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



behavior missionTimer
{
timeOut = 5618;
}


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 = 36.806490;
longitude = -121.822897;
captureRadius = 10;
duration = 160;
depth = 20.000000;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.807025;
longitude = -121.825047;
captureRadius = 10;
duration = 167;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.807582;
longitude = -121.827290;
captureRadius = 10;
duration = 167;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.808140;
longitude = -121.829533;
captureRadius = 10;
duration = 167;
depth = 20.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.808698;
longitude = -121.831776;
captureRadius = 10;
duration = 167;
depth = 21.057588;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.809256;
longitude = -121.834019;
captureRadius = 10;
duration = 167;
depth = 24.124415;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.809813;
longitude = -121.836262;
captureRadius = 10;
duration = 167;
depth = 29.313481;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.810371;
longitude = -121.838505;
captureRadius = 10;
duration = 167;
depth = 40.995543;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.810929;
longitude = -121.840748;
captureRadius = 10;
duration = 167;
depth = 90.354760;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.811487;
longitude = -121.842991;
captureRadius = 10;
duration = 167;
depth = 113.833279;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.812044;
longitude = -121.845234;
captureRadius = 10;
duration = 167;
depth = 111.773302;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.812602;
longitude = -121.847477;
captureRadius = 10;
duration = 167;
depth = 111.773302;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.813160;
longitude = -121.849720;
captureRadius = 10;
duration = 167;
depth = 111.773302;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.813718;
longitude = -121.851963;
captureRadius = 10;
duration = 167;
depth = 111.773302;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.814275;
longitude = -121.854206;
captureRadius = 10;
duration = 167;
depth = 117.054158;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.814833;
longitude = -121.856449;
captureRadius = 10;
duration = 167;
depth = 128.778590;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.815391;
longitude = -121.858692;
captureRadius = 10;
duration = 167;
depth = 82.016687;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.815949;
longitude = -121.860935;
captureRadius = 10;
duration = 167;
depth = 62.063752;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.816507;
longitude = -121.863178;
captureRadius = 10;
duration = 160;
depth = 58.082468;
speed = 1.500000;
}
#######################################################




behavior descend
{
horizontalMode = heading;
horizontal = 106.492266;
pitch = -15;
speed = 1.500000;
maxDepth = 3;
minAltitude = 20.000000;
duration = 300;
}


behavior setpoint
{
duration = 30;
heading = 106.492266;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.500000;
endDepth = 2;
}
# 450 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint
{
latitude = 36.817041;
longitude = -121.865327;
captureRadius = 10;
duration = 66;
depth = 58.082468;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.817788;
longitude = -121.865327;
captureRadius = 10;
duration = 174;
depth = 58.082468;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.819749;
longitude = -121.865327;
captureRadius = 10;
duration = 174;
depth = 58.082468;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.821709;
longitude = -121.865327;
captureRadius = 10;
duration = 174;
depth = 58.143347;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.823670;
longitude = -121.865327;
captureRadius = 10;
duration = 174;
depth = 56.382262;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.825631;
longitude = -121.865327;
captureRadius = 10;
duration = 174;
depth = 56.271475;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.827592;
longitude = -121.865327;
captureRadius = 10;
duration = 174;
depth = 56.271475;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.829552;
longitude = -121.865327;
captureRadius = 10;
duration = 174;
depth = 56.271475;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.831513;
longitude = -121.865327;
captureRadius = 10;
duration = 174;
depth = 66.374432;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.833474;
longitude = -121.865327;
captureRadius = 10;
duration = 174;
depth = 86.957914;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.835435;
longitude = -121.865327;
captureRadius = 10;
duration = 174;
depth = 81.206304;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.837395;
longitude = -121.865327;
captureRadius = 10;
duration = 182;
depth = 37.761346;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.839449;
longitude = -121.865327;
captureRadius = 10;
duration = 133;
depth = 36.485149;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.839449;
longitude = -121.863458;
captureRadius = 10;
duration = 160;
depth = 35.589906;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.839449;
longitude = -121.861215;
captureRadius = 10;
duration = 166;
depth = 35.164864;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.839449;
longitude = -121.858879;
captureRadius = 10;
duration = 607;
depth = 34.891700;
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 = 269.317687;
pitch = -15;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 20.000000;
duration = 300;
}


behavior setpoint
{
duration = 30;
heading = 269.317687;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}


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