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



behavior missionTimer
{
timeOut = 18887;
}


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




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


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 = 36.839100;
longitude = -121.827386;
captureRadius = 10;
duration = 27;
depth = 20.000000;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.838796;
longitude = -121.827391;
captureRadius = 10;
duration = 174;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.836835;
longitude = -121.827420;
captureRadius = 10;
duration = 174;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.834874;
longitude = -121.827449;
captureRadius = 10;
duration = 174;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.832914;
longitude = -121.827479;
captureRadius = 10;
duration = 174;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.830953;
longitude = -121.827508;
captureRadius = 10;
duration = 174;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.828992;
longitude = -121.827538;
captureRadius = 10;
duration = 174;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.827031;
longitude = -121.827567;
captureRadius = 10;
duration = 174;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.825071;
longitude = -121.827597;
captureRadius = 10;
duration = 174;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.823110;
longitude = -121.827626;
captureRadius = 10;
duration = 174;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.821149;
longitude = -121.827656;
captureRadius = 10;
duration = 174;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.819188;
longitude = -121.827685;
captureRadius = 10;
duration = 174;
depth = 20.611763;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.817228;
longitude = -121.827715;
captureRadius = 10;
duration = 174;
depth = 22.910886;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.815267;
longitude = -121.827744;
captureRadius = 10;
duration = 174;
depth = 24.154474;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.813306;
longitude = -121.827773;
captureRadius = 10;
duration = 174;
depth = 24.154474;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.811346;
longitude = -121.827803;
captureRadius = 10;
duration = 174;
depth = 25.141921;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.809385;
longitude = -121.827832;
captureRadius = 10;
duration = 174;
depth = 24.183371;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.807424;
longitude = -121.827862;
captureRadius = 10;
duration = 174;
depth = 23.751904;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.805463;
longitude = -121.827891;
captureRadius = 10;
duration = 174;
depth = 23.751904;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.803503;
longitude = -121.827921;
captureRadius = 10;
duration = 174;
depth = 23.751904;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.801542;
longitude = -121.827950;
captureRadius = 10;
duration = 174;
depth = 23.751904;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.799581;
longitude = -121.827980;
captureRadius = 10;
duration = 174;
depth = 25.176274;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.797620;
longitude = -121.828009;
captureRadius = 10;
duration = 174;
depth = 26.581510;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.795660;
longitude = -121.828038;
captureRadius = 10;
duration = 174;
depth = 29.402284;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.793699;
longitude = -121.828068;
captureRadius = 10;
duration = 174;
depth = 33.959695;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.791738;
longitude = -121.828097;
captureRadius = 10;
duration = 174;
depth = 65.245057;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.789777;
longitude = -121.828127;
captureRadius = 10;
duration = 174;
depth = 99.976831;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.787817;
longitude = -121.828156;
captureRadius = 10;
duration = 174;
depth = 123.757826;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.785856;
longitude = -121.828186;
captureRadius = 10;
duration = 174;
depth = 54.257126;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.783895;
longitude = -121.828215;
captureRadius = 10;
duration = 174;
depth = 23.906147;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.781935;
longitude = -121.828245;
captureRadius = 10;
duration = 174;
depth = 21.826163;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.779974;
longitude = -121.828274;
captureRadius = 10;
duration = 174;
depth = 20.298292;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.778013;
longitude = -121.828304;
captureRadius = 10;
duration = 180;
depth = 20.000000;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.775984;
longitude = -121.828334;
captureRadius = 10;
duration = 145;
depth = 20.000000;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.776004;
longitude = -121.830374;
captureRadius = 10;
duration = 160;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.776025;
longitude = -121.832617;
captureRadius = 10;
duration = 160;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.776047;
longitude = -121.834860;
captureRadius = 10;
duration = 160;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.776068;
longitude = -121.837103;
captureRadius = 10;
duration = 160;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.776090;
longitude = -121.839346;
captureRadius = 10;
duration = 160;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.776111;
longitude = -121.841589;
captureRadius = 10;
duration = 160;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.776133;
longitude = -121.843832;
captureRadius = 10;
duration = 600;
depth = 21.244130;
speed = 1.500000;
}

#######################################################
#######################################################



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;
}




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 = 1.500000;
maxDepth = 3.000000;
minAltitude = 20.000000;
duration = 300;
}


behavior setpoint
{
duration = 30;
heading = 180;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}


behavior getgps
{
duration = 600;
minHits = 30;
abortOnTimeout = False;
}
#######################################################