# 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 = 1000;
}



behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 12; #Meters
  minAltitude = 5; #Meters
  abortDepth = 15; #Meters
}

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

behavior ascend {

  duration = 120; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -10; #Degrees;
  pitch = 15; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}





behavior waypoint_homing
{
latitude = 36.91097;
longitude = -121.88935;
duration = 400;
depth = 10;
speed = 1.5;
captureRadius = 20.;
}

behavior waypoint
{
latitude = 36.91297;
longitude = -121.89335;
duration = 400;
depth = 10;
speed = 1.5;
}



behavior descend
{
duration = 90;
horizontalMode = heading;
horizontal = 270;
pitch = -10;
speed = 1.5;
maxDepth = 9;
}



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

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