# 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 = 10000;
}



behavior depthEnvelope
{
 minDepth = 0;
 maxDepth = 100;
 abortDepth = 120;
 minAltitude = 20;
 abortAltitude = 15;
}



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


behavior ascend
{
duration = 600;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 1;
}


behavior waypoint
{
    latitude = 36.820161;
    longitude = -121.843621;
    captureRadius = 10;
    duration = 1200;
    depth = 40;
    speed = 1.5;
}




behavior waypoint
{
    latitude = 36.81097;
    longitude = -121.84378;
    captureRadius = 10;
    duration = 3200;
    depth = 90;
    speed = 1.5;
}

behavior descend
{
horizontalMode = heading;
horizontal = 0;
pitch = -15;
speed = 1.5;
maxDepth = 20;
duration = 300;
}


behavior setpoint
{
duration = 45;
heading = 0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend
{
duration = 600;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 1;
}




behavior waypoint
{
    latitude = 36.773569;
    longitude = -121.844433;
    captureRadius = 10;
    duration = 1600;
    depth = 40;
    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;
}
# 148 "/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 = 90;
pitch = -15;
speed = 1.5;
maxDepth = 20;
duration = 300;
}


behavior setpoint {
duration = 45;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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