################################################################################
#
# 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. Test basic Reson functions.
# 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 reson {
duration = 3;
MB_Power = 0.0;
Log_Mode = 0;
SBP_Mode = 0;
LoSS_Mode = 0;
HiSS_Mode = 0;
}

behavior setpoint
{
  duration     = 5;       #Seconds
  heading      = 220.0;       #Degrees; Lab
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
}


behavior reson {
duration = 3;
Log_Mode = 1;
}

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

behavior reson
{
  duration = 6;

  SBP_Mode  = 1;
  SBP_Power = 100.0;
  SBP_Duration = 330.0;

  LoSS_Mode = 1;
  LoSS_Power = 100.0;
  LoSS_Range = 200.0;

  HiSS_Mode = 1;
  HiSS_Power = 100.0;
  HiSS_Range = 200.0;


  MB_Mode = 1; #multibeam must ping for DVL to ping
  MB_Power = 220.0; # must be between 170.0 db/upas to 220 db/upas
  MB_Range = 350.0; # meters
  MB_Rate = 2.0; #pings/sec
  MB_Gain = 80.0; #between 0 and 83 db
  MB_Pulse_Width = .00003;
  MB_Bottom_Detect_Filter_Min_Range = 50.0;
  MB_Bottom_Detect_Filter_Max_Range = 350.0;
  MB_Bottom_Detect_Filter_Min_Depth = 50.0;
  MB_Bottom_Detect_Filter_Max_Depth = 350.0;
  MB_Bottom_Detect_Range_Mode = 1;
  MB_Bottom_Detect_Depth_Mode = 1;
  Snippet_Mode = 0;
  Log_Mode = 0;
}

behavior setpoint {
  duration     = 10;       #Seconds
  heading      = 270.0;       #Degrees; Lab
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
}

behavior reson
{
  duration = 6;

  SBP_Mode  = 0;
  SBP_Power = 0.0;
  SBP_Gain = 64.0;
  SBP_Duration = 330.0;

  LoSS_Mode = 0;
  LoSS_Power = 0.0;
  LoSS_Range = 200.0;
  
  HiSS_Mode = 0;
  HiSS_Power = 0.0;
  HiSS_Range = 200.0;

  MB_Mode = 1; #multibeam must ping for DVL to ping
  MB_Power = 220.0; # must be between 170.0 db/upas to 220 db/upas
  MB_Range = 350.0; # meters
  MB_Rate = 2.0; #pings/sec
  MB_Gain = 80.0; #between 0 and 83 db
  MB_Pulse_Width = .00003;
  MB_Bottom_Detect_Filter_Min_Range = 50.0;
  MB_Bottom_Detect_Filter_Max_Range = 350.0;
  MB_Bottom_Detect_Filter_Min_Depth = 50.0;
  MB_Bottom_Detect_Filter_Max_Depth = 350.0;
  MB_Bottom_Detect_Range_Mode = 1;
  MB_Bottom_Detect_Depth_Mode = 1;
  Snippet_Mode = 0;
  Log_Mode = 0;
}