################################################################################
#
# PURPOSE: Test the vehicle's ability to control heading on the surface.
#          Manual launch. then proceed for 60 sec on the surface.
# DATE:    00/5/22:
# NOTES:   
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 480;
}

behavior depthEnvelope
{
  minDepth = 0;
  maxDepth =12; 
  minAltitude = 10;
  abortDepth = 15;
}

# setpoint to mimic ascend
behavior setpoint
{
duration = 30;
heading = 220;
speed = 1.5;
verticalMode = depth;
depth = 2.0;
legDuration = 30;
}
#
# Proceed on the surface for 60 seconds.
#
behavior setpoint
{
  duration     = 300;        #Seconds
  heading      = 220;       #Degrees
  speed        = 1.75;       #Meters/second
  verticalMode = depth;
  depth        = 8.00;         #Meters
  legDuration  = 300;        #Seconds
}
#
#  Forward launch

behavior launch 
{
duration  = 30;
speed = 1.5;
finalDepth = 4;
elevator = 0;
}
