################################################################################
#
# PURPOSE: Basic Test
#          
# AUTHOR:  
# DATE:    99/12/23:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 310;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 20;        #Meters
  minAltitude  = 20;        #Meters
  abortDepth   = 25;        #Meters
}
#
# Zigzag
#
behavior zigzag
{
  duration         = 300;       #Seconds
  heading          = 5;         #Degrees
  headingDeviation = 20;        #Degrees
  speed            = 1.5;       #Meters/second
  verticalMode     = depth;
  depth            = 0;
  rudder           = 10;        #Degrees
  cycles           = 6;
}
#
# Proceed at a depth of 1 meter and heading of 225 degrees for 60 seconds.
#
behavior setpoint
{
  duration     = 10;        #Seconds
  heading      = 5  ;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 0;
  legDuration  = 10;        #Seconds
}
#
# Sequential behaviors begin at the bottom.
#
