################################################################################
#
# PURPOSE: Run the vehicle at 0 depth at the heading as it is oriented
#          by the bench.  Remember to Turn off the pitch and heading 
#          integrators. Exercise basic Reson commands.
# DATE:    04/05/11
# NOTES:   
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2000;
}


#
# Proceed at a depth of 0 meters and heading of 93 degrees for 120 seconds.
#
behavior setpoint
{
  duration     = 60;       #Seconds
  heading      = 220.0;       #Degrees; Lab
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
}

#
# Turn the sonars off by setting the mode to zero (used to be False).
#
behavior reson
{
  duration =  2;

  SBP_Mode  = 0;
  LoSS_Mode = 0;
  HiSS_Mode = 0;
  MB_Mode   = 0;
  Log_Mode  = 0;
}

behavior setpoint
{
  duration     = 10;       #Seconds
  heading      = 220.0;       #Degrees; Lab
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
}

#
# Set the power, range, and rates of the sonars. Need only set the parameters
# you want to change - previous settings will remain for others.
# SBP only has mode and Power. Log only has mode.
#
behavior reson
{
  duration = 2;

  SBP_Power = 100.0;

  LoSS_Power = 20.0;
  LoSS_Range = 20.0;
  LoSS_Rate  = 20.0;

  HiSS_Power = 30.0;
  HiSS_Range = 30.0;
  HiSS_Rate  = 30.0;

  MB_Power = 0.0; # minimum is 170
  MB_Range = 200.0;
  MB_Rate  = 2.0;
  MB_Gain  = 2.3;
  MB_Pulse_Width = 0.000027;
  MB_Bottom_Detect_Filter_Min_Range = 25.1;
  MB_Bottom_Detect_Filter_Max_Range = 120.3;
  MB_Bottom_Detect_Filter_Min_Depth = 25.0;
  MB_Bottom_Detect_Filter_Max_Depth = 120.0;
  MB_Sound_Velocity = 0.0;
}

behavior setpoint
{
    duration = 10;
    heading = 220;
    speed = 0.0;
    verticalMode = pitch;
    pitch = 0.0;
}

behavior reson
{
  duration = 3;
  
  MB_Bottom_Detect_Range_Mode = 1;
  MB_Bottom_Detect_Depth_Mode = 1;
  MB_Bottom_Detect_Filter_Min_Range = 25.00;
  MB_Bottom_Detect_Filter_Max_Range = 125.00;
  MB_Bottom_Detect_Filter_Min_Depth = 25.00;
  MB_Bottom_Detect_Filter_Max_Depth = 125.00;
  
  Snippet_Mode = 1;
  Window_Size = 23;
}
#
# Turn the sonars on by setting the mode to one (used to be True).
# Experience has shown that it is best to first turn the sonars on
# and then set up power, rate, etc. in a separate behavior.
# Need only set the parameters
# you want to change - previous settings will remain for others.
#
behavior reson
{
  duration =  60;

  SBP_Mode  = 1;
  LoSS_Mode = 1;
  HiSS_Mode = 1;
  MB_Mode   = 1;
  Log_Mode  = 1;
}

behavior reson
{
  duration =  3;

  SBP_Mode  = 0;
  LoSS_Mode = 0;
  HiSS_Mode = 0;
  MB_Mode   = 0;
  Log_Mode  = 0;
}