################################################################################
#
# PURPOSE: Launch, then proceed at a fixed heading for 2 min, at 15 m depth.
#		Then force rudder angle of n deg for 2 min, 15 m depth.  Finish with another
#           2 minute setpoint at the initial heading.
# AUTHOR:  
# DATE:    01/05/30:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 1800;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 225; #Meters
  minAltitude = 10; #Meters
  abortDepth = 20; #Meters
}
#
# Come back up to the surface.  
#
behavior ascend {
  duration = 600; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 90; #Degrees; 
  pitch = 15; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}
behavior setpoint
{
  duration = 300; #Seconds
  heading = 90; #Degrees
  speed = 1.5; #Meters/second
  verticalMode = depth;
  depth = 200; #Meters
}
behavior setpoint
{
  duration = 300; #Seconds
  heading = 90; #Degrees
  speed = 1.5; #Meters/second
  verticalMode = depth;
  depth = 190; #Meters
}
behavior setpoint
{
  duration = 300; #Seconds
  heading = 90; #Degrees
  speed = 1.5; #Meters/second
  verticalMode = depth;
  depth = 200; #Meters
}
#
# Command a heading of 200 for 2 min @ 5 m depth
#
behavior setpoint
{
  duration = 240; #Seconds
  heading = 90; #Degrees
  speed = 1.5; #Meters/second
  verticalMode = depth;
  depth = 200; #Meters
}
# Use descend behavior instead of launch to maintain pitch control.
behavior descend {
  duration = 90; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 0; #Degrees; 
  pitch = -5; #Degrees
  speed = 1.5; #Meters/sec
  minAltitude = 3; #Meters
  maxDepth = 5; #Meters
}
behavior setpoint
{
  duration = 60; #Seconds
  heading = 0; #Degrees
  speed = 1.5; #Meters/second
  verticalMode = depth;
  depth = 0.0; #Meters
  legDuration = 60; #Seconds
}