################################################################################
#
# PURPOSE: Launch, then proceed on 2-leg setpoint, initially 30 deg, each leg
#		60s with an increment of 180deg.
# DATE:    99/12/23:
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 200;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 10;        #Meters
  minAltitude  = 5;         #Meters
  abortDepth   = 12;        #Meters
}
#
# Come back up to the surface. 
#
behavior ascend {

  duration         = 60;       #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = 0;        #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 1;		#Meters
}
#
# Proceed at a depth of 5 meters, Two legs incrementing 180deg every 60 sec
#
behavior setpoint
{
  duration     = 120;       #Seconds
  heading      = 30;        #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 5;         #Meters
  legDuration  = 60;        #Seconds
  maxLegs      = 2;         #36 Legs (Not counting the first)
  headingInc   = 180;       #Degrees
}
#
# Launch
#
behavior launch
{
  duration  = 60;           #Seconds
  elevator  = 10;           #Degrees
  speed     = -1.5;         #Meters/sec
  finalDepth= 2;            #Meters
}