# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 63 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
#######################################################



behavior missionTimer
{
timeOut = 6547;
}


behavior depthEnvelope
{
minDepth = 0;
maxDepth = 500.000000;
abortDepth = 525.000000;
minAltitude = 18.000000;
abortAltitude = 10.000000;
}
#######################################################




behavior getgps
{
duration = 600;
minHits = 60;
abortOnTimeout = True;
}


behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 10.000000;
pitch = 20.000000;
speed = 1.500000;
endDepth = 2.000000;
}



behavior reson
{
duration = 6;
SBP_Mode = 0;
LoSS_Mode = 0;
HiSS_Mode = 0;
Log_Mode = 0;
}
#######################################################
# 124 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.847213;
longitude = -122.129507;
captureRadius = 10;
duration = 120;
initialDepth = 80.255371;
finalDepth = 80.255371;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.75;
MB_Bottom_Detect_Filter_Max_Range = 60.00;
MB_Bottom_Detect_Filter_Min_Depth = 18.75;
MB_Bottom_Detect_Filter_Max_Depth = 32.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
#######################################################
# 171 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.846803;
longitude = -122.130379;
captureRadius = 10;
duration = 142;
initialDepth = 80.856294;
finalDepth = 80.255371;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.11;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.78;
MB_Bottom_Detect_Filter_Max_Range = 60.11;
MB_Bottom_Detect_Filter_Min_Depth = 18.78;
MB_Bottom_Detect_Filter_Max_Depth = 32.56;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
#######################################################
# 218 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.846317;
longitude = -122.131411;
captureRadius = 10;
duration = 121;
initialDepth = 81.193283;
finalDepth = 80.856294;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.77;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.99;
MB_Bottom_Detect_Filter_Max_Range = 60.77;
MB_Bottom_Detect_Filter_Min_Depth = 18.99;
MB_Bottom_Detect_Filter_Max_Depth = 32.92;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
#######################################################
#######################################################
# 266 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.845608;
longitude = -122.130888;
captureRadius = 10;
duration = 74;
initialDepth = 80.859042;
finalDepth = 81.193283;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.78;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 18.99;
MB_Bottom_Detect_Filter_Max_Range = 60.78;
MB_Bottom_Detect_Filter_Min_Depth = 18.99;
MB_Bottom_Detect_Filter_Max_Depth = 32.92;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
#######################################################
# 313 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.845346;
longitude = -122.131424;
captureRadius = 10;
duration = 138;
initialDepth = 80.925157;
finalDepth = 80.859042;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 60.94;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.04;
MB_Bottom_Detect_Filter_Max_Range = 60.94;
MB_Bottom_Detect_Filter_Min_Depth = 19.04;
MB_Bottom_Detect_Filter_Max_Depth = 33.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
#######################################################
# 360 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.844861;
longitude = -122.132419;
captureRadius = 10;
duration = 124;
initialDepth = 81.567929;
finalDepth = 80.925157;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.78;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.31;
MB_Bottom_Detect_Filter_Max_Range = 61.78;
MB_Bottom_Detect_Filter_Min_Depth = 19.31;
MB_Bottom_Detect_Filter_Max_Depth = 33.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
#######################################################
#######################################################
# 408 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.845608;
longitude = -122.132904;
captureRadius = 10;
duration = 88;
initialDepth = 81.037279;
finalDepth = 81.567929;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.78;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.31;
MB_Bottom_Detect_Filter_Max_Range = 61.78;
MB_Bottom_Detect_Filter_Min_Depth = 19.31;
MB_Bottom_Detect_Filter_Max_Depth = 33.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
#######################################################
# 455 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.845907;
longitude = -122.132260;
captureRadius = 10;
duration = 137;
initialDepth = 81.002300;
finalDepth = 81.037279;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.36;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.17;
MB_Bottom_Detect_Filter_Max_Range = 61.36;
MB_Bottom_Detect_Filter_Min_Depth = 19.17;
MB_Bottom_Detect_Filter_Max_Depth = 33.23;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
# 501 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.846370;
longitude = -122.131261;
captureRadius = 10;
duration = 138;
initialDepth = 80.867776;
finalDepth = 81.002300;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.36;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.17;
MB_Bottom_Detect_Filter_Max_Range = 61.36;
MB_Bottom_Detect_Filter_Min_Depth = 19.17;
MB_Bottom_Detect_Filter_Max_Depth = 33.23;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
# 547 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.846837;
longitude = -122.130253;
captureRadius = 10;
duration = 138;
initialDepth = 80.246349;
finalDepth = 80.867776;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.77;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.30;
MB_Bottom_Detect_Filter_Max_Range = 61.77;
MB_Bottom_Detect_Filter_Min_Depth = 19.30;
MB_Bottom_Detect_Filter_Max_Depth = 33.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
# 593 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.847305;
longitude = -122.129245;
captureRadius = 10;
duration = 138;
initialDepth = 79.577264;
finalDepth = 80.246349;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.77;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.30;
MB_Bottom_Detect_Filter_Max_Range = 61.77;
MB_Bottom_Detect_Filter_Min_Depth = 19.30;
MB_Bottom_Detect_Filter_Max_Depth = 33.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
# 639 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.847773;
longitude = -122.128237;
captureRadius = 10;
duration = 138;
initialDepth = 79.310270;
finalDepth = 79.577264;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 61.22;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.13;
MB_Bottom_Detect_Filter_Max_Range = 61.22;
MB_Bottom_Detect_Filter_Min_Depth = 19.13;
MB_Bottom_Detect_Filter_Max_Depth = 33.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
# 685 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.848240;
longitude = -122.127229;
captureRadius = 10;
duration = 138;
initialDepth = 78.535602;
finalDepth = 79.310270;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.15;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.42;
MB_Bottom_Detect_Filter_Max_Range = 62.15;
MB_Bottom_Detect_Filter_Min_Depth = 19.42;
MB_Bottom_Detect_Filter_Max_Depth = 33.66;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
# 731 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.848708;
longitude = -122.126221;
captureRadius = 10;
duration = 138;
initialDepth = 77.629936;
finalDepth = 78.535602;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.18;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.43;
MB_Bottom_Detect_Filter_Max_Range = 62.18;
MB_Bottom_Detect_Filter_Min_Depth = 19.43;
MB_Bottom_Detect_Filter_Max_Depth = 33.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

