################################################################################
#
# PURPOSE: Test the terrain-following feature of the depthEnvelope behavior.
#          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, and rises up to, but is not less than, 30 meters.
# AUTHORS: Initial; rsm
# DATE:    99/12/23:
# MODS:
#
################################################################################
# 
behavior missionTimer
{
	timeOut = 500;
}
#
# Hold an altitude of 25 meters.  This comes into effect 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     = 25;        #Meters
	minAltitude  = 20;        #Meters
	abortDepth   = 30;        #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	 = 180;
	horizontalMode   = rudder;   #Mode
	horizontal       =-10;       #Degrees; 
	pitch            = 30;       #Degrees
	speed            = 1.5;      #Meters/sec
	endDepth         = 0;	       #Meters
	dropDescentWeight= true;
	dropAscentWeight = true;
}
#
# Proceed at a depth <= 15 meters.  The altitude feature of the depth envelope
# should bring the vehicle higher when the bottom is < 40 meters.
#
behavior setpoint
{
	duration     = 180;
	heading      = 270;       #Degrees
	speed        = 1.5;       #Meters/second
	verticalMode = depth;
	depth        = 20;        #Meters
	legDuration  = 180;       #Seconds
}
#
# Descend to 15 meters.
#
behavior descend 
{
	duration 	= 180;
	horizontalMode = heading;
	horizontal     = 270;     #Degrees
	pitch          = -30;     #Degrees
	speed          = 1.5;     #Meters/sec
	maxDepth       = 20;      #Meters
	minAltitude    = 20;      #Meters
}
#
# Launch
#
behavior launch
{
	duration  = 180;
	elevator  = 10;           #Degrees
	speed     = -1.0;         #Meters/sec
	finalDepth= 2;            #Meters
}


