################################################################################
#
# PURPOSE: Launch, then proceed at a fixed heading for 10 min, at 15 m depth.
#	
# 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     = 20;         #Meters
  minAltitude  = 10;        #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     = 600;        #Seconds
  heading      = 120;       #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       = 120;       #Degrees;    
pitch            = -15;      #Degrees   
speed            = 1.4;      #Meters/sec   
maxDepth         = 15;        #Meters 
}  

behavior setpoint {   
duration     = 60;        #Seconds   
heading      = 120;       #Degrees   
speed        = 1.4;       #Meters/second   
verticalMode = pitch;   
pitch        = 0;       #Meters   
} 

#
# Get fix at start of mission
#
behavior getgps 
{
	duration = 120;
	minHits = 10;
}