################################################################################
#
# PURPOSE: Launch, then proceed for 120 seconds 5 m depth then come back.
#          then ascend.
# DATE:    00/5/22
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 400;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 10;        #Meters
  minAltitude  = 10;        #Meters
  abortDepth   = 15;        #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         = 60;       #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       =-10;       #RUDDER; Degrees; 
  pitch            = 30;       #VEHICLE Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 0;	       #Meters
  dropDescentWeight= true;
  dropAscentWeight = true;
}
#
# Proceed at a depth of 5 meters and heading of 270 degrees for 60 seconds.
#
behavior setpoint
{
  duration     = 240;       #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 5;         #Meters
  legDuration  = 120;        #Seconds
  headingInc   = 180;        #Deg
  maxLegs      = 1;         #Two legs total (C not Fortran!)
}
#
# Launch
#
behavior launch
{
  duration  = 60;           #Seconds
  elevator  = 10;           #Degrees
  speed     = -1.0;         #Meters/sec
  finalDepth= 2;            #Meters
}
#
# Sequential behaviors begin at the bottom.
#

