# 1 "setpoint.cfg"
################################################################################

#PURPOSE: Launch, then proceed at a fixed heading for 2 min, at 15 m depth.
#Then force rudder angle of n deg for 2 min, 15 m depth.  Finis

#AUTHOR:  
#DATE:    01/05/30:
#NOTE:    Sequential behaviors are bottom-up.  Priorities are top-down.
#MODS:

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






behavior missionTimer
{
  timeOut = 3000;
}

#Depth Envelope

behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 20;         #Meters
  minAltitude  = 8;        #Meters
  abortDepth   = 25;         #Meters
}


#Come back up to the surface.  


behavior ascend {

  duration         = 60;       #Seconds
  horizontalMode   = rudder;   #Mode

  horizontal       = -10;       #Degrees; 
  pitch            = 10;       #Degrees
  speed            = 1.4 ;      #Meters/sec
  endDepth         = 2;	       #Meters
}


behavior setpoint
{
  duration     = 300 ;        #Seconds
  heading      = 250 ;       #Degrees
  speed        = 1.4 ;       #Meters/second
  verticalMode = depth;
  depth        = 15 ;        #Meters
}

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

  duration         = 90;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 250 ;       #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.4 ;      #Meters/sec
  maxDepth         = 15 ;        #Meters
}

behavior setpoint
{
  duration     = 30;        #Seconds
  heading      = 250 ;       #Degrees
  speed        = 1.4 ;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;       #Meters
  legDuration  = 60;        #Seconds
}