################################################################################
#
# PURPOSE: Test the pitch control of the vehicle.
#          
#          
# AUTHOR:	Gashler
# DATE:    02/16/03
#          
# MODS:
#
################################################################################
behavior missionTimer
{
  timeOut = 900;
}
behavior depthEnvelope
{
minDepth =  0;
maxDepth = 25;
minAltitude = 20;
abortDepth = 30;
}

#
# Come back up to the surface.  
#

behavior ascend {

  duration         = 60;       #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = 10;       #Degrees; 
  pitch            = 15;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;	       #Meters
}

# setpoint under depth control

behavior setpoint
{
duration = 300;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# descend behavior for launch

behavior descend 
{
duration = 90;
horizontalMode = heading;
horizontal = 270;
pitch = -10;
speed = 1.5;
maxDepth = 15; 
}

# setpoint on surface to accelerate to speed.

behavior setpoint
{
duration = 40;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
legDuration = 40;
}

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