################################################################################
#
# 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.  Finish with another
#           2 minute setpoint at the initial heading.
# AUTHOR:  
# DATE:    01/05/30:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 1000;
}


# End of mission
# acquire gps fix
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = False;
}


behavior setpoint
{
  duration = 500; #Seconds
  heading = 14; #Degrees
  speed = 1.5; #Meters/second
  verticalMode = depth;
  depth = 0.0; #Meters
  legDuration = 500; #Seconds
}


behavior setpoint
{
  duration = 30; #Seconds
  heading = 14; #Degrees
  speed = 1.5; #Meters/second
  verticalMode = depth;
  depth = 0.0; #Meters

}

# End of mission
# acquire gps fix
behavior getgps {
duration = 300;
minHits = 10;
abortOnTimeout = False;
}