# 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 = 2500;
}


behavior depthEnvelope {
minDepth = 0;
maxDepth = 40;
abortDepth = 45;
minAltitude = 15;
abortAltitude = 10;
}

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


behavior ascend {
duration = 600;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}
# 45 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior setpoint {
duration = 600;
heading = 90;
verticalMode = depth;
depth = 30.0;
speed = 1.5;
}


behavior setpoint {
duration = 600;
heading = 90;
verticalMode = depth;
depth = 10.0;
speed = 1.5;
}


behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 8;
duration = 120;
}


behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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