################################################################################
#
# PURPOSE: Basic Test: 
#          
# AUTHOR:  
# DATE:    99/12/23:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 300;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 300;       #Meters
  minAltitude  = 50;        #Meters
  abortDepth   = 290;       #Meters
}
#
# Come back up to the surface.  Go straight to avoid fouling the float/tether.
#
behavior ascend 
{
  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 90;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = .1;       #Meters
}
#
# Turn more easterly and go 1077 meters up the axis to d approx 270.
# 
#
behavior waypoint
{
    northing     = 4072200;
    easting      =  603600;
    duration     = 800; 
    depth        = 280;
    speed        = 1.5;
}
#
# Initial vehicle location {4073250.,602000.}, depth about 340.  This is the
# west end of the canyon map 20070618Topo1m.grd.  Go 885 meters up the
# canyon to approx. d = 320
#
behavior waypoint
{
    northing     = 4072600;
    easting      =  602600;
    duration     = 700; 
    depth        = 280;
    speed        = 1.5;
}
behavior descend 
{
  duration         = 120;      #Seconds TOO SHORT - set i.c. at depth.
  horizontalMode   = heading;  #Mode
  horizontal       = 90;      #Degrees; 
  pitch            = -30;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 270;      #Meters
}
#
# Sequential behaviors begin at the bottom.
#
