################################################################################

#

# PURPOSE: Launch, then proceed at a fixed heading for 3 min, at 15 m depth,

# take reciprocal heading for 2 minutes.

#	

# AUTHOR:  

# DATE:    01/05/30:

# NOTE:    Sequential behaviors are bottom-up.  Priorities are top-down.

# MODS:

#

################################################################################

# 

behavior missionTimer

{

  timeOut = 1000;

}

#

# Depth Envelope

#

behavior depthEnvelope

{

  minDepth     = 0;         #Meters

  maxDepth     = 25;         #Meters

  minAltitude  = 4;        #Meters

  abortDepth   = 35;         #Meters

}



#

# Come back up to the surface.  

#



behavior ascend {



  duration         = 60;       #Seconds

  horizontalMode   = heading;   #Mode

  horizontal       = 130;       #Degrees; 

  pitch            = 10;       #Degrees

  speed            = 1.4;      #Meters/sec

  endDepth         = 2;	       #Meters

}





behavior setpoint

{

  duration     = 120;        #Seconds

  heading      = 130;       #Degrees

  speed        = 1.4;       #Meters/second

  verticalMode = depth;

  depth        = 15.0;        #Meters

}



behavior descend {



  duration         = 120;       #Seconds

  horizontalMode   = heading;  #Mode

  horizontal       = 130;       #Degrees; 

  pitch            = -10;      #Degrees

  speed            = 1.4;      #Meters/sec

  maxDepth         = 5;        #Meters

}



behavior setpoint

{

  duration     = 30;        #Seconds

  heading      = 130;       #Degrees

  speed        = 1.4;       #Meters/second

  verticalMode = depth;

  depth        = 0.0;       #Meters

  legDuration  = 60;        #Seconds

}