################################################################################
#
# 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:
#          
# MODS:
#
# 
behavior missionTimer
{
  timeOut = 360;
}
behavior depthEnvelope
{
minDepth =  0;
maxDepth = 15;
minAltitude = 10;
abortDepth = 20;
}
# setpoint under depth control
behavior setpoint
{
duration = 180;
heading = 70;
speed = 1.5;
verticalMode = depth;
depth = 8;
legDuration = 180;
}

#
# Proceed on the surface for 60 seconds.
#
behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 70;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = pitch;
  pitch        = 0;         #Meters
  legDuration  = 60;        #Seconds
}
behavior launch
{
duration = 30;
elevator = 2;
speed = 1.5;
finalDepth = 6;
}
behavior setpoint
{
duration = 30;
heading = 70;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
legDuration = 30;
}
