################################################################################
#
# 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;
}
#
# Turn off power to sonars and stop logging on the PLC
# by setting the value of the mode attribute to 0 (used to be False).
behavior reson
{
  duration  = 6;	
  SBP_Mode  = 0;
  LoSS_Mode = 0;
  HiSS_Mode = 0;
  Log_Mode  = 0;
}
behavior setpoint
{
  duration     = 300;       #Seconds
  heading      = 220.0;       #Degrees; Lab
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
}
#
# Set power levels and high-freq rate
#
behavior reson
{
  duration  = 6;	
  SBP_Power = 100.0;

  LoSS_Power = 100.0;
  LoSS_Range = 400.0;
  LoSS_Rate  = 1.0;

  HiSS_Power = 100.0;
  HiSS_Range = 400.0;
  HiSS_Rate  = 1.0;
}
#
# New version of reson behavior (note name change from reson6046).
# You no longer have to provide every attribute but just the ones
# that you want at any given time.
#
# Turn on power to sonars and start logging on the PLC
# by setting the value of the mode attribute to 1 (used to be True).
#
behavior reson
{
  duration  = 6;	
  SBP_Mode  = 1;
  LoSS_Mode = 1;
  HiSS_Mode = 1;
  Log_Mode  = 1;
}