# 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 = 9000;
}


behavior depthEnvelope {
minDepth = 0; #Meters
maxDepth = 1010; #Meters
minAltitude = 40; #Meters
abortDepth = 1100; #Meters
}

 behavior getgps
{
minHits = 10;
duration = 300;
}



behavior ascend
{
duration = 3600; #Seconds
horizontalMode = rudder; #Mode
horizontal = 5; #Degrees;
pitch = 20; #Degrees
speed = 1.5; #Meters/sec
endDepth = 2; #Meters
}



behavior setpoint
{
duration = 180;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}


behavior descend {
duration = 3600; #Seconds
horizontalMode = rudder; #Mode
horizontal = 5; #Degrees;
pitch = -20; #Degrees
speed = 1.5; #Meters/sec
maxDepth = 1000; #Meters
minAltitude = 50; #Meters
}



behavior descend
{
duration = 90;
horizontalMode = heading;
horizontal = 270;
pitch = -15;
speed = 1.5;
maxDepth = 5;
}



behavior setpoint
{
duration = 30;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps
{
minHits = 10;
duration = 60;
}