# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 10 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior missionTimer {
timeOut = 35000;
}


behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 255;
 abortDepth = 260;
 minAltitude = 5;
 abortAltitude = 3;
}

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 = 36.6514;
longitude = -121.8704;
captureRadius = 10;
duration = 1000;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 10;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 127;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 127;
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 = 36.6614;
longitude = -121.8863;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 10;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 127;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 127;
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 = 36.6815;
longitude = -121.9181;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 10;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 127;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 127;
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 = 36.7016;
longitude = -121.9501;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 10;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 127;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 127;
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 = 36.7217;
longitude = -121.9817;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 10;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 127;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 127;
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 = 36.7403;
longitude = -122.0113;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 10;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 127;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 127;
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 = 36.7594;
longitude = -122.0415;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 10;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 204;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 204;
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 = 36.7832;
longitude = -122.0282;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 10;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 204;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 204;
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 = 36.8129;
longitude = -122.0118;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 10;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 204;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 204;
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 = 36.8429;
longitude = -121.9954;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 3;
maxDepth = 100;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 204;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 204;
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 = 36.8728;
longitude = -121.9787;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 3;
maxDepth = 55;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 204;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 208;
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 = 36.9026;
longitude = -121.9621;
captureRadius = 10;
duration = 2800;
speed = 1.5;
minDepth = 3;
maxDepth = 25;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 204;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 204;
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 = 36.9326;
longitude = -121.9459;
captureRadius = 10;
duration = 1800;
speed = 1.5;
minDepth = 3;
maxDepth = 16;
minAltitude = 5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 204;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 204;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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