# 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 = 1400;
}


behavior depthEnvelope {
minDepth = 0;
maxDepth = 12;
abortDepth = 15;
minAltitude = 5;
abortAltitude = 3;
}


behavior getgps {
duration = 60;
minHits = 5;
abortOnTimeout = False;
}


behavior ascend {
duration = 120;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


 behavior setpoint {
 duration = 180;
 heading = 360;
 verticalMode = depth;
 depth = 10;
 speed = 1.5;
 }


 behavior setpoint {
 duration = 300;
 heading = 180;
 verticalMode = depth;
 depth = 10;
 speed = 1.5;
 }


behavior descend {
horizontalMode = heading;
horizontal = 180;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


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


behavior getgps {
duration = 120;
minHits = 10;
abortOnTimeout = False;
}