#
# Expected survey line distance: 96789.9 meters
# Expected mission time: 96939.9 seconds
#    26 hours
#    55 minutes
# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 116327;
}
# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
 minDepth = 10.0;
 maxDepth = 210.0;
 abortDepth = 220.0;
 minAltitude = 30.0;
 abortLockoutDepth = 8.0;
}
behavior getgps {
duration = 1800;
minHits = 300;
abortOnTimeout = True;
}
# ***** Mission Ends ^ *****
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.8048;
longitude = -121.8142;
captureRadius = 10;
duration = 800;
speed = 1.5;
minDepth = 10;
maxDepth = 25;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -20;
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 = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.8048;
longitude = -121.8142;
captureRadius = 10;
duration = 800;
speed = 1.5;
minDepth = 10;
maxDepth = 25;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -20;
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 = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 90;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.8048;
longitude = -121.8142;
captureRadius = 10;
duration = 800;
speed = 1.5;
minDepth = 10;
maxDepth = 25;
minAltitude = 12;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -20;
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;
}
#transit to inshore recovery point
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 1800;
minHits = 1;
abortOnTimeout = True;
}
# ***** Primary  Mission Ends ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 5;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.7970;
longitude = -121.8470;
captureRadius = 10;
duration = 1056;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** FINAL WAYPOINT NUMBER: 43 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 71;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.7943;
longitude = -121.8584;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 42 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 71;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.7840;
longitude = -121.8967;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 41 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 71;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.7737;
longitude = -121.9350;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 40 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 71;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.7634;
longitude = -121.9733;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 39 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 71;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.7531;
longitude = -122.0116;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 38 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 71;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.7428;
longitude = -122.0499;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 37 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 71;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.7324;
longitude = -122.0882;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 36 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 71;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.7221;
longitude = -122.1265;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
#end of added lap
# ***** WAYPOINT NUMBER: 35 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
latitude = 36.7118;
longitude = -122.1648;
captureRadius = 10;
duration = 1780;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 34 ^ *****
behavior waypoint_yoyo {
latitude = 36.7264;
longitude = -122.1730;
captureRadius = 10;
duration = 1333;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 107;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 107;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 33 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1556.0;
# N36 43.7940 W122 11.2380
latitude = 36.7299;
longitude = -122.1873;
captureRadius = 10;
duration = 1556;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 32 ^ *****
behavior waypoint_yoyo {
# leg distance = 1413.6;
# N36 43.4580 W122 12.1980
latitude = 36.7243;
longitude = -122.2033;
captureRadius = 10;
duration = 1414;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 22;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 31 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1618.9;
# N36 42.7500 W122 12.5520
latitude = 36.7125;
longitude = -122.2092;
captureRadius = 10;
duration = 1619;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 30 ^ *****
behavior waypoint_yoyo {
# leg distance = 1502.1;
# N36 41.9460 W122 12.1260
latitude = 36.6991;
longitude = -122.2021;
captureRadius = 10;
duration = 1502;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 291;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 291;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 29 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1529.7;
# N36 41.6520 W122 11.1840
latitude = 36.6942;
longitude = -122.1864;
captureRadius = 10;
duration = 1530;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 28 ^ *****
behavior waypoint_yoyo {
# leg distance = 1410.1;
# N36 42.0060 W122 10.2540
latitude = 36.7001;
longitude = -122.1709;
captureRadius = 10;
duration = 1410;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 203;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 203;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
#begin of added lap
# ***** WAYPOINT NUMBER: 35 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1780.4;
# N36 42.7080 W122 9.8880
latitude = 36.7118;
longitude = -122.1648;
captureRadius = 10;
duration = 1780;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 34 ^ *****
behavior waypoint_yoyo {
# leg distance = 1332.5;
# N36 43.5840 W122 10.3800
latitude = 36.7264;
longitude = -122.1730;
captureRadius = 10;
duration = 1333;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 107;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 107;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#end of sampling at east cardinal
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 19;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 25;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 18;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 50;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 17;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 100;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 16;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 150;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 15;
}
