################################################################################
#
# PURPOSE: Depth testing to 200 meters.
#  
# AUTHOR: Gashler        
# DATE:    02/16/2003:
# NOTES:  
#         
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 9000;
}  

# # Depth Envelope # 
behavior depthEnvelope {   
minDepth     = 0;         #Meters   
maxDepth     = 1010;        #Meters   
minAltitude  = 40;        #Meters   
abortDepth   = 1100;        #Meters 
}
  
 behavior getgps
{
minHits = 10;
duration = 300;
}

# # Come back up to the surface.   
#  
behavior ascend 
{    
duration         = 3600;       #Seconds   
horizontalMode   = rudder;   #Mode   
horizontal       = 5;       #Degrees;    
pitch            = 20;       #Degrees   
speed            = 1.5;      #Meters/sec   
endDepth         = 2;	       #Meters 
}
 
# setpoint at 0 speed to check passive ascent rate.

behavior setpoint
{
duration = 180;
heading = 270;
speed = 0.0;
verticalMode = pitch;
pitch = 0;
}
 
# Descend to 1000 meters
behavior descend {    
duration         = 3600;       #Seconds   
horizontalMode   = rudder;  #Mode   
horizontal       = 5;       #Degrees;    
pitch            = -20;      #Degrees   
speed            = 1.5;      #Meters/sec   
maxDepth         = 1000;        #Meters   
minAltitude 	   = 50;       #Meters
} 

# descend behavior for launch

behavior descend 
{
duration = 90;
horizontalMode = heading;
horizontal = 270;
pitch = -15;
speed = 1.5;
maxDepth = 5; 
}

# setpoint on surface to accelerate to speed.

behavior setpoint
{
duration = 30;
heading = 270;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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