################################################################################
#
# PURPOSE: Run the vehicle at 0 depth at the heading as it is oriented
#          by the bench.  Remember to Turn off the pitch and heading 
#          integrators. Test basic Delta-T functions.
# DATE:    04/05/11
# NOTES:   
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2000;
}


#
# Proceed at a depth of 0 meters and heading of 93 degrees for 120 seconds.
#
behavior setpoint
{
  duration     = 60;       #Seconds
  heading      = 220.0;       #Degrees; Lab
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
}

#
#
# Log mode Off on the Fwd sonar
#
behavior delta_t
{
  duration = 6;
  sonar = 0;           # Specify Fwd sonar
  logMode  = 0;
}

behavior setpoint
{
  duration     = 20;       #Seconds
  heading      = 220.0;       #Degrees; Lab
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
}

#
# Log mode On on both sonars (no sonar specified)
#
behavior delta_t
{
  duration = 6;
  logMode  = 1;
}

behavior setpoint
{
  duration     = 20;       #Seconds
  heading      = 220.0;       #Degrees; Lab
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
}

#
# Log mode Off on both sonars (no sonar specified)
#
behavior delta_t
{
  duration = 6;
  logMode  = 0;
}
