################################################################################
#
# PURPOSE: Test heading control on surface.
#  Command constant heading at 270 T for 2 minutes, then 180 for 2 minutes, then # 270 for two minutes.  Commanded pitch is 5
# degrees nose up to keep the vehicle on the surface.
#	
# AUTHOR:  Gashler
# DATE:    02/16/2003:
# NOTE:    
# MODS:
#
################################################################################
# 
behavior missionTimer
{

  timeOut = 600;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 10;         #Meters
  minAltitude  = 10;        #Meters
  abortDepth   = 11;         #Meters
}


behavior setpoint
{
  duration     = 120;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = pitch;
  pitch        = 5;        #Meters
}


behavior setpoint
{
  duration     = 120;        #Seconds
  heading      = 180;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = pitch;
  pitch        = 5;        #Meters
}



behavior setpoint
{
  duration     = 120;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = pitch;
  pitch        = 5;        #Meters
}


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