# 1 "Ryjo_23m_iso_SOUTH.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "Ryjo_23m_iso_SOUTH.cfg"
# 15 "Ryjo_23m_iso_SOUTH.cfg"
behavior missionTimer {
timeOut = 93600;
}

behavior depthEnvelope {
  minDepth = 0;
  maxDepth = 21;
  abortDepth = 30;
  abortAltitude = 2.5;
  abortLockoutDepth = 10.0;
}




behavior getgps {
duration = 1800;
minHits = 100;
abortOnTimeout = True;
}




####################### THIRD COMPLETE LAP DOWN AND BACK ############################






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 35;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7963;
longitude = -121.8068;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 35;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 35;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 25;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7893;
longitude = -121.811;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 25;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


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

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 42;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7835;
longitude = -121.8177;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 42;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 42;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}




behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 35;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7772;
longitude = -121.8212;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 35;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 35;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





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




behavior waypoint_yoyo {
latitude = 36.7680;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.7607;
longitude = -121.8310;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7542;
longitude = -121.8330;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 10;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 10;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





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




behavior waypoint_yoyo {
latitude = 36.7420;
longitude = -121.8340;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 340;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7335;
longitude = -121.8313;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 340;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 340;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 340;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7233;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 340;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 340;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 350;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7105;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 350;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 350;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 350;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7003;
longitude = -121.8235;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 350;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 350;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6882;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6775;
longitude = -121.8275;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 10;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 10;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6680;
longitude = -121.8317;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6615;
longitude = -121.8343;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6562
longitude = -121.8375;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6615;
longitude = -121.8343;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6680;
longitude = -121.8317;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 190;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6775;
longitude = -121.8275;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 190;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 190;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 182;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6882;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 182;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 182;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 170;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7003;
longitude = -121.8235;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 170;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 170;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 170;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7105;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 170;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 170;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 160;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7233;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 160;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 160;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 160;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7335;
longitude = -121.8313;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 160;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 160;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 182;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7420;
longitude = -121.8340;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 182;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 182;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 190;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7542;
longitude = -121.8330;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 190;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 190;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7607;
longitude = -121.8310;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7680;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 215;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7772;
longitude = -121.8212;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 215;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 215;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}




behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 222;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7835;
longitude = -121.8177;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 222;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 222;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 205;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7893;
longitude = -121.811;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 205;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 205;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





###################### SECOND COMPLETE LAP DOWN AND BACK ################################





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 35;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7963;
longitude = -121.8068;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 35;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 35;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 25;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7893;
longitude = -121.811;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 25;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


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

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 42;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7835;
longitude = -121.8177;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 42;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 42;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 35;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7772;
longitude = -121.8212;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 35;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 35;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





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




behavior waypoint_yoyo {
latitude = 36.7680;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.7607;
longitude = -121.8310;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7542;
longitude = -121.8330;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 10;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 10;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.7420;
longitude = -121.8340;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 340;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7335;
longitude = -121.8313;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 340;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 340;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 340;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7233;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 340;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 340;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 350;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7105;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 350;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 350;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 350;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7003;
longitude = -121.8235;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 350;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 350;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6882;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6775;
longitude = -121.8275;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 10;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 10;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6680;
longitude = -121.8317;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6615;
longitude = -121.8343;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6562
longitude = -121.8375;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6615;
longitude = -121.8343;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6680;
longitude = -121.8317;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 190;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6775;
longitude = -121.8275;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 190;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 190;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 182;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6882;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 182;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 182;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 170;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7003;
longitude = -121.8235;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 170;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 170;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}




behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 170;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7105;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 170;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 170;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 160;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7233;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 160;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 160;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 160;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7335;
longitude = -121.8313;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 160;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 160;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 182;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7420;
longitude = -121.8340;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 182;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 182;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 190;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7542;
longitude = -121.8330;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 190;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 190;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7607;
longitude = -121.8310;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7680;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 215;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7772;
longitude = -121.8212;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 215;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 215;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}




behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 222;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7835;
longitude = -121.8177;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 222;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 222;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 205;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7893;
longitude = -121.811;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 205;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 205;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}
# 3530 "Ryjo_23m_iso_SOUTH.cfg"
behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 35;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7963;
longitude = -121.8068;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 35;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 35;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 25;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7893;
longitude = -121.811;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 25;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


