################################################################################
#
# PURPOSE: Depth testing to 200 meters.
#  
# AUTHOR: Gashler        
# DATE:    02/16/2003:
# NOTES:  
#         
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2000;
}



#

# Depth Envelope

#

behavior depthEnvelope

{

  minDepth     = 0;         #Meters

  maxDepth     = 110;        #Meters

  minAltitude  = 10;        #Meters

  abortDepth   = 120;        #Meters

}




 behavior getgps
{
minHits = 10;
duration = 300;
}

#

# Come back up to the surface.  

#



behavior ascend {



  duration         = 900;       #Seconds

  horizontalMode   = rudder;   #Mode

  horizontal       = 5;       #Degrees; 

  pitch            = 15;       #Degrees

  speed            = 1.5;      #Meters/sec

  endDepth         = 2;	       #Meters

}




# Descend to 100 meters
behavior descend {



  duration         = 900;       #Seconds

  horizontalMode   = rudder;  #Mode

  horizontal       = 5;       #Degrees; 

  pitch            = -15;      #Degrees

  speed            = 1.5;      #Meters/sec

  maxDepth         = 100;        #Meters

}


# descend behavior for launch

behavior descend 
{
duration = 90;
horizontalMode = heading;
horizontal = 270;
pitch = -10;
speed = 1.5;
maxDepth = 15; 
}

# setpoint on surface to accelerate to speed.

behavior setpoint
{
duration = 40;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
legDuration = 40;
}

behavior getgps
{
minHits = 10;
duration = 60;
}