# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 9 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior missionTimer {
timeOut = 50000;
}


behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 105;
 abortDepth = 120;
 abortAltitude = 2.5;
 abortLockoutDepth = 8.0;
}



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



behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 15;
pitch = 20;
speed = 1.5;
endDepth = 2;
}





behavior waypoint_yoyo {
latitude = 36.8210;
longitude = -121.8075;
captureRadius = 10;
duration = 2200;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 154;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 154;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 154;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.8288;
longitude = -121.8122;
captureRadius = 10;
duration = 2200;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 155;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 155;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 155;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.8460;
longitude = -121.8222;
captureRadius = 10;
duration = 2200;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 158;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 158;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 158;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.8608;
longitude = -121.8297;
captureRadius = 10;
duration = 2200;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 151;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 151;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 151;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.8797;
longitude = -121.8423;
captureRadius = 10;
duration = 2200;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 147;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 147;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 147;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.8968;
longitude = -121.8558;
captureRadius = 10;
duration = 2200;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 151;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 151;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 151;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.9155;
longitude = -121.8687;
captureRadius = 10;
duration = 2200;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}

behavior FireTheGulper {
duration = 1;
dummy = 1;
}


behavior descend {
horizontalMode = heading;
horizontal = 144;
pitch = -15;
speed = 1.5;
maxDepth = 3;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 144;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 144;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.9342;
longitude = -121.8853;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}



behavior descend {
horizontalMode = heading;
horizontal = 130;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 130;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 130;
pitch = 20;
speed = 1.5;
endDepth = 2;
}



behavior waypoint_yoyo {
latitude = 36.9452;
longitude = -121.9015;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 126;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 126;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 126;
pitch = 20;
speed = 1.5;
endDepth = 2;
}



behavior waypoint_yoyo {
latitude = 36.9538;
longitude = -121.9163;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 104;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 104;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 104;
pitch = 20;
speed = 1.5;
endDepth = 2;
}



behavior waypoint_yoyo {
latitude = 36.9568;
longitude = -121.9318;
captureRadius = 10;
duration = 1800;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 83;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 83;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}


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



behavior waypoint_yoyo {
latitude = 36.9553;
longitude = -121.9500;
captureRadius = 10;
duration = 1900;
speed = 1.25;
minDepth = 1.5;
maxDepth = 20;
minAltitude = 7.5;
maxCycles = 2000;
}


behavior descend {
horizontalMode = heading;
horizontal = 302;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 302;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = False;
}