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -20;
speed = 1.5;
maxDepth = 200;
minAltitude = 9;
duration = 1200;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -20;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#sampling at north cardinal
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 33 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1556.0;
# N36 43.7940 W122 11.2380
latitude = 36.7299;
longitude = -122.1873;
captureRadius = 10;
duration = 1556;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 32 ^ *****
behavior waypoint_yoyo {
# leg distance = 1413.6;
# N36 43.4580 W122 12.1980
latitude = 36.7243;
longitude = -122.2033;
captureRadius = 10;
duration = 1414;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 22;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#end of sampling at west cardinal
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 14;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 25;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 13;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 50;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 12;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 100;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 11;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 150;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 10;
}
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -20;
speed = 1.5;
maxDepth = 200;
minAltitude = 9;
duration = 1200;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -20;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#begin sampling run at west cardinal
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 31 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1618.9;
# N36 42.7500 W122 12.5520
latitude = 36.7125;
longitude = -122.2092;
captureRadius = 10;
duration = 1619;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 30 ^ *****
behavior waypoint_yoyo {
# leg distance = 1502.1;
# N36 41.9460 W122 12.1260
latitude = 36.6991;
longitude = -122.2021;
captureRadius = 10;
duration = 1502;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 291;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 291;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#end of sampling at south cardinal
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 9;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 25;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 8;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 50;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 7;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 100;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 6;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 150;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 5;
}
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -20;
speed = 1.5;
maxDepth = 200;
minAltitude = 9;
duration = 1200;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -20;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#begin sampling at south cardinal
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 29 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1529.7;
# N36 41.6520 W122 11.1840
latitude = 36.6942;
longitude = -122.1864;
captureRadius = 10;
duration = 1530;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 28 ^ *****
behavior waypoint_yoyo {
# leg distance = 1410.1;
# N36 42.0060 W122 10.2540
latitude = 36.7001;
longitude = -122.1709;
captureRadius = 10;
duration = 1410;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 203;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 203;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#end of sampling at east cardinal
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 4;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 25;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 3;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 50;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 2;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 100;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 1;
}
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 150;
}
behavior setpoint {
duration = 5;
heading = 3;
speed = 0;
verticalMode = pitch;
pitch = 0;
}
behavior FireTheGulper {
duration=2;
gulperToFire = 0;
}
behavior descend {
horizontalMode = rudder;
horizontal = 3;
pitch = -20;
speed = 1.5;
maxDepth = 200;
minAltitude = 9;
duration = 1200;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 195;
pitch = -20;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 195;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
#sampling at east cardinal
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 27 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1780.4;
# N36 42.7080 W122 9.8880
latitude = 36.7118;
longitude = -122.1648;
captureRadius = 10;
duration = 1780;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 26 ^ *****
behavior waypoint_yoyo {
# leg distance = 1332.5;
# N36 43.5840 W122 10.3800
latitude = 36.7264;
longitude = -122.1730;
captureRadius = 10;
duration = 1333;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 107;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 107;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 25 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1556.0;
# N36 43.7940 W122 11.2380
latitude = 36.7299;
longitude = -122.1873;
captureRadius = 10;
duration = 1556;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 24 ^ *****
behavior waypoint_yoyo {
# leg distance = 1413.6;
# N36 43.4580 W122 12.1980
latitude = 36.7243;
longitude = -122.2033;
captureRadius = 10;
duration = 1414;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 22;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
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 = 1618.9;
# N36 42.7500 W122 12.5520
latitude = 36.7125;
longitude = -122.2092;
captureRadius = 10;
duration = 1619;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 22 ^ *****
behavior waypoint_yoyo {
# leg distance = 1502.1;
# N36 41.9460 W122 12.1260
latitude = 36.6991;
longitude = -122.2021;
captureRadius = 10;
duration = 1502;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 291;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 291;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 21 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1529.7;
# N36 41.6520 W122 11.1840
latitude = 36.6942;
longitude = -122.1864;
captureRadius = 10;
duration = 1530;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 20 ^ *****
behavior waypoint_yoyo {
# leg distance = 1410.1;
# N36 42.0060 W122 10.2540
latitude = 36.7001;
