################################################################################
#
# 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 Reson 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     = 120;       #Seconds
  heading      = 220.0;       #Degrees; Lab
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
}

#
#
# SBP only has mode and Power. Log only has mode.
#
behavior reson
{
  duration = 6;

  SBP_Mode  = 0;
  LoSS_Mode = 0;
  HiSS_Mode = 0;
  Log_Mode  = 0;
}

behavior setpoint
{
  duration     = 30;       #Seconds
  heading      = 220.0;       #Degrees; Lab
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
}

behavior reson
{
  duration = 6;

  SBP_Power = 10.0;

  LoSS_Power = 20.0;
  LoSS_Range = 20.0;
  LoSS_Rate  = 20.0;

  HiSS_Power = 30.0;
  HiSS_Range = 30.0;
  HiSS_Rate  = 30.0;
}

#
# SBP only has mode and Power. Log only has mode.
#
behavior reson
{
  duration = 6;

  SBP_Mode  = 1;
  LoSS_Mode = 1;
  HiSS_Mode = 1;
  Log_Mode  = 1;
}

