################################################################################
#
# PURPOSE: Launch, then proceed for 60 seconds at 210 Degrees at 5 m depth.
#          Set the depth envelope behavior with Abort Depth of 3 m
# AUTHOR:  
# DATE:    99/12/23:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 200;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 8;         #Meters
  minAltitude  = 10;        #Meters
  abortDepth   = 10;         #Meters
}
#
# Proceed at a depth of 10 meters and heading of 270 degrees for 60 seconds.
#
behavior setpoint
{
  duration     = 120;        #Seconds
  heading      = 210;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 7;        #Meters
  legDuration  = 60;        #Seconds
}
#
# Launch
#
behavior launch
{
  duration  = 60;           #Seconds
  elevator  = 10;           #Degrees
  speed     = -1.5;         #Meters/sec
  finalDepth= 2;            #Meters
}
#