################################################################################
#
# PURPOSE: Test operational speed range of the vehicle.
# AUTHOR:  thomas
# DATE:    08/16/2006:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################


behavior missionTimer
{
  timeOut = 1000;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 35; #Meters
  minAltitude = 15; #Meters
  abortDepth = 40; #Meters
  abortAltitude = 5;
}

behavior getgps
{
minHits = 10;
duration = 60;
}

behavior ascend {

  duration = 180; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -2; #Degrees; 
  pitch = 45; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

#
# Command a constant heading and depth.
#
behavior setpoint
{
  duration = 30; #Seconds
  heading = 180; #Degrees
  speed = 0.0; #Meters/second
  verticalMode = depth;
  depth = 1.0; #Meters
}



# descend behavior for launch
behavior descend
{
duration = 90;
horizontalMode = heading;
horizontal = 180;
pitch = -15;
speed = 1.50;
maxDepth = 10;
minAltitude = 10;
}

# setpoint on surface to accelerate to speed.

behavior setpoint
{
duration = 60;
heading = 180;
speed = 1.50;
verticalMode = pitch;
pitch = 0;
}

behavior getgps
{
minHits = 5;
duration = 60;
}