# 1 "HaddockD1M1E1_sawtooths.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "HaddockD1M1E1_sawtooths.cfg"




behavior missionTimer {
timeOut = 57600;
}


behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 105;
 abortDepth = 120;
 abortAltitude = 2.5;
 abortLockoutDepth = 10.0;
}



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


behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.8197;
longitude = -121.906;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 14;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 14;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 14;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.7986;
longitude = -121.9147;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 14;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 14;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 161;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.7765;
longitude = -121.9217;
captureRadius = 10;
duration = 2600;
speed = 1.5;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 161;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 161;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 161;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.7983;
longitude = -121.9332;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 161;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 161;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 22;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.8182;
longitude = -121.9415;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 22;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 22;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.7986;
longitude = -121.9508;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 22;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 168;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.7763;
longitude = -121.9624;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 168;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 168;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 168;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.7986;
longitude = -121.9688;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 168;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 168;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 202;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.8193;
longitude = -121.9743;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 202;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 202;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 202;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.8474;
longitude = -121.9555;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 202;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 202;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 202;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.8749;
longitude = -121.9371;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 2.5;
maxDepth = 28;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 202;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 202;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 202;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.9029;
longitude = -121.9182;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 2.5;
maxDepth = 18;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 202;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 202;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.6;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.9300;
longitude = -121.900;
captureRadius = 10;
duration = 700;
speed = 1.75;
minDepth = 2.5;
maxDepth = 15;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 22;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 22;
pitch = 20;
speed = 1.6;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.9235;
longitude = -121.9048;
captureRadius = 10;
duration = 2100;
speed = 1.75;
minDepth = 2.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 22;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 22;
pitch = 20;
speed = 1.6;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.9029;
longitude = -121.9182;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 25;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 22;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 22;
pitch = 20;
speed = 1.6;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.8749;
longitude = -121.9371;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 22;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 22;
pitch = 20;
speed = 1.6;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.8474;
longitude = -121.9555;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 22;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 22;
pitch = 20;
speed = 1.6;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.8193;
longitude = -121.9743;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 22;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 22;
pitch = 20;
speed = 1.6;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7915;
longitude = -121.9930;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 22;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 22;
pitch = 20;
speed = 1.6;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7722;
longitude = -122.0044;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 22;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 22;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.6;
endDepth = 2;
}



behavior waypoint_yoyo {
latitude = 36.7533;
longitude = -122.0185;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.6;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7465;
longitude = -122.0102;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}

behavior FireTheGulper {
duration = 1;
dummy = 1;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.6;
maxDepth = 10.0;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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



behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.6;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.73093;
longitude = -121.9934;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.6;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7081;
longitude = -121.9678;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}




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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.6;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.6844;
longitude = -121.9413;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 90;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.6;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.6613;
longitude = -121.9154;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.6;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.6378;
longitude = -121.8893;
captureRadius = 10;
duration = 1800;
speed = 1.75;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}




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



behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.6;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.625;
longitude = -121.875;
captureRadius = 10;
duration = 700;
speed = 1.75;
minDepth = 2.5;
maxDepth = 40;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 180;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 180;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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