################################################################################
#
# PURPOSE: Run the vehicle at 0 depth at the heading as it is oriented
#          by the bench.  Remember to Turn off the pitch and heading 
#          integrators.
# DATE:    00/1/12
# NOTES:   
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2000;
}

behavior setpoint
{
    duration = 60;
    heading = -149.0;
    speed = 1.5;
    verticalMode = pitch;
    pitch = -10.0;
    legDuration = 60;
}

#launch real buoy
behavior BuoyLaunch
{
  duration = 180;
  heading = -149.0;
  speed = 0.0;
  verticalMode = pitch;
  pitch = -5.0;
  launchDelay = 0;
  legDuration = 180;
  statusCalls = 0;
  fakeLaunch = 0;
}


#download a file to the buoy
behavior DownloadData
{
  duration = 360;
  heading = -149.0;
  speed = 1.5;
  verticalMode = pitch;
  pitch = -10.0;
  downloadDelay = 0;
  statusDelay = 120;
  legDuration = 360;
  statusCalls = 1;
}

#rotate real buoy to data position
behavior RotateBuoy
{
  duration = 360;
  heading = -149.0;
  speed = 1.5;
  verticalMode = pitch;
  pitch = -10.0;
  rotateDelay = 0;
  statusDelay = 0;
  legDuration = 360;
  statusCalls = 1;
}
  
#launch second fake buoy
behavior BuoyLaunch
{
  duration = 180;
  heading = -149.0;
  speed = 0.0;
  verticalMode = pitch;
  pitch = -10.0;
  launchDelay = 0;
  legDuration = 180;
  statusCalls = 0;
  fakeLaunch = 1;
}

#now rotate the carousel to the second fake buoy
behavior RotateCarousel
{
  duration = 120;
  heading = -149.0;
  speed = 1.5;
  verticalMode = pitch;
  pitch = -10.0;
  rotateDelay = 30;
  legDuration = 120;
  statusCalls = 0;
}

#launch first fake buoy
behavior BuoyLaunch
{
  duration = 180;
  heading = -149.0;
  speed = 0.0;
  verticalMode = pitch;
  pitch = -10.0;
  launchDelay = 0;
  legDuration = 180;
  statusCalls = 0;
  fakeLaunch = 1;
}


#first rotate the carousel
behavior RotateCarousel
{
  duration = 120;
  heading = -149.0;
  speed = 1.5;
  verticalMode = pitch;
  pitch = -10.0;
  initiateRotateDelay = 0;
  rotateDelay = 30;
  legDuration = 120;
  statusCalls = 0;
}

behavior setpoint
{
    duration = 30;
    heading = -149.0;
    speed = 1.5;
    verticalMode = pitch;
    pitch = -10.0;
    legDuration = 30;
}
#
# Proceed at a depth of 0 meters and heading of 93 degrees for 120 seconds.
#