# 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 = 65000;
}


behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 255;
 abortDepth = 260;
 minAltitude = 40;
 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 = 36.773;
longitude = -121.9348;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 200;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.76721;
longitude = -121.96892;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 200;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.76141;
longitude = -122.00304;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.75561;
longitude = -122.03715;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.74979;
longitude = -122.07126;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.74396;
longitude = -122.10537;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.73813;
longitude = -122.13946;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.73228;
longitude = -122.17356;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.72643;
longitude = -122.20764;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.72056;
longitude = -122.24172;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.71468;
longitude = -122.27580;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.70880;
longitude = -122.30987;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.70290;
longitude = -122.34394;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 78;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 78;
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 = 36.697 ;
longitude = -122.378;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.70290;
longitude = -122.34394;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.70880;
longitude = -122.30987;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.71468;
longitude = -122.27580;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.72056;
longitude = -122.24172;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.72643;
longitude = -122.20764;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.73228;
longitude = -122.17356;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.73813;
longitude = -122.13946;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.74396;
longitude = -122.10537;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.74979;
longitude = -122.07126;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.75561;
longitude = -122.03715;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.76141;
longitude = -122.00304;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
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 = 36.76721;
longitude = -121.96892;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}

behavior descend {
horizontalMode = heading;
horizontal = 258;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

behavior setpoint {
duration = 30;
heading = 258;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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