#######################################################
# 777 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.849176;
longitude = -122.125213;
captureRadius = 10;
duration = 148;
initialDepth = 77.304413;
finalDepth = 77.629936;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################






behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 200.00;
MB_Range = 62.18;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.43;
MB_Bottom_Detect_Filter_Max_Range = 62.18;
MB_Bottom_Detect_Filter_Min_Depth = 19.43;
MB_Bottom_Detect_Filter_Max_Depth = 33.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Log_Mode = 1;
}

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

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


behavior reson
{
duration = 6;
Log_Mode = 1;
}






behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Gain = 64.0;
SBP_Duration = 450.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 200.00;
HiSS_Mode = 0;
HiSS_Power = 0.0;
HiSS_Range = 200;
MB_Power = 220;
MB_Range = 62.02;
MB_Rate = 2;
MB_Gain = 80;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.38;
MB_Bottom_Detect_Filter_Max_Range = 62.02;
MB_Bottom_Detect_Filter_Min_Depth = 19.38;
MB_Bottom_Detect_Filter_Max_Depth = 33.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Snippet_Mode = 0;
Window_Size = 0;
Log_Mode = 0;
}

#######################################################
# 868 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior waypoint_depth
{
latitude = 36.849678;
longitude = -122.124130;
captureRadius = 10;
duration = 1200;
initialDepth = 77.304413;
finalDepth = 77.304413;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
#######################################################



behavior descend
{
horizontalMode = heading;
horizontal = 61.0;
pitch = -15.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 18.000000;
duration = 300;
}


behavior setpoint
{
duration = 30;
heading = 61.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}


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