################################################################################
#
# AUV8
#
# PURPOSE: Wave Glider radio testing.
# AUTHOR:  drthom
# DATE:    13 June 2013:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
#
behavior missionTimer
{
  timeOut = 1500;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;          #Meters
  maxDepth     = 5;         #Meters
  minAltitude  = 5;          #Meters
  abortDepth   = 10;         #Meters
}

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

behavior ascend {

  duration         = 120;      #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = -10;      #Degrees; 
  pitch            = 15;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 0;	       #Meters
}

behavior waypoint
{ 
latitude          = 36.7666; 
longitude         = -121.85876; 
duration          = 900; 
depth             = 0;
speed             = 1.5;
} 


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