# 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 = 6229;
}


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 = 36.776092;
longitude = -121.839538;
captureRadius = 10;
duration = 46;
depth = 24.330065;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.776613;
longitude = -121.839530;
captureRadius = 10;
duration = 174;
depth = 24.330065;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.778573;
longitude = -121.839501;
captureRadius = 10;
duration = 174;
depth = 24.330065;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.780534;
longitude = -121.839472;
captureRadius = 10;
duration = 174;
depth = 24.330065;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.782495;
longitude = -121.839443;
captureRadius = 10;
duration = 174;
depth = 26.782329;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.784455;
longitude = -121.839414;
captureRadius = 10;
duration = 174;
depth = 28.398025;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.786416;
longitude = -121.839384;
captureRadius = 10;
duration = 174;
depth = 32.751672;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.788377;
longitude = -121.839355;
captureRadius = 10;
duration = 174;
depth = 37.411816;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.790338;
longitude = -121.839326;
captureRadius = 10;
duration = 174;
depth = 58.612122;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.792298;
longitude = -121.839297;
captureRadius = 10;
duration = 174;
depth = 144.287291;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.794259;
longitude = -121.839268;
captureRadius = 10;
duration = 174;
depth = 174.332062;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.796220;
longitude = -121.839239;
captureRadius = 10;
duration = 174;
depth = 169.241398;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.798181;
longitude = -121.839209;
captureRadius = 10;
duration = 174;
depth = 98.975387;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.800141;
longitude = -121.839180;
captureRadius = 10;
duration = 174;
depth = 56.577833;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.802102;
longitude = -121.839151;
captureRadius = 10;
duration = 174;
depth = 56.577833;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.804063;
longitude = -121.839122;
captureRadius = 10;
duration = 174;
depth = 56.577833;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.806024;
longitude = -121.839093;
captureRadius = 10;
duration = 174;
depth = 56.577833;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.807984;
longitude = -121.839064;
captureRadius = 10;
duration = 174;
depth = 59.960022;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.809945;
longitude = -121.839034;
captureRadius = 10;
duration = 174;
depth = 74.845627;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.811906;
longitude = -121.839005;
captureRadius = 10;
duration = 174;
depth = 109.563101;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.813866;
longitude = -121.838976;
captureRadius = 10;
duration = 174;
depth = 98.119011;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.815827;
longitude = -121.838947;
captureRadius = 10;
duration = 174;
depth = 83.618546;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.817788;
longitude = -121.838918;
captureRadius = 10;
duration = 174;
depth = 69.505375;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.819749;
longitude = -121.838889;
captureRadius = 10;
duration = 174;
depth = 56.817076;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.821709;
longitude = -121.838859;
captureRadius = 10;
duration = 174;
depth = 43.640160;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.823670;
longitude = -121.838830;
captureRadius = 10;
duration = 174;
depth = 36.726967;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.825631;
longitude = -121.838801;
captureRadius = 10;
duration = 174;
depth = 33.016337;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.827592;
longitude = -121.838772;
captureRadius = 10;
duration = 174;
depth = 30.189601;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.829552;
longitude = -121.838743;
captureRadius = 10;
duration = 174;
depth = 30.189601;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.831513;
longitude = -121.838713;
captureRadius = 10;
duration = 174;
depth = 30.189601;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.833474;
longitude = -121.838684;
captureRadius = 10;
duration = 600;
depth = 30.189601;
speed = 1.500000;
}


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




behavior descend
{
horizontalMode = heading;
horizontal = 0;
pitch = -15;
speed = 1.500000;
maxDepth = 20;
minAltitude = 20.000000;
duration = 300;
}


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


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