# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 26 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior missionTimer
{
    timeOut = 17279;
}


behavior depthEnvelope
{
 minDepth = 0;
 maxDepth = 160;
 abortDepth = 180;
 minAltitude = 20;
 abortAltitude = 12;
}


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



behavior reson
{
  duration = 6;
  SBP_Mode = 0;
  LoSS_Mode = 0;
  HiSS_Mode = 0;
  Log_Mode = 0;
}


behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}



behavior waypoint
{
    latitude = 36.813349;
    longitude = 238.163285;
    captureRadius = 10;
    duration = 2200;
    depth = 100.0;
    speed = 1.5;
}



behavior waypoint
{
    latitude = 36.813443;
    longitude = 238.142942;
    captureRadius = 10;
    duration = 1000;
    depth = 50.0;
    speed = 1.5;
}


behavior descend
{
horizontalMode = heading;
horizontal = 180;
pitch = -15;
speed = 1.5;
maxDepth = 20;
duration = 300;
}


behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}



behavior waypoint
{
    latitude = 36.820161;
    longitude = 238.150220;
    captureRadius = 10;
    duration = 4400;
    depth = 150.0;
    speed = 1.5;
}



behavior waypoint
{
    latitude = 36.773690;
    longitude = 238.149660;
    captureRadius = 10;
    duration = 600;
    depth = 50.0;
    speed = 1.5;
}

behavior descend
{
horizontalMode = heading;
horizontal = 270;
pitch = -15;
speed = 1.5;
maxDepth = 20;
duration = 300;
}


behavior setpoint
{
duration = 30;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}




behavior waypoint
{
    latitude = 36.773597;
    longitude = 238.155726;
    captureRadius = 10;
    duration = 4400;
    depth = 80.0;
    speed = 1.5;
}


behavior descend
{
horizontalMode = heading;
horizontal = 180;
pitch = -15;
speed = 1.5;
maxDepth = 20;
duration = 300;
}


behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


behavior waypoint
{
    latitude = 36.820161;
    longitude = 238.156379;
    captureRadius = 10;
    duration = 1800;
    depth = 80.0;
    speed = 1.5;
}




behavior reson
{
  duration = 6;
  SBP_Power = 100.0;

  LoSS_Power = 100.0;
  LoSS_Range = 400.0;
  LoSS_Rate = 1.0;

  HiSS_Power = 100.0;
  HiSS_Range = 400.0;
  HiSS_Rate = 1.0;
}
# 284 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior reson
{
  duration = 6;
  SBP_Mode = 1;
  LoSS_Mode = 1;
  HiSS_Mode = 0;
  Log_Mode = 1;
}


behavior descend
{
horizontalMode = heading;
horizontal = 180;
pitch = -15;
speed = 1.5;
maxDepth = 20;
duration = 300;
}


behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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