################################################################################
#
# PURPOSE: Launch, descend to 10 m, then ascend.
# DATE:    00/8/1
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 240;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 15;        #Meters
  minAltitude  = 20;        #Meters
  abortDepth   = 18;        #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;       #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 0;	       #Meters
  dropDescentWeight= true;
  dropAscentWeight = true;
}
#
# Proceed at a depth of 5 meters, incrementing heading 10 Deg @ 10 Sec.
#
behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 10;        #Meters
}
#
# Descend at a constant heading of 270.
#
behavior descend {

  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = -30;      #Degrees
  speed            = 1.5;      #Meters/sec
  minAltitude      = 20;       #Meters
  maxDepth         = 10;       #Meters
}
#
# Launch
#
behavior launch
{
  duration  = 60;           #Seconds
  elevator  = 10;           #Degrees
  speed     = -1.0;         #Meters/sec
  finalDepth= 2;            #Meters
}
#
# Sequential behaviors begin at the bottom.
#
