################################################################################
#
# PURPOSE: Basic Test: Straight and level setpoint at a heading of 225 Degrees
#          
# AUTHOR:  
# DATE:    99/12/23:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 200;
}
behavior dropWeightSafeMode
{
    dropWeightDepth = 30;
    nConsecutive = 5;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 20;        #Meters
  minAltitude  = 20;        #Meters
  abortDepth   = 25;        #Meters
}
#
# Come back up to the surface.  Go straight to avoid fouling the float/tether.
#
behavior ascend 
{
  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 225;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 0;	       #Meters
# dropDescentWeight= true;
# dropAscentWeight = true;
}
#
# Proceed at a depth of 15 meters and heading of 225 degrees for 60 seconds.
#
behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 225;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 15;
  legDuration  = 60;        #Seconds
}
behavior descend 
{
  duration         = 120;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 225;      #Degrees; 
  pitch            = -30;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 13;       #Meters
}
#
# Sequential behaviors begin at the bottom.
#
