# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"

behavior missionTimer {
timeOut = 30000;
}


behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 255;
 abortDepth = 260;
 minAltitude = 40;
 abortAltitude = 5;
}



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


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


behavior waypoint_yoyo {
latitude = 36.773;
longitude = -121.9348;
captureRadius = 10;
duration = 2000;
speed = 1.5;
minDepth = 3;
maxDepth = 200;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}





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


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


behavior waypoint_yoyo {
latitude = 36.773;
longitude = -121.9348;
captureRadius = 10;
duration = 2000;
speed = 1.5;
minDepth = 3;
maxDepth = 200;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



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


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


behavior waypoint_yoyo {
latitude = 36.773;
longitude = -121.9348;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}





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


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



behavior waypoint_yoyo {
latitude = 36.76393;
longitude = -121.98232;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}




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


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



behavior waypoint_yoyo {
latitude = 36.75558;
longitude = -122.02603;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



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


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



behavior waypoint_yoyo {
latitude = 36.74727;
longitude = -122.06948;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}




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


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



behavior waypoint_yoyo {
latitude = 36.73888;
longitude = -122.11310;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}




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


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



behavior waypoint_yoyo {
latitude = 36.73052;
longitude = -122.15665;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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