# 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 = 1200;

}



behavior acousticAbort

{

  dummyAttribute = 0;

}





#Depth Envelope



behavior depthEnvelope

{

  minDepth     = 0;         #Meters

  maxDepth     = 20;         #Meters

  abortDepth   = 25;         #Meters

}



behavior setpoint

{

  duration     = 200;        #Seconds

  heading      = 30;       #Degrees

  speed        = 0.0;       #Meters/second

  verticalMode = depth;

  depth        = 0.0;        #Meters

}





#Come back up to the surface.  





behavior ascend {



  duration         = 120;       #Seconds

  horizontalMode   = rudder;   #Mode

  horizontal       = 10;       #Degrees; 

  pitch            = 10;       #Degrees

  speed            = 1.4;      #Meters/sec

  endDepth         = 5;	       #Meters

}



behavior setpoint

{

  duration     = 300;        #Seconds

  heading      = 20 ;       #Degrees

  speed        = 1.4;       #Meters/second

  verticalMode = depth;

  depth        = 15.0;        #Meters

}



behavior setpoint

{

  duration     = 180;        #Seconds

  heading      = 200 ;       #Degrees

  speed        = 1.4;       #Meters/second

  verticalMode = depth;

  depth        = 15.0;        #Meters

}



#Use descend behavior instead of launch to maintain pitch control.

behavior descend {

  duration         = 90;       #Seconds

  horizontalMode   = heading;  #Mode

  horizontal       = 20 ;       #Degrees; 

  pitch            = -15;      #Degrees

  speed            = 1.4;      #Meters/sec

  maxDepth         = 10;        #Meters

}



behavior setpoint

{

  duration     = 60;        #Seconds

  heading      = 20 ;       #Degrees

  speed        = 1.4;       #Meters/second

  verticalMode = depth;

  depth        = 0.0;       #Meters

  legDuration  = 60;        #Seconds

}