# 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 = 3265;
}


behavior depthEnvelope
{
minDepth = 0;
maxDepth = 75.000000;
abortDepth = 85.000000;
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_depth
{
latitude = 36.803087;
longitude = -122.049095;
captureRadius = 10;
duration = 152;
initialDepth = 20.000000;
finalDepth = 20.000000;
maxCrossTrackError = 20;
speed = 1.500000;
}
#######################################################







behavior waypoint_depth
{
latitude = 36.804804;
longitude = -122.049081;
captureRadius = 10;
duration = 169;
initialDepth = 70.000000;
finalDepth = 20.000000;
maxCrossTrackError = 20;
speed = 1.500000;
}







behavior waypoint_depth
{
latitude = 36.806709;
longitude = -122.049066;
captureRadius = 10;
duration = 169;
initialDepth = 70.000000;
finalDepth = 70.000000;
maxCrossTrackError = 20;
speed = 1.500000;
}







behavior waypoint_depth
{
latitude = 36.808613;
longitude = -122.049050;
captureRadius = 10;
duration = 169;
initialDepth = 40.000000;
finalDepth = 70.000000;
maxCrossTrackError = 20;
speed = 1.500000;
}







behavior waypoint_depth
{
latitude = 36.810517;
longitude = -122.049035;
captureRadius = 10;
duration = 162;
initialDepth = 20.000000;
finalDepth = 40.000000;
maxCrossTrackError = 20;
speed = 1.500000;
}
#######################################################







behavior waypoint_depth
{
latitude = 36.812347;
longitude = -122.049020;
captureRadius = 10;
duration = 500;
initialDepth = 20.000000;
finalDepth = 20.000000;
maxCrossTrackError = 20;
speed = 1.500000;
}
#######################################################
#######################################################



behavior descend
{
horizontalMode = heading;
horizontal = 179.801770;
pitch = -15.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 18.000000;
duration = 300;
}


behavior setpoint
{
duration = 30;
heading = 179.801770;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}


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