# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 18 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior missionTimer {
timeOut = 103680;
}


behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 265;
 abortDepth = 280;
 abortAltitude = 2.5;
 abortLockoutDepth = 100.0;
}



behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 30;
speed = 1.25;
endDepth = 2;
}



behavior waypoint_yoyo {
latitude = 36.7960;
longitude = -121.8500;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 175;
minAltitude = 20;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}



behavior waypoint_yoyo {
latitude = 36.7886;
longitude = -121.8779;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 175;
minAltitude = 20;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}



behavior waypoint_yoyo {
latitude = 36.7816;
longitude = -121.9030;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 175;
minAltitude = 20;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}



behavior waypoint_yoyo {
latitude = 36.773;
longitude = -121.9348;
captureRadius = 10;
duration = 3000;
speed = 1.25;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7702;
longitude = -121.9496;
captureRadius = 10;
duration = 3000;
speed = 1.25;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7633;
longitude = -121.9854;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 70;
pitch = -15;
speed = 1.5;
maxDepth = 10;
duration = 90;
}


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





behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7564;
longitude = -122.0214;
captureRadius = 10;
duration = 3000;
speed = 1.25;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7497;
longitude = -122.0573;
captureRadius = 10;
duration = 3000;
speed = 1.25;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7427;
longitude = -122.0932;
captureRadius = 10;
duration = 3000;
speed = 1.25;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7357;
longitude = -122.1290;
captureRadius = 10;
duration = 3000;
speed = 1.25;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 70;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7290;
longitude = -122.1649;
captureRadius = 10;
duration = 3000;
speed = 1.25;
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 = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 80;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 80;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 80;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 8;
}


behavior ascend {
duration = 300;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 5;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 7;
}


behavior ascend {
duration = 400;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 100;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 6;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 250;
}


behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -30;
speed = 1.25;
maxDepth = 260;
minAltitude = 9;
duration = 700;
}



behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 80;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint_yoyo {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}



behavior FireTheGulper {
        duration = 2;
        gulperToFire = 5;
}


behavior ascend {
duration = 400;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 5;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 4;
}


behavior ascend {
duration = 300;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 100;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 3;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 80;
pitch = 30;
speed = 1.25;
endDepth = 250;
}


behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -30;
speed = 1.25;
maxDepth = 260;
duration = 60;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 2;
}


behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -30;
speed = 1.25;
maxDepth = 250;
duration = 400;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 1;
}


behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -30;
speed = 1.25;
maxDepth = 100;
duration = 300;
}


behavior FireTheGulper {
        duration = 2;
        gulperToFire = 0;
}


behavior descend {
horizontalMode = heading;
horizontal = 80;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 80;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}





behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint {
latitude = 36.6958;
longitude = -122.3967;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 10.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 260;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 260;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 260;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint {
latitude = 36.6958;
longitude = -122.3967;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 150.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 260;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 260;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 260;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint {
latitude = 36.6958;
longitude = -122.3967;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 30.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 260;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 260;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 260;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint {
latitude = 36.6958;
longitude = -122.3967;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 10.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 260;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 260;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 300;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint {
latitude = 36.6958;
longitude = -122.3967;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 150.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 260;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 260;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint {
latitude = 36.7220;
longitude = -122.2007;
captureRadius = 10;
duration = 3000;
speed = 1.25;
depth = 30.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 256;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 100;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint {
latitude = 36.7290;
longitude = -122.1649;
captureRadius = 10;
duration = 3000;
speed = 1.25;
depth = 10.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 256;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint {
latitude = 36.7357;
longitude = -122.1290;
captureRadius = 10;
duration = 3000;
speed = 1.25;
depth = 150.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 2400;
}


behavior setpoint {
duration = 30;
heading = 256;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint {
latitude = 36.7427;
longitude = -122.0932;
captureRadius = 10;
duration = 3000;
speed = 1.25;
depth = 30.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 256;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint {
latitude = 36.7497;
longitude = -122.0573;
captureRadius = 10;
duration = 3000;
speed = 1.25;
depth = 150.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 256;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 256;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}


behavior ascend {
duration = 120;
horizontalMode = heading;
horizontal = 256;
pitch = 30;
speed = 1.25;
endDepth = 2;
}




behavior waypoint {
latitude = 36.7564;
longitude = -122.0214;
captureRadius = 10;
duration = 2800;
speed = 1.25;
depth = 30.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 244;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 244;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 600;
minHits = 30;
abortOnTimeout = True;
}