behavior missionTimer
{
timeOut = 1800;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 73;
abortDepth = 74;
minAltitude = 3.0;
abortAltitude = 2.0;
}
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
behavior delta_t
{
  duration = 5;
  sonar = 1;
  range = 100;
}
behavior waypoint_bottom
{
latitude = 36.827850;
longitude = -121.8437;
duration = 600;
depth = 70.000000;
altitude = 4;
speed = 1.500000;
maxLowerPitch = 15;
tau = 3;
}
behavior delta_t
{
  duration = 5;
  sonar = 1;
  range = 10;
}
behavior waypoint_bottom
{
latitude = 36.819850;
longitude = -121.8437;
duration = 600;
depth = 70.000000;
altitude = 6;
speed = 1.500000;
maxLowerPitch = 15;
tau = 3;
}
behavior waypoint
{
latitude = 36.817850;
longitude = -121.8437;
duration = 600;
depth = 45.000000;
speed = 1.500000;
}
# 
# Descend behavior 
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 40;
minAltitude = 5.000000;
duration = 300;
}
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 180.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 5.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 180.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
