################################################################################
#
# PURPOSE: Test the vehicle's ability to control heading on the surface.
#          Manual launch. then proceed for 60 sec on the surface.
#          Use descend behavior for launch
# DATE:    00/5/22:
#          
# MODS:
#
# 
behavior missionTimer
{
  timeOut = 580;
}
behavior depthEnvelope
{
minDepth =  0;
maxDepth = 15;
minAltitude = 10;
abortDepth = 20;
}
# setpoint under depth control

behavior setpoint
{
duration = 360;
heading = 250;
speed = 2.00;
verticalMode = depth;
depth = 8;
legDuration = 360;
}

# setpoint under pitch control

behavior setpoint
{
duration = 60;
heading = 250;
speed = 2.00;
verticalMode = pitch;
pitch = 0;
legDuration = 60;
}

# descend behavior for launch

behavior descend 
{
duration = 90;
horizontalMode = heading;
horizontal = 250;
pitch = -10;
speed = 2.00;
maxDepth = 10;
minAltitude = 10;
}

# setpoint on surface to accelerate to speed.

behavior setpoint
{
duration = 40;
heading = 250;
speed = 2.00;
verticalMode = pitch;
pitch = 0;
legDuration = 40;
}
