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

behavior missionTimer {
timeOut = 2800;
}


behavior depthEnvelope {
minDepth = 0;
maxDepth = 45;
abortDepth = 50;
minAltitude = 40;
abortAltitude = 20;
}


behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = False;
}


behavior ascend {
duration = 600;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


behavior setpoint {
duration = 600;
heading = 270;
verticalMode = depth;
depth = 40.0;
speed = 1.5;
}




behavior reson6046
{
  duration = 2;
  SBP_Mode = False;
  SBP_Power = 10.0;

  LoSS_Mode = False;
  LoSS_Power = 10.0;
  LoSS_Range = 10.0;
  LoSS_Rate = 10.0;

  HiSS_Mode = False;
  HiSS_Power = 10.0;
  HiSS_Range = 10.0;
  HiSS_Rate = 10.0;

  Log_Mode = False;
}


behavior setpoint {
duration = 600;
heading = 270;
verticalMode = depth;
depth = 40.0;
speed = 1.5;
}





behavior reson6046
{
  duration = 2;
  SBP_Mode = True;
  SBP_Power = 100.0;

  LoSS_Mode = True;
  LoSS_Power = 100.0;
  LoSS_Range = 400.0;
  LoSS_Rate = 1.0;

  HiSS_Mode = True;
  HiSS_Power = 100.0;
  HiSS_Range = 400.0;
  HiSS_Rate = 1.0;

  Log_Mode = True;
}


behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -15;
speed = 1.5;
maxDepth = 20;
duration = 300;
}


behavior setpoint {
duration = 30;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}