################################################################################
#
# PURPOSE: Perform DVL alignment test on the BIAUV
# AUTHOR:  Gashler
# DATE:    12/15/09:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# 	   This alignment test involves heading commands which match the
#	   heading of vehicle route 1(-51deg) for the 12/15/09 dive. 
# MODS:
#
################################################################################
#
# Define Mission parameters:
behavior missionTimer
{
  timeOut = 1200;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 15; #Meters
  minAltitude = 10; #Meters
  abortDepth = 25; #Meters
}
behavior getgps
{
duration = 600;
minHits = 60;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 300;
horizontalMode = heading;
horizontal = 309.0;
pitch = 20.000000;
speed = 1.500000;
endDepth = 2.000000;
}

behavior setpoint
{
duration = 300;
heading = 309;
speed = 1.5;
verticalMode = depth;
depth = 10;
}

# setpoint on surface to accelerate to speed.
behavior descend
{
horizontalMode = heading;
horizontal = 309.0;
pitch = -15.000000;
speed = 1.500000;
maxDepth = 10.000000;
minAltitude = 18.000000;
duration = 300;
}

behavior setpoint
{
duration = 60;
heading = 309;
speed = 1.5;
verticalMode = depth;
depth = 0;
}

behavior getgps
{
duration = 600;
minHits = 60;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 300;
horizontalMode = heading;
horizontal = 129.0;
pitch = 20.000000;
speed = 1.500000;
endDepth = 2.000000;
}

behavior setpoint
{
duration = 300;
heading = 129;
speed = 1.5;
verticalMode = depth;
depth = 10;
}

# setpoint on surface to accelerate to speed.
behavior descend
{
horizontalMode = heading;
horizontal = 129.0;
pitch = -15.000000;
speed = 1.500000;
maxDepth = 10.000000;
minAltitude = 18.000000;
duration = 300;
}

behavior setpoint
{
duration = 60;
heading = 129;
speed = 1.5;
verticalMode = depth;
depth = 0;
}

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