# 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 = 25;
    abortDepth = 30;
    minAltitude = 20;
    abortAltitude = 10;
}


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


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


behavior reson
{
    duration = 6;
    SBP_Mode = 0;
    LoSS_Mode = 0;
    HiSS_Mode = 0;
    Log_Mode = 0;
}


behavior setpoint
{
    duration = 300;
    heading = 0;
    verticalMode = depth;
    depth = 20;
    speed = 1.5;
}


behavior reson
{
    duration = 6;
    SBP_Power = 20.0;

    LoSS_Power = 20.0;
    LoSS_Range = 400.0;
    LoSS_Rate = 1.0;

    HiSS_Power = 20.0;
    HiSS_Range = 400.0;
    HiSS_Rate = 1.0;
}


behavior setpoint
{
    duration = 300;
    heading = 0;
    verticalMode = depth;
    depth = 20;
    speed = 1.5;
}


behavior reson
{
    duration = 6;
    SBP_Power = 50.0;

    LoSS_Power = 50.0;
    LoSS_Range = 400.0;
    LoSS_Rate = 1.0;

    HiSS_Power = 50.0;
    HiSS_Range = 400.0;
    HiSS_Rate = 1.0;
}


behavior setpoint
{
    duration = 300;
    heading = 0;
    verticalMode = depth;
    depth = 20;
    speed = 1.5;
}


behavior reson
{
    duration = 6;
    SBP_Power = 100.0;

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

    HiSS_Power = 100.0;
    HiSS_Range = 400.0;
    HiSS_Rate = 1.0;
}


behavior reson
{
    duration = 6;
    SBP_Mode = 1;
    LoSS_Mode = 1;
    HiSS_Mode = 1;
    Log_Mode = 1;
}


behavior descend
{
    horizontalMode = heading;
    horizontal = 0;
    pitch = -15;
    speed = 1.5;
    maxDepth = 15;
    duration = 300;
}


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


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