# Manually edited and with translation equivalent to original XML as of time of commit

aggregate StandardEnvelopes {
  arguments {
    MinAltitude = 5 meter
      """
      Minimum height above the sea floor.
      """

    MaxDepth = 200 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 2000 meter
      """
      Minimum distance from the shoreline to maintain
      """
  }

  run in parallel

  # Missions should almost always define vertical plane safety envelopes at a high priority.

  behavior Guidance:AltitudeEnvelope {
    run in parallel

    set minAltitude = MinAltitude
  }

  behavior Guidance:DepthEnvelope {
    run in parallel

    set maxDepth = MaxDepth
  }

  behavior Guidance:OffshoreEnvelope {
    run in parallel

    set minOffshore = MinOffshore
  }
}