# 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 = 40000;
}


behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 15;
 abortDepth = 20;
 minAltitude = 5;
 abortAltitude = 3;
}




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


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




behavior waypoint_yoyo {
latitude = 36.815;
longitude = -121.810;
captureRadius = 10;
duration = 2000;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 354;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 354;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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




behavior waypoint_yoyo {
latitude = 36.790;
longitude = -121.807;
captureRadius = 10;
duration = 850;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 218;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 218;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


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




behavior waypoint_yoyo {
latitude = 36.798;
longitude = -121.799;
captureRadius = 10;
duration = 1100;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 183;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 183;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}




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


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




behavior waypoint_yoyo {
latitude = 36.812;
longitude = -121.798;
captureRadius = 10;
duration = 850;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 107;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 107;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


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




behavior waypoint_yoyo {
latitude = 36.815;
longitude = -121.810;
captureRadius = 10;
duration = 2000;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 354;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 354;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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




behavior waypoint_yoyo {
latitude = 36.790;
longitude = -121.807;
captureRadius = 10;
duration = 850;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 218;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 218;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


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




behavior waypoint_yoyo {
latitude = 36.798;
longitude = -121.799;
captureRadius = 10;
duration = 1100;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 183;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 183;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}




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


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




behavior waypoint_yoyo {
latitude = 36.812;
longitude = -121.798;
captureRadius = 10;
duration = 850;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 107;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 107;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


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




behavior waypoint_yoyo {
latitude = 36.815;
longitude = -121.810;
captureRadius = 10;
duration = 2000;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 354;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 354;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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




behavior waypoint_yoyo {
latitude = 36.790;
longitude = -121.807;
captureRadius = 10;
duration = 850;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 218;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 218;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


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




behavior waypoint_yoyo {
latitude = 36.798;
longitude = -121.799;
captureRadius = 10;
duration = 1100;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 183;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 183;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}




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


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




behavior waypoint_yoyo {
latitude = 36.812;
longitude = -121.798;
captureRadius = 10;
duration = 850;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 107;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 107;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


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




behavior waypoint_yoyo {
latitude = 36.815;
longitude = -121.810;
captureRadius = 10;
duration = 2000;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 354;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 354;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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




behavior waypoint_yoyo {
latitude = 36.790;
longitude = -121.807;
captureRadius = 10;
duration = 850;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 218;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 218;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


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




behavior waypoint_yoyo {
latitude = 36.798;
longitude = -121.799;
captureRadius = 10;
duration = 1100;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 183;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 183;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}




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


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




behavior waypoint_yoyo {
latitude = 36.812;
longitude = -121.798;
captureRadius = 10;
duration = 850;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 107;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 107;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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


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




behavior waypoint_yoyo {
latitude = 36.815;
longitude = -121.810;
captureRadius = 10;
duration = 2000;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 354;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 354;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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




behavior waypoint_yoyo {
latitude = 36.790;
longitude = -121.807;
captureRadius = 10;
duration = 850;
speed = 1.6;
minDepth = 3;
maxDepth = 15;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 218;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 218;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



behavior getgps {
duration = 300;
minHits = 60;
abortOnTimeout = True;
}