# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 10 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior missionTimer {
timeOut = 40000;
}


behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 15;
 abortDepth = 20;
 abortAltitude = 2;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8150;
longitude = -121.8075;
captureRadius = 10;
duration = 1860;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.7904;
longitude = -121.8086;
captureRadius = 10;
duration = 1260;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 209;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 209;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8017;
longitude = -121.7953;
captureRadius = 10;
duration = 1240;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 147;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8150;
longitude = -121.8075;
captureRadius = 10;
duration = 1860;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.7904;
longitude = -121.8086;
captureRadius = 10;
duration = 1260;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 209;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 209;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8017;
longitude = -121.7953;
captureRadius = 10;
duration = 1240;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 147;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8150;
longitude = -121.8075;
captureRadius = 10;
duration = 1860;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.7904;
longitude = -121.8086;
captureRadius = 10;
duration = 1260;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 209;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 209;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8017;
longitude = -121.7953;
captureRadius = 10;
duration = 1240;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 147;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8150;
longitude = -121.8075;
captureRadius = 10;
duration = 1860;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.7904;
longitude = -121.8086;
captureRadius = 10;
duration = 1260;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 209;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 209;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8017;
longitude = -121.7953;
captureRadius = 10;
duration = 1240;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 147;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8150;
longitude = -121.8075;
captureRadius = 10;
duration = 1860;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.7904;
longitude = -121.8086;
captureRadius = 10;
duration = 1260;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 209;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 209;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8017;
longitude = -121.7953;
captureRadius = 10;
duration = 1240;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 147;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8150;
longitude = -121.8075;
captureRadius = 10;
duration = 1860;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.7904;
longitude = -121.8086;
captureRadius = 10;
duration = 1260;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 209;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 209;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8017;
longitude = -121.7953;
captureRadius = 10;
duration = 1240;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 147;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8150;
longitude = -121.8075;
captureRadius = 10;
duration = 1860;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.7904;
longitude = -121.8086;
captureRadius = 10;
duration = 1260;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 209;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 209;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8017;
longitude = -121.7953;
captureRadius = 10;
duration = 1240;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 147;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8150;
longitude = -121.8075;
captureRadius = 10;
duration = 1860;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.7904;
longitude = -121.8086;
captureRadius = 10;
duration = 1260;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 209;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 209;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8017;
longitude = -121.7953;
captureRadius = 10;
duration = 1240;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 147;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.8150;
longitude = -121.8075;
captureRadius = 10;
duration = 1860;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 2;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 2;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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


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



behavior waypoint_yoyo {
latitude = 36.7904;
longitude = -121.8086;
captureRadius = 10;
duration = 1260;
speed = 1.6;
minDepth = 3;
maxDepth = 14;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 209;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 209;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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