# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"

behavior missionTimer {
timeOut = 5000;
}


behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 60;
 abortDepth = 65;
 minAltitude = 30;
 abortAltitude = 5;
}



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



behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


behavior waypoint_yoyo {
latitude = 36.7942;
longitude = -121.8541;
captureRadius = 10;
duration = 800;
speed = 1.5;
minDepth = 3;
maxDepth = 50;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



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


behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


behavior waypoint_yoyo {
latitude = 36.7944;
longitude = -121.866;
captureRadius = 10;
duration = 800;
speed = 1.5;
minDepth = 3;
maxDepth = 50;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 180;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}





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


behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}



behavior waypoint_yoyo {
latitude = 36.8033;
longitude = -121.8658;
captureRadius = 10;
duration = 800;
speed = 1.5;
minDepth = 3;
maxDepth = 50;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}




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


behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}



behavior waypoint_yoyo {
latitude = 36.8031;
longitude = -121.8544;
captureRadius = 10;
duration = 800;
speed = 1.5;
minDepth = 3;
maxDepth = 50;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 300;
minHits = 120;
abortOnTimeout = True;
}