longitude = -122.1709;
captureRadius = 10;
duration = 1410;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 203;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 203;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 19 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1780.4;
# N36 42.7080 W122 9.8880
latitude = 36.7118;
longitude = -122.1648;
captureRadius = 10;
duration = 1780;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 18 ^ *****
behavior waypoint_yoyo {
# leg distance = 1332.5;
# N36 43.5840 W122 10.3800
latitude = 36.7264;
longitude = -122.1730;
captureRadius = 10;
duration = 1333;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 107;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 107;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 17 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1556.0;
# N36 43.7940 W122 11.2380
latitude = 36.7299;
longitude = -122.1873;
captureRadius = 10;
duration = 1556;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 16 ^ *****
behavior waypoint_yoyo {
# leg distance = 611.1;
# N36 43.4580 W122 12.1980
latitude = 36.7243;
longitude = -122.2033;
captureRadius = 10;
duration = 611;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 59;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 59;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 15 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 2569.9;
# N36 42.7450 W122 12.5520
latitude = 36.7125;
longitude = -122.2092;
captureRadius = 10;
duration = 2570;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 14 ^ *****
behavior waypoint_yoyo {
# leg distance = 1502.1;
# N36 41.9460 W122 12.1260
latitude = 36.6991;
longitude = -122.2021;
captureRadius = 10;
duration = 1502;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 291;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 291;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 13 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1529.7;
# N36 41.6520 W122 11.1840
latitude = 36.6942;
longitude = -122.1864;
captureRadius = 10;
duration = 1530;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# ***** WAYPOINT NUMBER: 12 ^ *****
behavior waypoint_yoyo {
# leg distance = 1410.1;
# N36 42.0060 W122 10.2540
latitude = 36.7001;
longitude = -122.1709;
captureRadius = 10;
duration = 1410;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 203;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 203;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 11 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 3;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 1055.8;
# N36 42.7080 W122 9.8880
latitude = 36.7118;
longitude = -122.1648;
captureRadius = 10;
duration = 1056;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 252;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 252;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 10 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 252;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 42.9103 W122 9.2230
latitude = 36.7152;
longitude = -122.1537;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 252;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 252;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 9 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 252;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 43.5240 W122 6.9237
latitude = 36.7254;
longitude = -122.1154;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 252;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 252;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 8 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 252;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 44.1377 W122 4.6241
latitude = 36.7356;
longitude = -122.0771;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 252;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 252;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 7 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 252;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 44.7514 W122 2.3242
latitude = 36.7459;
longitude = -122.0387;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 252;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 252;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 6 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 252;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 45.3651 W122 0.0240
latitude = 36.7561;
longitude = -122.0004;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 252;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 252;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 5 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 252;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 45.9789 W121 57.7234
latitude = 36.7663;
longitude = -121.9621;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 252;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 252;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 4 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 252;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 46.5926 W121 55.4226
latitude = 36.7765;
longitude = -121.9237;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 252;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 252;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 3 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 252;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 3600.0;
# N36 47.2063 W121 53.1215
latitude = 36.7868;
longitude = -121.8854;
captureRadius = 10;
duration = 3600;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 252;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 252;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior setpoint {
duration = 60;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** WAYPOINT NUMBER: 2 ^ *****
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 252;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
behavior waypoint_yoyo {
# leg distance = 500.0;
# N36 47.8200 W121 50.8200
latitude = 36.7970;
longitude = -121.8470;
captureRadius = 10;
duration = 650;
speed = 1.500;
minDepth = 10;
maxDepth = 200;
minAltitude = 50;
maxCycles = 2000;
}
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 252;
pitch = -30;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}
# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 252;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}
behavior getgps {
duration = 86400;
minHits = 1;
abortOnTimeout = True;
}
# ***** LAUNCH WAYPOINT 0 *****
# LAT/LON: 36.7984 -121.8417
# N36 47.9052 W121 50.5003
# INITIAL HEADING:  251.6