# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 24 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior missionTimer {
timeOut = 12750;
}



behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 260;
 abortDepth = 275;
 abortAltitude = 2.5;
 abortLockoutDepth = 85.0;
}


behavior getgps {
duration = 300;
minHits = 60;
abortOnTimeout = False;
}


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






behavior waypoint_yoyo {
latitude = 36.7960;
longitude = -121.8500;
captureRadius = 10;
duration = 2700;
speed = 1.5;
minDepth = 3;
maxDepth = 175;
minAltitude = 20;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 60;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 71;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.7886;
longitude = -121.8779;
captureRadius = 10;
duration = 2400;
speed = 1.5;
minDepth = 3;
maxDepth = 175;
minAltitude = 20;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 60;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 71;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.7816;
longitude = -121.9030;
captureRadius = 10;
duration = 3000;
speed = 1.5;
minDepth = 3;
maxDepth = 175;
minAltitude = 20;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 71;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 71;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 300;
minHits = 60;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 71;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.773;
longitude = -121.9348;
captureRadius = 10;
duration = 1500;
speed = 1.5;
minDepth = 3;
maxDepth = 200;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 76;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 76;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



behavior getgps {
duration = 300;
minHits = 60;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 76;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.7702;
longitude = -121.9496;
captureRadius = 10;
duration = 3300;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 76;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 76;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



behavior getgps {
duration = 300;
minHits = 60;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 76;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.7633;
longitude = -121.9854;
captureRadius = 10;
duration = 1600;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


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


behavior descend {
horizontalMode = rudder;
horizontal = 10;
pitch = -15;
speed = 1.5;
maxDepth = 125;
duration = 150;
}


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


behavior descend {
horizontalMode = rudder;
horizontal = 10;
pitch = -15;
speed = 1.5;
maxDepth = 100;
duration = 150;
}


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


behavior descend {
horizontalMode = rudder;
horizontal = 10;
pitch = -15;
speed = 1.5;
maxDepth = 75;
duration = 350;
}





behavior descend {
horizontalMode = heading;
horizontal = 76;
pitch = -15;
speed = 1.5;
maxDepth = 10;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 76;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 300;
minHits = 60;
abortOnTimeout = True;
}


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






behavior waypoint_yoyo {
latitude = 36.7605;
longitude = -122.0000;
captureRadius = 10;
duration = 2000;
speed = 1.5;
minDepth = 3;
maxDepth = 250;
minAltitude = 50;
maxCycles = 1000;
}


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


behavior descend {
horizontalMode = heading;
horizontal = 76;
pitch = -30;
speed = 1.5;
maxDepth = 230;
duration = 450;
}


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


behavior descend {
horizontalMode = heading;
horizontal = 76;
pitch = -30;
speed = 1.5;
maxDepth = 125;
duration = 400;
}


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


behavior descend {
horizontalMode = heading;
horizontal = 76;
pitch = -15;
speed = 1.5;
maxDepth = 15;
duration = 100;
}


behavior ascend {
duration = 60;
horizontalMode = heading;
horizontal = 76;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


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


behavior ascend {
duration = 450;
horizontalMode = heading;
horizontal = 76;
pitch = 20;
speed = 1.5;
endDepth = 15;
}


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


behavior ascend {
duration = 500;
horizontalMode = heading;
horizontal = 76;
pitch = 20;
speed = 1.5;
endDepth = 125;
}


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


behavior ascend {
duration = 150;
horizontalMode = heading;
horizontal = 76;
pitch = 20;
speed = 1.5;
endDepth = 230;
}


behavior descend {
horizontalMode = heading;
horizontal = 76;
pitch = -30;
speed = 1.5;
maxDepth = 250;
duration = 700;
}



behavior getgps {
duration = 300;
minHits = 60;
abortOnTimeout = True;
}


behavior ascend {
duration = 1200;
horizontalMode = heading;
horizontal = 76;
pitch = 20;
speed = 1.5;
endDepth = 2;
}






behavior waypoint_yoyo {
latitude = 36.7564;
longitude = -122.0214;
captureRadius = 10;
duration = 600;
speed = 1.5;
minDepth = 3;
maxDepth = 30;
minAltitude = 50;
maxCycles = 1000;
}


behavior descend {
horizontalMode = heading;
horizontal = 76;
pitch = -15;
speed = 1.5;
maxDepth = 10;
duration = 90;
}


behavior setpoint {
duration = 30;
heading = 76;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}



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