################################################################################
#
# PURPOSE: Test operational speed range of the vehicle.
# AUTHOR:  Gashler
# DATE:    02/17/2003:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
#
behavior missionTimer
{
  timeOut = 1400;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;          #Meters
  maxDepth     = 30;         #Meters
  minAltitude  = 10;          #Meters
  abortDepth   = 35;         #Meters
}

#
# Come back up to the surface.  
#

behavior ascend {

  duration         = 120;       #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = 10;       #Degrees; 
  pitch            = 15;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;	       #Meters
}

#
# Command a constant heading and depth.
#
behavior setpoint
{
  duration     = 180;           #Seconds
  heading      = 270;          #Degrees
  speed        = .5;          #Meters/second
  verticalMode = depth;
  depth        = 25;           #Meters
}

#
# Command a constant heading and depth.
#
behavior setpoint
{
  duration     = 180;           #Seconds
  heading      = 270;          #Degrees
  speed        = .75;          #Meters/second
  verticalMode = depth;
  depth        = 25;           #Meters
}

#
# Command a constant heading and depth.
#
behavior setpoint
{
  duration     = 180;           #Seconds
  heading      = 270;          #Degrees
  speed        = 1.0;          #Meters/second
  verticalMode = depth;
  depth        = 25;           #Meters
}
#
# Command a constant heading and depth.
#
behavior setpoint
{
  duration     = 180;           #Seconds
  heading      = 270;          #Degrees
  speed        = 1.5;          #Meters/second
  verticalMode = depth;
  depth        = 25;           #Meters
}
#
# Command a constant heading and depth.
#
behavior setpoint
{
  duration     = 180;           #Seconds
  heading      = 270;          #Degrees
  speed        = 2.0;          #Meters/second
  verticalMode = depth;
  depth        = 25;           #Meters
}
#
# Command a constant heading and depth.
#
behavior setpoint
{
  duration     = 300;          #Seconds
  heading      = 270;          #Degrees
  speed        = 1.5;          #Meters/second
  verticalMode = depth;
  depth        = 25;           #Meters
}

# descend behavior for launch

behavior descend 
{
duration = 90;
horizontalMode = heading;
horizontal = 270;
pitch = -10;
speed = 1.5;
maxDepth = 15; 
}

# setpoint on surface to accelerate to speed.

behavior setpoint
{
duration = 40;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
legDuration = 40;
}

behavior getgps
{
minHits = 10;
duration = 60;
}
