################################################################################
#
# PURPOSE: Test the vehicle's ability to control pitch.
#          Preliminary to establishing depth control.
# DATE:    00/7/26:
# NOTES:   
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 1100;
}

behavior depthEnvelope
{
  minDepth = 0;
  maxDepth = 30; 
  minAltitude = 10;
  abortDepth = 40;
}

# ascend behavior for return to surface

behavior ascend
{
duration = 120;
horizontalMode = heading;
horizontal = 270;
pitch = 30;
speed = 1.5;
endDepth = 0.5;
}

#
# Yo-yo behavior; it over-rides the depth component of the setpoint.
#
behavior yoyo 
{
  duration       = 600;     #Seconds
  minDepth       = 3;       #Meters
  maxDepth       = 20;      #Meters
  minAltitude    = 10;      #Meters
  maxCycles      = 30;
}

# setpoint under depth control by yoyo above.
behavior setpoint
{
  duration     = 600;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  legDuration  = 600;      #Seconds
}

# Use descend behavior instead of launch to maintain pitch control.
behavior descend {

  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;       #Degrees; 
  pitch            = -10;      #Degrees
  speed            = 1.5;      #Meters/sec
  minAltitude      = 3;        #Meters
  maxDepth         = 5;        #Meters
}


#behavior launch 
#{
#duration  = 40;
#speed = 1.5;
#finalDepth = 3;
#elevator = 2;
#}

behavior setpoint
{
  duration     = 20;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
  legDuration  = 20;        #Seconds
}