# 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 = 1200;
}


behavior depthEnvelope {
minDepth = 0;
maxDepth = 50;
abortDepth = 60;
 minAltitude = 40;
 abortAltitude = 10;
}


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


behavior ascend {
duration = 200;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


behavior setpoint {
duration = 600;
heading = 190;
speed = 1.5;
verticalMode = depth;
depth = 20.0;
}


behavior descend {
horizontalMode = heading;
horizontal = 190;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 50;
duration = 60;
}


behavior setpoint {
duration = 30;
heading = 190;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


behavior getgps {
duration = 300;
minHits = 120;
abortOnTimeout = True;
}