# 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 = 6000;
}


behavior depthEnvelope {
minDepth = 0;
maxDepth = 255;
abortDepth = 260;
 minAltitude = 15;

}


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


behavior ascend {
duration = 1500;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


behavior yoyo {
duration = 3200;
minDepth = 3;
maxDepth = 250;
minAltitude = 20;
maxCycles = 100;
}


behavior waypoint {
latitude = 36.722;
longitude = -122.2007;
captureRadius = 10;
duration = 3200;

speed = 1.5;
}

behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -15;
speed = 1.5;
maxDepth = 5;
duration = 60;
}


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


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