# 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 = 300;
minHits = 30;
abortOnTimeout = True;
}


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





behavior waypoint_yoyo {
latitude = 36.625;
longitude = -121.875;
captureRadius = 10;
duration = 700;
speed = 1.75;
minDepth = 2.5;
maxDepth = 40;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 138;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 138;
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 = 36.6321;
longitude = -121.8829;
captureRadius = 10;
duration = 700;
speed = 1.75;
minDepth = 2.5;
maxDepth = 60;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 138;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 138;
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 = 36.6378;
longitude = -121.8893;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 70;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 138;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 138;
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 = 36.6613;
longitude = -121.9154;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 138;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 138;
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 = 36.6844;
longitude = -121.9413;
captureRadius = 10;
duration = 2600;
speed = 1.75;
minDepth = 2.5;
maxDepth = 100;
minAltitude = 7.5;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 138;
pitch = -15;
speed = 1.6;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 138;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}



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