# 1 "speedsteps.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "speedsteps.cfg"
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behavior missionTimer
{
  timeOut = 2000;
}



behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 30; #Meters
  minAltitude = 10; #Meters
  abortDepth = 35; #Meters
}

behavior getgps
{
minHits = 10;
duration = 60;
}
# 40 "speedsteps.cfg"
behavior ascend {



  duration = 120; #Seconds

  horizontalMode = rudder; #Mode

  horizontal = 10; #Degrees;

  pitch = 15; #Degrees

  speed = 1.5; #Meters/sec

  endDepth = 2; #Meters

}





behavior setpoint
{
  duration = 180; #Seconds
  heading = 90; #Degrees
  speed = .5; #Meters/second
  verticalMode = depth;
  depth = 25; #Meters
}




behavior setpoint
{
  duration = 180; #Seconds
  heading = 90; #Degrees
  speed = .75; #Meters/second
  verticalMode = depth;
  depth = 25; #Meters
}




behavior setpoint
{
  duration = 180; #Seconds
  heading = 90; #Degrees
  speed = 1.0; #Meters/second
  verticalMode = depth;
  depth = 25; #Meters
}



behavior setpoint
{
  duration = 180; #Seconds
  heading = 90; #Degrees
  speed = 1.5; #Meters/second
  verticalMode = depth;
  depth = 25; #Meters
}



behavior setpoint
{
  duration = 180; #Seconds
  heading = 90; #Degrees
  speed = 2.0; #Meters/second
  verticalMode = depth;
  depth = 25; #Meters
}



behavior setpoint
{
  duration = 300; #Seconds
  heading = 90; #Degrees
  speed = 1.5; #Meters/second
  verticalMode = depth;
  depth = 25; #Meters
}



behavior descend
{
duration = 90;
horizontalMode = heading;
horizontal = 90;
pitch = -10;
speed = 1.5;
maxDepth = 15;
}



behavior setpoint
{
duration = 40;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
legDuration = 40;
}

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