# 1 "trackpointTest.cfg"
# 1 "<built-in>"
# 1 "<command line>"
# 1 "trackpointTest.cfg"
################################################################################
# 11 "trackpointTest.cfg"
################################################################################
behavior missionTimer
{
  timeOut = 1200;
}

behavior depthEnvelope
{
minDepth = 0;
maxDepth = 35;
minAltitude = 20;
abortDepth = 40;
}

behavior getgps
{
minHits = 10;
duration = 60;
}
# 39 "trackpointTest.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 = 300;
heading = 90;
speed = 1.5;
verticalMode = depth;
depth = 20;
}



behavior setpoint
{
duration = 300;
heading = 270;
speed = 1.5;
verticalMode = depth;
depth = 20;
}



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;
}