# 1 "spiralDescent200.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "spiralDescent200.cfg"
################################################################################
# 11 "spiralDescent200.cfg"
################################################################################

behavior missionTimer
{
  timeOut = 2000;
}
# 26 "spiralDescent200.cfg"
behavior depthEnvelope

{

  minDepth = 0; #Meters

  maxDepth = 210; #Meters

  minAltitude = 40; #Meters

  abortDepth = 220; #Meters

}




 behavior getgps
{
minHits = 10;
duration = 300;
}
# 57 "spiralDescent200.cfg"
behavior ascend {



  duration = 700; #Seconds

  horizontalMode = rudder; #Mode

  horizontal = 5; #Degrees;

  pitch = 15; #Degrees

  speed = 1.5; #Meters/sec

  endDepth = 2; #Meters

}





behavior descend {



  duration = 700; #Seconds

  horizontalMode = rudder; #Mode

  horizontal = 5; #Degrees;

  pitch = -15; #Degrees

  speed = 1.5; #Meters/sec

  maxDepth = 200; #Meters

  minAltitude = 50; #Meters
}




behavior descend
{
duration = 90;
horizontalMode = heading;
horizontal = 270;
pitch = -10;
speed = 1.5;
maxDepth = 15;
}



behavior setpoint
{
duration = 40;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
legDuration = 40;
}

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