# 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 = 7481;
}


behavior depthEnvelope
{
minDepth = 0;
maxDepth = 150.000000;
abortDepth = 170.000000;
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 = 1.500000;
endDepth = 2.000000;
}

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







behavior waypoint
{
latitude = 36.836581;
longitude = -121.854739;
captureRadius = 10;
duration = 96;
depth = 37.923045;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.835498;
longitude = -121.854848;
captureRadius = 10;
duration = 169;
depth = 37.923045;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.833593;
longitude = -121.855040;
captureRadius = 10;
duration = 169;
depth = 42.169869;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.831689;
longitude = -121.855232;
captureRadius = 10;
duration = 169;
depth = 48.902783;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.829785;
longitude = -121.855424;
captureRadius = 10;
duration = 169;
depth = 56.560547;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.827880;
longitude = -121.855616;
captureRadius = 10;
duration = 169;
depth = 65.417598;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.825976;
longitude = -121.855808;
captureRadius = 10;
duration = 169;
depth = 76.021205;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.824072;
longitude = -121.856000;
captureRadius = 10;
duration = 169;
depth = 93.001795;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.822167;
longitude = -121.856192;
captureRadius = 10;
duration = 169;
depth = 110.901697;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.820263;
longitude = -121.856384;
captureRadius = 10;
duration = 169;
depth = 118.474354;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.818359;
longitude = -121.856576;
captureRadius = 10;
duration = 169;
depth = 121.789331;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.816454;
longitude = -121.856768;
captureRadius = 10;
duration = 169;
depth = 126.967937;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.814550;
longitude = -121.856959;
captureRadius = 10;
duration = 169;
depth = 133.108926;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.812646;
longitude = -121.857151;
captureRadius = 10;
duration = 169;
depth = 141.345467;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.810741;
longitude = -121.857343;
captureRadius = 10;
duration = 169;
depth = 147.155033;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.808837;
longitude = -121.857535;
captureRadius = 10;
duration = 169;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.806938;
longitude = -121.857726;
captureRadius = 10;
duration = 160;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.805140;
longitude = -121.857908;
captureRadius = 10;
duration = 169;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.803236;
longitude = -121.858100;
captureRadius = 10;
duration = 169;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.801332;
longitude = -121.858292;
captureRadius = 10;
duration = 169;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.799427;
longitude = -121.858483;
captureRadius = 10;
duration = 169;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.797523;
longitude = -121.858675;
captureRadius = 10;
duration = 169;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.795618;
longitude = -121.858867;
captureRadius = 10;
duration = 169;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.793714;
longitude = -121.859059;
captureRadius = 10;
duration = 169;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.791810;
longitude = -121.859251;
captureRadius = 10;
duration = 169;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.789905;
longitude = -121.859443;
captureRadius = 10;
duration = 165;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.788041;
longitude = -121.859631;
captureRadius = 10;
duration = 163;
depth = 150.000000;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.786209;
longitude = -121.859816;
captureRadius = 10;
duration = 169;
depth = 123.976258;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.784304;
longitude = -121.860007;
captureRadius = 10;
duration = 162;
depth = 76.365977;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.782483;
longitude = -121.860191;
captureRadius = 10;
duration = 167;
depth = 59.492511;
speed = 1.500000;
}







behavior waypoint
{
latitude = 36.780608;
longitude = -121.860380;
captureRadius = 10;
duration = 162;
depth = 57.561051;
speed = 1.500000;
}
#######################################################







behavior waypoint
{
latitude = 36.778778;
longitude = -121.860564;
captureRadius = 10;
duration = 1100;
depth = 57.499441;
speed = 1.500000;
}
#######################################################
#######################################################



behavior descend
{
horizontalMode = heading;
horizontal = 3.948328;
pitch = -15.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 18.000000;
duration = 300;
}


behavior setpoint
{
duration = 30;
heading = 3.948328;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}


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