################################################################################
#
# PURPOSE: Simulate wall following.  Check Rock's family of ic sim runs.
#          
# AUTHOR:  rsm
# DATE:    9 Oct 2013
# NOTE:    Sequential behaviors are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 7200;
}
 behavior setRudder
{
    duration     = 7200;
    depth        = 0.0;
    speed        = 0.0;    
    rudder       = 0.0;
}
# Set Reson logging on 
behavior reson 
{ 
duration  = 6; 
Log_Mode  = 2; 
} 
# Set sonar parameters, turn pinging on, power zero and logging off 
# 
behavior reson 
{ 
duration  = 6; 
MB_Mode  = 1; 
Log_Mode  = 0; 
SBP_Mode = 0; 
SBP_Power = 0.0; 
SBP_Gain = 128.0; 
SBP_Duration = 300.000; 
LoSS_Mode = 0; 
LoSS_Power = 0.0; 
LoSS_Range = 200.00; 
HiSS_Mode = 0; 
HiSS_Power = 0.0; 
HiSS_Range = 200; 
MB_Power = 218; 
MB_Range = 200.00; 
MB_Rate = 3; 
MB_Gain = 33; 
MB_Sound_Velocity = 0.0; 
MB_Pulse_Width = 0.001000; 
MB_Bottom_Detect_Filter_Min_Range = 15; 
MB_Bottom_Detect_Filter_Max_Range = 200.00; 
MB_Bottom_Detect_Filter_Min_Depth = 0.00; 
MB_Bottom_Detect_Filter_Max_Depth = 200.00; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 0; 
Snippet_Mode = 1; 
Window_Size = 200; 
Log_Mode = 0; 
} 

#
# Sequential behaviors begin at the bottom.
#