# 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 = 44000;
}


behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 105;
 abortDepth = 120;
 abortAltitude = 2.5;
}



behavior getgps {
duration = 2100;
minHits = 1800;
abortOnTimeout = True;
}


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




behavior waypoint_yoyo {
latitude = 36.9408;
longitude = -121.9393;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 313;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 313;
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 = 36.93073;
longitude = -121.92602;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 313;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 313;
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 = 36.91322;
longitude = -121.90289;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 313;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 313;
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 = 36.89615;
longitude = -121.88034;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 313;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 313;
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 = 36.8806;
longitude = -121.8598;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 30;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 19;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 19;
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 = 36.8637;
longitude = -121.86726;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 19;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 19;
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 = 36.8410;
longitude = -121.8776;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 80;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 19;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 19;
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 = 36.81719;
longitude = -121.88799;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 78;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 19;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 19;
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 = 36.7942;
longitude = -121.8983;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 167;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 167;
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 = 36.82099;
longitude = -121.90583;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 90;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 167;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 167;
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 = 36.84449;
longitude = -121.91243;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 167;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 167;
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 = 36.86823;
longitude = -121.91883;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 60;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 167;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 167;
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 = 36.89265;
longitude = -121.92577;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 20;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 167;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 167;
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 = 36.91697;
longitude = -121.93246;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 30;
minAltitude = 6.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 167;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 167;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}


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