# 1 "checkout.cfg"
################################################################################

#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 = 1500;
}

#Depth Envelope

behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 15;         #Meters
  minAltitude  = 5;        #Meters
  abortDepth   = 20;         #Meters
}


#Come back up to the surface.  


behavior ascend 
{
  duration         = 200;       #Seconds
  horizontalMode   = heading;   #Mode
  horizontal       = 220;       #Degrees; 
  pitch            = 10;       #Degrees
  speed            = 1.3;      #Meters/sec
  endDepth         = 2;	       #Meters
}


behavior setpoint
{
  duration     = 700;        #Seconds
  heading      = 220;       #Degrees
  speed        = 1.3;       #Meters/second
  verticalMode = depth;
  depth        = 15.0;        #Meters
}

behavior descend 
{
  duration         = 120;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 220;       #Degrees; 
  pitch            = -10;      #Degrees
  speed            = 1.4;      #Meters/sec
  maxDepth         = 5;        #Meters
}

behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 220;       #Degrees
  speed        = 1.4;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;       #Meters
  legDuration  = 60;        #Seconds
}