# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
# 12 "/home/dorado1/auv/altex/offboard/missionfile.cfg"
behavior missionTimer {
timeOut = 4000;
}


behavior depthEnvelope {
minDepth = 0;
maxDepth = 65;
abortDepth = 70;
minAltitude = 15;
abortAltitude = 10;
}


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


behavior ascend {
duration = 600;
horizontalMode = rudder;
horizontal = 0;
pitch = 0;
speed = 0.0;
endDepth = 2;
}


behavior setpoint {
duration = 480;
heading = 180;
verticalMode = depth;
depth = 30;
speed = 0.6;
}


behavior setpoint {
duration = 480;
heading = 180;
verticalMode = depth;
depth = 30;
speed = 0.8;
}


behavior setpoint {
duration = 480;
heading = 180;
verticalMode = depth;
depth = 30;
speed = 1.0;
}


behavior setpoint {
duration = 480;
heading = 180;
verticalMode = depth;
depth = 30;
speed = 1.2;
}


behavior setpoint {
duration = 480;
heading = 180;
verticalMode = depth;
depth = 30;
speed = 1.5;
}


behavior descend {
horizontalMode = heading;
horizontal = 180;
pitch = -15;
speed = 1.5;
maxDepth = 28;
duration = 300;
}


behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


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