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



behavior missionTimer
{
timeOut = 8000;
}


behavior depthEnvelope
{
minDepth = 0;
maxDepth = 60.000000;
abortDepth = 65.000000;
minAltitude = 15.000000;
abortAltitude = 10.000000;
}
#######################################################




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


behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 10.000000;
pitch = 20.000000;
speed = 1.500000;
endDepth = 2.000000;
}

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







behavior waypoint
{
latitude = 36.780441;
longitude = -121.839408;
captureRadius = 10;
duration = 800;
depth = 35.;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.777976;
longitude = -121.849103;
captureRadius = 10;
duration = 1000;
depth = 35.;
speed = 1.500000;
}


behavior descend
{
horizontalMode = heading;
horizontal = 90.0
pitch = -15.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 15.000000;
}


behavior setpoint
{
duration = 30;
heading = 90.0
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}


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


behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 10.000000;
pitch = 20.000000;
speed = 1.500000;
endDepth = 2.000000;
}
#######################################################







behavior waypoint
{
latitude = 36.780665;
longitude = -121.862329;
captureRadius = 10;
duration = 4000;
depth = 35.;
speed = 1.500000;
}


behavior descend
{
horizontalMode = heading;
horizontal = 195.0
pitch = -15.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 15.000000;
}


behavior setpoint
{
duration = 30;
heading = 195.0
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}


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