################################################################################
#
# 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 = 4000;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 50; #Meters
  minAltitude = 15; #Meters
  abortDepth = 60; #Meters
  abortAltitude = 5;
}
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 CARL
{
  id = 3001;
  duration = 1;
  record = 0;
  homeIris = 1;
  lightSwitch = 0;
}
behavior setpoint
{
  duration = 3600; #Seconds
  heading = 110.0; #Degrees
  speed = 1.1; #Meters/second
  verticalMode = depth;
  depth = 50.0; #Meters
}
behavior CARL
{
  id = 3000;
  lightSwitch = 0;
  fstop = 31;
  clipname = 1;
  duration = 5;
  record = 1;
  brightness = 100;
}
# descend behavior for launch
behavior descend
{
duration = 90;
horizontalMode = heading;
horizontal = 110;
pitch = -30;
speed = 1.50;
maxDepth = 10;
minAltitude = 10;
}
# setpoint on surface to accelerate to speed.
behavior setpoint
{
duration = 30;
heading = 110;
speed = 1.50;
verticalMode = pitch;
pitch = 0;
}
