# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 21 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior missionTimer
{
    timeOut = 4000;
}


behavior depthEnvelope
{
 minDepth = 0;
 maxDepth = 70;
 abortDepth = 80;
 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 = 1000;
horizontalMode = rudder;
horizontal = 10;
pitch = 30;
speed = 1.5;
endDepth = 1;
}




behavior waypoint
{
    latitude = 36.766730;
    longitude = -121.873513;
    captureRadius = 10;
    duration = 1000;
    depth = 50;
    speed = 1.5;
}


behavior descend
{
horizontalMode = heading;
horizontal = 111;
pitch = -15;
speed = 1.5;
maxDepth = 20;
duration = 300;
}


behavior setpoint
{
duration = 30;
heading = 111;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend
{
duration = 1000;
horizontalMode = rudder;
horizontal = 10;
pitch = 30;
speed = 1.5;
endDepth = 1;
}






behavior waypoint
{
    latitude = 36.775210;
    longitude = -121.900391;
    captureRadius = 10;
    duration = 1000;
    depth = 50;
    speed = 1.5;
}




behavior reson
{
  duration = 6;
  SBP_Power = 100.0;

  LoSS_Power = 100.0;
  LoSS_Range = 1000.0;
  LoSS_Rate = 1.0;

  HiSS_Power = 100.0;
  HiSS_Range = 1000.0;
  HiSS_Rate = 1.0;
}
# 161 "/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 = 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 = 30;
abortOnTimeout = True;
}