# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 40 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
#######################################################



behavior missionTimer
{
timeOut = 6402;
}


behavior depthEnvelope
{
minDepth = 0;
maxDepth = 230.000000;
abortDepth = 250.000000;
minAltitude = 20.000000;
abortAltitude = 12.000000;
}
#######################################################




behavior getgps
{
duration = 600;
minHits = 60;
abortOnTimeout = True;
}


behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.500000;
endDepth = 2;
}



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







behavior waypoint
{
latitude = 36.776156;
longitude = -121.846261;
captureRadius = 10;
duration = 40;
depth = 37.142509;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.776613;
longitude = -121.846254;
captureRadius = 10;
duration = 174;
depth = 37.142509;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.778573;
longitude = -121.846225;
captureRadius = 10;
duration = 174;
depth = 37.142509;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.780534;
longitude = -121.846196;
captureRadius = 10;
duration = 174;
depth = 37.142509;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.782495;
longitude = -121.846167;
captureRadius = 10;
duration = 174;
depth = 40.060689;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.784455;
longitude = -121.846138;
captureRadius = 10;
duration = 174;
depth = 43.243601;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.786416;
longitude = -121.846109;
captureRadius = 10;
duration = 174;
depth = 50.647402;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.788377;
longitude = -121.846080;
captureRadius = 10;
duration = 174;
depth = 71.382608;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.790338;
longitude = -121.846051;
captureRadius = 10;
duration = 174;
depth = 98.138225;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.792298;
longitude = -121.846022;
captureRadius = 10;
duration = 174;
depth = 121.328719;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.794259;
longitude = -121.845993;
captureRadius = 10;
duration = 174;
depth = 140.231545;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.796220;
longitude = -121.845964;
captureRadius = 10;
duration = 174;
depth = 191.756084;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.798181;
longitude = -121.845935;
captureRadius = 10;
duration = 174;
depth = 163.477075;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.800141;
longitude = -121.845906;
captureRadius = 10;
duration = 174;
depth = 133.287077;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.802102;
longitude = -121.845877;
captureRadius = 10;
duration = 174;
depth = 133.287077;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.804063;
longitude = -121.845848;
captureRadius = 10;
duration = 174;
depth = 133.287077;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.806024;
longitude = -121.845819;
captureRadius = 10;
duration = 174;
depth = 133.287077;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.807984;
longitude = -121.845790;
captureRadius = 10;
duration = 174;
depth = 131.421671;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.809945;
longitude = -121.845761;
captureRadius = 10;
duration = 174;
depth = 117.885235;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.811906;
longitude = -121.845732;
captureRadius = 10;
duration = 174;
depth = 105.145574;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.813866;
longitude = -121.845703;
captureRadius = 10;
duration = 174;
depth = 75.852016;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.815827;
longitude = -121.845674;
captureRadius = 10;
duration = 174;
depth = 70.986438;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.817788;
longitude = -121.845645;
captureRadius = 10;
duration = 174;
depth = 50.236455;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.819749;
longitude = -121.845616;
captureRadius = 10;
duration = 174;
depth = 44.718016;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.821709;
longitude = -121.845587;
captureRadius = 10;
duration = 174;
depth = 44.506849;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.823670;
longitude = -121.845558;
captureRadius = 10;
duration = 174;
depth = 42.380862;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.825631;
longitude = -121.845529;
captureRadius = 10;
duration = 174;
depth = 39.191335;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.827592;
longitude = -121.845500;
captureRadius = 10;
duration = 174;
depth = 35.021547;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.829552;
longitude = -121.845471;
captureRadius = 10;
duration = 174;
depth = 31.059539;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.831513;
longitude = -121.845442;
captureRadius = 10;
duration = 174;
depth = 27.268734;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.833474;
longitude = -121.845413;
captureRadius = 10;
duration = 174;
depth = 23.219067;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.835435;
longitude = -121.845384;
captureRadius = 10;
duration = 174;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.837395;
longitude = -121.845355;
captureRadius = 10;
duration = 166;
depth = 20.000000;
speed = 1.500000;
}
#######################################################




behavior descend
{
horizontalMode = heading;
horizontal = 179.990157;
pitch = -15;
speed = 1.500000;
maxDepth = 20;
duration = 300;
}


behavior setpoint
{
duration = 30;
heading = 179.990157;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}


behavior getgps
{
duration = 60;
minHits = 30;
abortOnTimeout = False;
}
#######################################################