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



behavior missionTimer
{
timeOut = 6997;
}


behavior depthEnvelope
{
minDepth = 0;
maxDepth = 60.000000;
abortDepth = 70.000000;
minAltitude = 18.000000;
abortAltitude = 10.000000;
}
#######################################################




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


behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 10.000000;
pitch = 20.000000;
speed = 1.000000;
endDepth = 2.000000;
}

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







behavior waypoint
{
latitude = 36.809658;
longitude = -121.866091;
captureRadius = 10;
duration = 15;
depth = 59.951558;
speed = 1.000000;
}
#######################################################







behavior waypoint
{
latitude = 36.809658;
longitude = -121.866240;
captureRadius = 10;
duration = 71;
depth = 59.807007;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.809658;
longitude = -121.866912;
captureRadius = 10;
duration = 71;
depth = 59.738869;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.809658;
longitude = -121.867584;
captureRadius = 10;
duration = 71;
depth = 59.606150;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.809658;
longitude = -121.868256;
captureRadius = 10;
duration = 71;
depth = 59.606150;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.809658;
longitude = -121.868929;
captureRadius = 10;
duration = 71;
depth = 59.690959;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.809658;
longitude = -121.869601;
captureRadius = 10;
duration = 71;
depth = 59.690959;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.809658;
longitude = -121.870273;
captureRadius = 10;
duration = 71;
depth = 59.831492;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.809658;
longitude = -121.870945;
captureRadius = 10;
duration = 79;
depth = 60.000000;
speed = 1.000000;
}
#######################################################







behavior waypoint
{
latitude = 36.809658;
longitude = -121.871692;
captureRadius = 10;
duration = 69;
depth = 60.000000;
speed = 1.000000;
}
#######################################################







behavior waypoint
{
latitude = 36.810181;
longitude = -121.871692;
captureRadius = 10;
duration = 89;
depth = 59.564008;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.810853;
longitude = -121.871692;
captureRadius = 10;
duration = 89;
depth = 59.143311;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.811525;
longitude = -121.871692;
captureRadius = 10;
duration = 89;
depth = 58.495300;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.812198;
longitude = -121.871692;
captureRadius = 10;
duration = 89;
depth = 58.030128;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.812870;
longitude = -121.871692;
captureRadius = 10;
duration = 89;
depth = 57.555504;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.813542;
longitude = -121.871692;
captureRadius = 10;
duration = 79;
depth = 57.126071;
speed = 1.000000;
}
#######################################################







behavior waypoint
{
latitude = 36.814139;
longitude = -121.871692;
captureRadius = 10;
duration = 31;
depth = 57.090271;
speed = 1.000000;
}
#######################################################







behavior waypoint
{
latitude = 36.814139;
longitude = -121.871393;
captureRadius = 10;
duration = 71;
depth = 56.806160;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.814139;
longitude = -121.870721;
captureRadius = 10;
duration = 71;
depth = 56.806160;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.814139;
longitude = -121.870049;
captureRadius = 10;
duration = 71;
depth = 57.010216;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.814139;
longitude = -121.869377;
captureRadius = 10;
duration = 71;
depth = 56.819387;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.814139;
longitude = -121.868704;
captureRadius = 10;
duration = 71;
depth = 56.844053;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.814139;
longitude = -121.868032;
captureRadius = 10;
duration = 71;
depth = 56.844053;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.814139;
longitude = -121.867360;
captureRadius = 10;
duration = 71;
depth = 57.154574;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.814139;
longitude = -121.866688;
captureRadius = 10;
duration = 63;
depth = 57.450587;
speed = 1.000000;
}
#######################################################







behavior waypoint
{
latitude = 36.814139;
longitude = -121.866091;
captureRadius = 10;
duration = 79;
depth = 57.757383;
speed = 1.000000;
}
#######################################################







behavior waypoint
{
latitude = 36.813542;
longitude = -121.866091;
captureRadius = 10;
duration = 89;
depth = 58.372017;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.812870;
longitude = -121.866091;
captureRadius = 10;
duration = 89;
depth = 58.569893;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.812198;
longitude = -121.866091;
captureRadius = 10;
duration = 89;
depth = 58.990359;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.811525;
longitude = -121.866091;
captureRadius = 10;
duration = 89;
depth = 59.239103;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.810853;
longitude = -121.866091;
captureRadius = 10;
duration = 89;
depth = 59.287638;
speed = 1.000000;
}







behavior waypoint
{
latitude = 36.810181;
longitude = -121.866091;
captureRadius = 10;
duration = 69;
depth = 59.323156;
speed = 1.000000;
}
#######################################################







behavior waypoint
{
latitude = 36.809658;
longitude = -121.866091;
captureRadius = 10;
duration = 600;
depth = 59.323156;
speed = 1.000000;
}
#######################################################
#######################################################



behavior descend
{
horizontalMode = heading;
horizontal = 137.0;
pitch = -15.000000;
speed = 1.000000;
maxDepth = 3.000000;
minAltitude = 18.000000;
duration = 300;
}


behavior setpoint
{
duration = 30;
heading = 137.0;
speed = 1.000000;
verticalMode = pitch;
pitch = 0;
}


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