behavior missionTimer
{
timeOut = 3217;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 97;
abortDepth = 100;
minAltitude = 2.0;
abortAltitude = 1.5;
}
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 400;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
behavior delta_t
{
  duration = 5;
  sonar = 1;
  range = 100;
}
# Climb up and transit back to the start.
behavior waypoint_bottom
{
latitude =   36.696252;
longitude = -121.935989;
duration = 1184;
depth = 70;
speed = 1.5;
altitude = 30;
avoidRange = 100.;
maxLowerPitch = 20;
tau = 3;
useThetaB = False;
}
behavior cathx
{
    duration = 1;
    capture = 0;
}
behavior cathx
{
    duration = 1;
    capture = 1;
}
behavior cathx
{
    duration = 1;
    profile = 0;
    capture = 0;
}
# Run back to the West on the flat leg.
behavior waypoint_bottom
{
latitude =   36.700358;
longitude = -121.944411;
duration = 772;
depth = 98;
speed = 1.5;
altitude = 4;
avoidRange = 100.;
maxLowerPitch = 15;
tau = 3;
useThetaB = False;
}
# Jog North on the East end of flat leg.
behavior waypoint_bottom
{
latitude =   36.700293;
longitude = -121.937941;
duration = 51;
depth = 98;
speed = 1.5;
altitude = 4;
avoidRange = 100.;
maxLowerPitch = 15;
tau = 3;
useThetaB = False;
}
behavior cathx
{
    duration = 1;
    capture = 1;
}
behavior cathx
{
    duration = 1;
    profile = 4;
    capture = 0;
}
# West end of flat/bump leg on the north side.
behavior waypoint_bottom
{
latitude =   36.699953;
longitude = -121.937941;
duration = 383;
depth = 98;
speed = 1.5;
altitude = 4;
avoidRange = 100.;
maxLowerPitch = 15;
tau = 3;
useThetaB = False;
}
behavior cathx
{
    duration = 1;
    capture = 1;
}
behavior cathx
{
    duration = 1;
    profile = 3;
    capture = 0;
}
# Due West.  Come up a little to get over the bump.
behavior waypoint_bottom
{
latitude =   36.699983;
longitude = -121.941150;
duration = 187;
depth = 98;
speed = 1.5;
altitude = 6;
avoidRange = 100;
maxLowerPitch = 15;
tau = 3;
useThetaB = False;
}
behavior cathx
{
    duration = 1;
    capture = 1;
}
behavior cathx
{
    duration = 1;
    profile = 2;
    capture = 0;
}
behavior waypoint_bottom
{
latitude =   36.699992;
longitude = -121.942706;
duration = 263;
depth = 96;
speed = 1.5;
altitude = 4;
avoidRange = 100;
maxLowerPitch = 15;
tau = 3;
useThetaB = False;
}
behavior cathx
{
    duration = 1;
    capture = 1;
}
behavior cathx
{
    duration = 1;
    profile = 1;
    capture = 0;
}
# North West
behavior waypoint_bottom
{
latitude =   36.699433;
longitude = -121.944799;
duration = 213;
depth = 96;
speed = 1.5;
altitude = 4;
avoidRange = 100;
maxLowerPitch = 15;
tau = 3;
useThetaB = False;
}
behavior delta_t
{
  duration = 5;
  sonar = 1;
  range = 10;
}
# Head North
behavior waypoint_bottom
{
latitude =   36.698289;
longitude = -121.945885;
duration = 250;
depth = 95;
speed = 1.5;
altitude = 6;
avoidRange = 100;
maxLowerPitch = 15;
tau = 3;
useThetaB = False;
}
# West End
behavior waypoint_bottom
{
latitude =   36.696603;
longitude = -121.946008;
duration = 1214;
depth = 75.000000;
speed = 1.500000;
altitude = 20;
avoidRange = 100.;
maxLowerPitch = 15;
tau = 3;
useThetaB = False;
}
#
# East End
behavior waypoint_bottom
{
latitude =   36.696270;
longitude = -121.936012;
duration = 667;
depth = 70.000000;
speed = 1.500000;
altitude = 20;
avoidRange = 100.;
maxLowerPitch = 15;
tau = 3;
}
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 70;
minAltitude = 10.000000;
duration = 300;
}
behavior waypoint_bottom
{
latitude =   36.696270;
longitude = -121.936012;
duration = 667;
depth = 15.000000;
speed = 1.500000;
}
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 90.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 15.000000;
minAltitude = 15.;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 90.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
behavior cathx
{
    id = 1;
    duration = 1;
    profile = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}