###############################################################################
#
# PURPOSE: Go back to the waypoint.
# AUTHORS: 
#          
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
###############################################################################

#
behavior missionTimer
{
  timeOut = 500;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 5; #Meters
  minAltitude = 5; #Meters
  abortDepth = 8; #Meters
}
#
# ibox4 = [36.812570 -121.799358]
behavior waypoint
{
latitude = 36.812570;
longitude = -121.799358;
duration = 500;
depth = 0.;
speed = 1.0;
}

behavior getgps
{
minHits = 10;
duration = 60;
abortOnTimeout = True;
}