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

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 42;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7835;
longitude = -121.8177;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 42;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 42;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 35;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7772;
longitude = -121.8212;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 35;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 35;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





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




behavior waypoint_yoyo {
latitude = 36.7680;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.7607;
longitude = -121.8310;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7542;
longitude = -121.8330;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 10;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 10;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.7420;
longitude = -121.8340;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 340;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7335;
longitude = -121.8313;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 340;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 340;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 340;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7233;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 340;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 340;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 350;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7105;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 350;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 350;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 350;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7003;
longitude = -121.8235;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 350;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 350;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6882;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6775;
longitude = -121.8275;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 10;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 10;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6680;
longitude = -121.8317;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6615;
longitude = -121.8343;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6562
longitude = -121.8375;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6615;
longitude = -121.8343;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6680;
longitude = -121.8317;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 190;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6775;
longitude = -121.8275;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 190;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 190;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 182;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6882;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 182;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 182;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 170;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7003;
longitude = -121.8235;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 170;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 170;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 170;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7105;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 170;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 170;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 160;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7233;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 160;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 160;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 160;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7335;
longitude = -121.8313;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 160;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 160;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 182;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7420;
longitude = -121.8340;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 182;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 182;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 190;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7542;
longitude = -121.8330;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 190;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 190;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7607;
longitude = -121.8310;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7680;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 215;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7772;
longitude = -121.8212;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 215;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 215;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}




behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 222;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7835;
longitude = -121.8177;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 222;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 222;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 205;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7893;
longitude = -121.811;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 205;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 205;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





################### ONE COMPLETE LAP DOWN AND BACK #########################





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 35;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7963;
longitude = -121.8068;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 35;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 35;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 25;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7893;
longitude = -121.811;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 25;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


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

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 42;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7835;
longitude = -121.8177;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 42;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 42;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 35;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7772;
longitude = -121.8212;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 35;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 35;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





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




behavior waypoint_yoyo {
latitude = 36.7680;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.7607;
longitude = -121.8310;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7542;
longitude = -121.8330;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 10;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 10;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





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




behavior waypoint_yoyo {
latitude = 36.7420;
longitude = -121.8340;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 340;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7335;
longitude = -121.8313;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 340;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 340;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 340;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7233;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 340;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 340;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 350;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7105;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 350;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 350;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 350;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7003;
longitude = -121.8235;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 350;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 350;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6882;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6775;
longitude = -121.8275;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 10;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 10;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6680;
longitude = -121.8317;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






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




behavior waypoint_yoyo {
latitude = 36.6615;
longitude = -121.8343;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 20;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 20;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6562
longitude = -121.8375;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6615;
longitude = -121.8343;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6680;
longitude = -121.8317;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 190;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6775;
longitude = -121.8275;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 190;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 190;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 182;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.6882;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 182;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 182;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 170;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7003;
longitude = -121.8235;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 170;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 170;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 170;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7105;
longitude = -121.8245;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 170;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 170;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 160;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7233;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 160;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 160;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}






behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 160;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7335;
longitude = -121.8313;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 160;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 160;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 182;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7420;
longitude = -121.8340;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 182;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 182;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 190;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7542;
longitude = -121.8330;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 190;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 190;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7607;
longitude = -121.8310;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 200;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7680;
longitude = -121.8272;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 200;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 200;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 215;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7772;
longitude = -121.8212;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 215;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 215;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}




behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 222;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7835;
longitude = -121.8177;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 222;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 222;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}





behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 205;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7893;
longitude = -121.811;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 205;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 205;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}




behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 215;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7963;
longitude = -121.8068;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 2.0;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 215;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 215;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 900;
minHits = 15;
abortOnTimeout = True;
}