################################################################################
#
# PURPOSE: One hour dry lab mission.
# AUTHOR:  rsm
# DATE:    00/1/13
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 4000;
}
#
# 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            = 0.0;      #Meters/sec
  endDepth         = 0;	       #Meters
  dropDescentWeight= true;
  dropAscentWeight = true;
}
#
# Proceed at a depth of 0 meters and heading of 93 degrees for 3600 seconds.
#
behavior setpoint
{
  duration     = 3600;        #Seconds
  heading      = 93;          #Degrees
  speed        = 1.0;         #Meters/second
  verticalMode = depth;
  depth        = 0;           #Meters
  legDuration  = 3600;        #Seconds
  maxLegs      = 0;
}
#
# Proceed at a depth of 0 meters and heading of 93 degrees for 60 seconds.
#
behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 93;        #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 0;         #Meters
  legDuration  = 60;        #Seconds
  maxLegs      = 0;
}
#
# Launch
#
behavior launch
{
  duration  = 60;           #Seconds
  elevator  = -10;           #Degrees
  speed     = -1.0;         #Meters/sec
  finalDepth= 2;            #Meters
}
#
# Sequential behaviors begin at the bottom.
#

