################################################################################
#
# PURPOSE: Test bottom-terminated yo-yos.
#          This test should be initiated in approximately 40 meters of water.
#          The vehicle should be sent in a direction where the depth doesn't 
#          exceed 40 meters, or become less than 30 meters.
# AUTHORS: Initial; rsm
# DATE:    99/12/23:
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 600;
}
#
# Hold an altitude of 25 meters.  This happens when the bottom is less than
# 40 meters, given that the max allowable depth specified here is 20 meters.
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 20;        #Meters
  minAltitude  = 20;        #Meters
  abortDepth   = 20;        #Meters
}
#
# Come back up to the surface.  The rudder angle is -10 Degrees so
# that this behavior may be distinguished from the abort behavior,
# which has +10 degrees rudder.
#
behavior ascend 
{
  duration         = 120;
  horizontalMode   = rudder;   #Mode
  horizontal       =-10;       #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 0;	       #Meters
  dropDescentWeight= true;
  dropAscentWeight = true;
}
#
# Yo-yo behavior; it over-rides the depth component of the following setpoint.
#
behavior yoyo 
{
  duration       = 180;
  minDepth       = 3;       #Meters
  maxDepth       = 15;      #Meters
  minAltitude    = 30;
  maxCycles      = 100;
}
#
# Proceed at a depth of 15 meters.  The altitude feature of the depth envelope
# should bring the vehicle higher if the bottom is < 40 meters
#
behavior setpoint
{
  duration     = 180;
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
}
#
# Descend to 15 meters.
#
behavior descend 
{
  duration       = 120;
  horizontalMode = heading;
  horizontal     = 270;     #Degrees
  pitch          = -30;     #Degrees
  speed          = 1.5;     #Meters/sec
  maxDepth       = 10;      #Meters
  minAltitude    = 25;      #Meters
}
#
# Launch
#
behavior launch
{
  duration  = 60;
  elevator  = 10;           #Degrees
  speed     = -1.0;         #Meters/sec
  finalDepth= 2;            #Meters
}
