################################################################################
#
# PURPOSE: Run the vehicle at 0 depth at the heading as it is oriented
#          by the bench.  Remember to Turn off the pitch and heading 
#          integrators.
# DATE:    00/1/12
# NOTES:   
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2000;
}
behavior edgetech
{
  duration     = 10;

  Log_Mode     = 0;  #Server Log Setting
  
  Get_Updates  = 0; #Do not interrogate after property change.

  Storage_Mode = 0;
 
  #Subbottom settings
  SBP_Mode      = 0;  #enable sub-bottom
  SBP_Power     = 100.0; #%
  SBP_Gain      = 1.0;   #recv gain {pow of 2 <=1024} 
  SBP_Duration 	= 100.0; #millisec
  SBP_PulseFile = 216Pulse_5k_9k_20ms.spf;
  
  LoSS_Mode	= 0;  #enable lo-freq ss
  LoSS_Power   	= 100.0;  #%
  LoSS_Range    = 100;  #meters, WARNING setting range resets rate
#  LoSS_Rate     = 0.5;  #PPS, WARNING setting rate resets range
  LoSS_PulseFile  = SLM_120_2_SIMULATOR.spf;  
  

  HiSS_Mode     = 0; #enable hi-freq ss
  HiSS_Power   	= 100.0;  #%
  HiSS_Range   	= 200.0;  #meters, WARNING setting range resets rate
#  HiSS_Rate    	= 0.5;  #PPS, WARNING setting rate resets range
  HiSS_PulseFile  = SHM_410_2_SIMULATOR.spf;  #
  
}

#
#

# Proceed at a depth of 0 meters and heading of 93 degrees for 120 seconds.
behavior setpoint {
  duration     = 20;       #Seconds
  heading      = 35.0;       #Degrees; Lab
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
}

behavior edgetech
{
  duration     = 10;

  Log_Mode     = 0;  #Server Log Setting
  
  Get_Updates  = 0; #Do not interrogate after property change.

  Storage_Mode = 1;
 
  #Subbottom settings
  SBP_Mode      = 1;  #enable sub-bottom
  SBP_Power     = 50.0; #%
  SBP_Gain      = 2.0;   #recv gain {pow of 2 <=1024} 
  SBP_Duration 	= 100.0; #millisec
  SBP_PulseFile = 216Pulse_9k_14k_20ms.spf;
  
  LoSS_Mode	= 1;  #enable lo-freq ss
  LoSS_Power   	= 50.0;  #%
  LoSS_Range    = 150;  #meters, WARNING setting range resets rate
  #LoSS_Rate     = 1;  #PPS, WARNING setting rate resets range
  LoSS_PulseFile  = ss_120_8_3_fm.spf;  
  

  HiSS_Mode     = 1; #enable hi-freq ss
  HiSS_Power   	= 50.0;  #%
  HiSS_Range   	= 200.0;  #meters, WARNING setting range resets rate
  #HiSS_Rate    	= 1;  #PPS, WARNING setting rate resets range
  HiSS_PulseFile  = ss_421_2_4_fm.spf;  #
  
}
