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

behavior missionTimer
{
  timeOut = 1000;
}



behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 15; #Meters
  minAltitude = 10; #Meters
  abortDepth = 20; #Meters
}




behavior ascend {

  duration = 60; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 0.0; #Degrees;
  pitch = 15; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}




behavior setpoint
{
  duration = 120; #Seconds
  heading = 0; #Degrees
  speed = 1.5; #Meters/second
  verticalMode = depth;
  depth = 15; #Meters
}


behavior descend {

  duration = 90; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 0; #Degrees;
  pitch = -5; #Degrees
  speed = 1.5; #Meters/sec
  minAltitude = 3; #Meters
  maxDepth = 5; #Meters
}

behavior setpoint
{
  duration = 60; #Seconds
  heading = 0; #Degrees
  speed = 1.5; #Meters/second
  verticalMode = depth;
  depth = 0.0; #Meters
  legDuration = 60; #Seconds
}