# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 17 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior missionTimer {
timeOut = 79200;
}



behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 150;
 abortDepth = 175;
 abortAltitude = 2.5;
 abortLockoutDepth = 10.0;
}



behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 270;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.8209;
longitude = -121.8187;
captureRadius = 10;
duration = 1300;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 90;
}


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


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.8210;
longitude = -121.8075;
captureRadius = 10;
duration = 1261;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 154;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 154;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 154;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.8288;
longitude = -121.8122;
captureRadius = 10;
duration = 2730;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 155;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 155;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 155;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.8460;
longitude = -121.8222;
captureRadius = 10;
duration = 2340;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 158;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 158;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 158;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.8608;
longitude = -121.8297;
captureRadius = 10;
duration = 3120;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 151;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 151;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 151;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.8797;
longitude = -121.8423;
captureRadius = 10;
duration = 2925;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 147;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 147;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.8968;
longitude = -121.8558;
captureRadius = 10;
duration = 3120;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 151;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 151;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 151;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.9155;
longitude = -121.8687;
captureRadius = 10;
duration = 3315;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 144;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 144;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 144;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.9342;
longitude = -121.8853;
captureRadius = 10;
duration = 2470;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 130;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 130;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 130;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.9452;
longitude = -121.9015;
captureRadius = 10;
duration = 2145;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 126;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 126;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 126;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.9538;
longitude = -121.9163;
captureRadius = 10;
duration = 1885;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 104;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 104;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 104;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.9568;
longitude = -121.9318;
captureRadius = 10;
duration = 2145;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 5.0;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 84;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 84;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.9553;
longitude = -121.9500;
captureRadius = 10;
duration = 910;
speed = 1.25;
minDepth = 1.5;
maxDepth = 7;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 302;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 7;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 302;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 302;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.9522;
longitude = -121.9438;
captureRadius = 10;
duration = 2600;
speed = 1.25;
minDepth = 1.5;
maxDepth = 9;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 302;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 302;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 302;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.9427;
longitude = -121.9249;
captureRadius = 10;
duration = 3445;
speed = 1.25;
minDepth = 1.5;
maxDepth = 9;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 302;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 302;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}






behavior ascend {
duration = 100;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.9300;
longitude = -121.900;
captureRadius = 10;
duration = 1105;
speed = 1.6;
minDepth = 2.5;
maxDepth = 9;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 30;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


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



behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 30;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.9235;
longitude = -121.9048;
captureRadius = 10;
duration = 3400;
speed = 1.6;
minDepth = 2.5;
maxDepth = 13;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 28;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 28;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 28;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.9029;
longitude = -121.9182;
captureRadius = 10;
duration = 4550;
speed = 1.6;
minDepth = 2.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 28;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 28;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 160;
horizontalMode = heading;
horizontal = 28;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.8749;
longitude = -121.9371;
captureRadius = 10;
duration = 3120;
speed = 1.6;
minDepth = 2.5;
maxDepth = 40;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 28;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 28;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 200;
horizontalMode = heading;
horizontal = 28;
pitch = 20;
speed = 1.5;
endDepth = 2;
}







behavior waypoint_yoyo {
latitude = 36.8558;
longitude = -121.9500;
captureRadius = 10;
duration = 4200;
speed = 1.6;
minDepth = 2.5;
maxDepth = 80;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 8;
}


behavior descend {
horizontalMode = heading;
horizontal = 28;
pitch = -20;
speed = 1.5;
maxDepth = 90;
minAltitude = 9;
duration = 100;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 7;
}


behavior descend {
horizontalMode = heading;
horizontal = 28;
pitch = -20;
speed = 1.5;
maxDepth = 70;
minAltitude = 9;
duration = 100;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 6;
}


behavior descend {
horizontalMode = heading;
horizontal = 28;
pitch = -20;
speed = 1.5;
maxDepth = 50;
minAltitude = 9;
duration = 200;
}


behavior setpoint {
duration = 30;
heading = 28;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}




behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 300;
horizontalMode = heading;
horizontal = 28;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.8358;
longitude = -121.9634;
captureRadius = 10;
duration = 2730;
speed = 1.6;
minDepth = 2.5;
maxDepth = 150;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 28;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 28;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 300;
horizontalMode = heading;
horizontal = 28;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.8193;
longitude = -121.9743;
captureRadius = 10;
duration = 2340;
speed = 1.6;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 28;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 28;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 400;
horizontalMode = heading;
horizontal = 28;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.8054;
longitude = -121.9836;
captureRadius = 10;
duration = 3050;
speed = 1.6;
minDepth = 2.5;
maxDepth = 150;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 5;
}


behavior descend {
horizontalMode = heading;
horizontal = 28;
pitch = -20;
speed = 1.5;
maxDepth = 90;
minAltitude = 9;
duration = 100;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 4;
}


behavior descend {
horizontalMode = heading;
horizontal = 28;
pitch = -20;
speed = 1.5;
maxDepth = 70;
minAltitude = 9;
duration = 100;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 3;
}


behavior descend {
horizontalMode = heading;
horizontal = 28;
pitch = -20;
speed = 1.5;
maxDepth = 50;
minAltitude = 9;
duration = 200;
}


behavior setpoint {
duration = 30;
heading = 28;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}




behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


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





behavior waypoint_yoyo {
latitude = 36.7915;
longitude = -121.9930;
captureRadius = 10;
duration = 3120;
speed = 1.6;
minDepth = 2.5;
maxDepth = 150;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 25;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 25;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 400;
horizontalMode = heading;
horizontal = 31;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.7722;
longitude = -122.0044;
captureRadius = 10;
duration = 4200;
speed = 1.6;
minDepth = 2.5;
maxDepth = 150;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 2;
}


behavior descend {
horizontalMode = heading;
horizontal = 31;
pitch = -20;
speed = 1.5;
maxDepth = 90;
duration = 100;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 1;
}


behavior descend {
horizontalMode = heading;
horizontal = 31;
pitch = -20;
speed = 1.5;
maxDepth = 70;
duration = 100;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 0;
}


behavior descend {
horizontalMode = heading;
horizontal = 31;
pitch = -20;
speed = 1.5;
maxDepth = 50;
minAltitude = 9;
duration = 200;
}


behavior setpoint {
duration = 30;
heading = 31;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}




behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 400;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.7533;
longitude = -122.0185;
captureRadius = 10;
duration = 1430;
speed = 1.6;
minDepth = 2.5;
maxDepth = 150;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 400;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.7465;
longitude = -122.0102;
captureRadius = 10;
duration = 3000;
speed = 1.6;
minDepth = 2.5;
maxDepth = 150;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.5;
maxDepth = 10.0;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 400;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.73093;
longitude = -121.9934;
captureRadius = 10;
duration = 4420;
speed = 1.6;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 300;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#JR-13
behavior waypoint_yoyo {
latitude = 36.7081;
longitude = -121.9678;
captureRadius = 10;
duration = 4600;
speed = 1.6;
minDepth = 2.5;
maxDepth = 86;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 300;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#JR-12
behavior waypoint_yoyo {
latitude = 36.6844;
longitude = -121.9413;
captureRadius = 10;
duration = 4600;
speed = 1.6;
minDepth = 2.5;
maxDepth = 75;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 300;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.5;
endDepth = 2;
}



#JR-11

behavior waypoint_yoyo {
latitude = 36.6613;
longitude = -121.9154;
captureRadius = 10;
duration = 4600;
speed = 1.6;
minDepth = 2.5;
maxDepth = 57;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 200;
horizontalMode = heading;
horizontal = 318;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#JR-10
behavior waypoint_yoyo {
latitude = 36.6378;
longitude = -121.8893;
captureRadius = 10;
duration = 2500;
speed = 1.6;
minDepth = 2.5;
maxDepth = 23;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 318;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 318;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}




behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}



behavior ascend {
duration = 200;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




#JR-9
behavior waypoint_yoyo {
latitude = 36.625;
longitude = -121.875;
captureRadius = 10;
duration = 3250;
speed = 1.25;
minDepth = 2.5;
maxDepth = 30;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 191;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 191;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 200;
horizontalMode = heading;
horizontal = 191;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




#JR-8
behavior waypoint_yoyo {
latitude = 36.6468;
longitude = -121.8676;
captureRadius = 10;
duration = 3400;
speed = 1.25;
minDepth = 2.5;
maxDepth = 30;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 191;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 191;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 200;
horizontalMode = heading;
horizontal = 191;
pitch = 20;
speed = 1.5;
endDepth = 2;
}



#JR-7
behavior waypoint_yoyo {
latitude = 36.6690;
longitude = -121.8607;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 2.5;
maxDepth = 30;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 191;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 191;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 200;
horizontalMode = heading;
horizontal = 183;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




#JR-6
behavior waypoint_yoyo {
latitude = 36.6897;
longitude = -121.8590;
captureRadius = 10;
duration = 3050;
speed = 1.25;
minDepth = 2.5;
maxDepth = 30;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 183;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 183;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 200;
horizontalMode = heading;
horizontal = 183;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#JR-5
behavior waypoint_yoyo {
latitude = 36.7108;
longitude = -121.8572;
captureRadius = 10;
duration = 3050;
speed = 1.25;
minDepth = 2.5;
maxDepth = 30;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 183;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 183;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 200;
horizontalMode = heading;
horizontal = 183;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




#JR-4
behavior waypoint_yoyo {
latitude = 36.7327;
longitude = -121.8553;
captureRadius = 10;
duration = 3050;
speed = 1.25;
minDepth = 2.5;
maxDepth = 30;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 183;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 183;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 200;
horizontalMode = heading;
horizontal = 183;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#JR-3
behavior waypoint_yoyo {
latitude = 36.7539;
longitude = -121.8536;
captureRadius = 10;
duration = 3050;
speed = 1.25;
minDepth = 2.5;
maxDepth = 30;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 183;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 183;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 200;
horizontalMode = heading;
horizontal = 183;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


#JR-2
behavior waypoint_yoyo {
latitude = 36.7749;
longitude = -121.8518;
captureRadius = 10;
duration = 3050;
speed = 1.25;
minDepth = 2.5;
maxDepth = 30;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 183;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 183;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 200;
horizontalMode = heading;
horizontal = 183;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

#JR-1
behavior waypoint_yoyo {
latitude = 36.7960;
longitude = -121.8500;
captureRadius = 10;
duration = 1000;
speed = 1.25;
minDepth = 2.5;
maxDepth = 30;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 183;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 183;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}