################################################################################
#
# PURPOSE: Launch, then proceed at a fixed heading for 2 min, at 15 m depth.
#          Then force rudder angle of deltaR deg for 1 min, 15 m depth.  Repeat
#          for a rudder angle of -deltaR deg.
# AUTHOR:
# DATE:    01/05/30:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
#
behavior missionTimer
{
  timeOut = 720;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 20;         #Meters
  minAltitude  = 10;        #Meters
  abortDepth   = 30;         #Meters
}
#
# Come back up to the surface.
#
behavior ascend {

  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 130;      #Degrees;
  pitch            = 15;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;        #Meters
}
#
# Zigzag
#
behavior zigzag
{
  duration         = 300;       #Seconds
  heading          = 130;       #Degrees
  headingDeviation = 20;        #Degrees
  speed            = 1.5;       #Meters/second
  verticalMode     = depth;
  depth            = 15;
  rudder           = 5;         #Degrees
  cycles           = 6;
}
#
# Command a constant heading and depth.
#
behavior setpoint
{
  duration     = 180;           #Seconds
  heading      = 130;          #Degrees
  speed        = 1.5;          #Meters/second
  verticalMode = depth;
  depth        = 15;           #Meters
}
#
# Use descend behavior instead of launch to maintain pitch control.
#
behavior descend {

  duration         = 90;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 130;      #Degrees;
  pitch            = -15;      #Degrees
  speed            = 1.5;      #Meters/sec
  minAltitude      = 3;        #Meters
  maxDepth         = 15;       #Meters
}

behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 130;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;       #Meters
  legDuration  = 60;        #Seconds
}
