################################################################################
#
# PURPOSE: Basic Test: 
#          
# AUTHOR:  
# DATE:    99/12/23:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 3000;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 60;        #Meters
  minAltitude  = 5;         #Meters
  abortDepth   = 65;        #Meters
}
#
# Come back up to the surface.  Go straight to avoid fouling the float/tether.
#
behavior ascend 
{
  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 90;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = .1;       #Meters
}
# Initial vehicle location {4066375.5, 599958.3, 0.};
# Test location 100 m south of the transponder.
#    northing     = 4066275.5;
#    easting      = 599658.3;
# double trans_N[3] = {4066375.5, 599658.3, 0.};
#    northing     = 4066375.5;
#    easting      = 599658.3;
# double trans_N[3] = {4066475.5, 599658.3, 0.};
behavior waypoint
{
    northing     = 4066375.5;
    easting      = 599958.3;
    duration     = 1200; 
    depth        = 25;
    speed        = 1.5;
}
behavior waypoint
{
    northing     = 4066375.5;
    easting      = 598608.3;
    duration     = 1200; 
    depth        = 25;
    speed        = 1.5;
}
behavior descend 
{
  duration         = 120;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = -30;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 23;       #Meters
}
#
# Sequential behaviors begin at the bottom.
#
