QGC WPL 110

# Drive in a square over the synthetic ocean bottom
# Item 0 is the home position, frame=3
0	0	3	16	0.000000	0.000000	0.000000	0.000000	33.809780	-118.393982	0.0	1

# Sub has already descended to 15m above sea floor. Start mission at 15 and maintain that height, frame=10
1	0	10	16	0.000000	0.000000	0.000000	0.000000	33.809780	-118.394232	15.0	1

# Travel at current rangefinder reading (15m), frame=10
2	0	10	16	0.000000	0.000000	0.000000	0.000000	33.809780	-118.394432	15.0	1

# Travel at current range finder reading, frame=10
3	0	10	16	0.000000	0.000000	0.000000	0.000000	33.809250	-118.394432	15.0    1

# Travel at current range finder reading, frame=10
4	0	10	16	0.000000	0.000000	0.000000	0.000000	33.809250	-118.394232	15.0	1