################################################################################
#
# 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 = 11000;
}
 behavior setRudder
{
    duration = 10800;
    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;
LoSS_Mode = 0;
HiSS_Mode = 0;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 33;
MB_Sound_Velocity = 1432.0;
MB_Pulse_Width = 0.001000;
MB_Bottom_Detect_Filter_Min_Range = 15.0;
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.
#
