################################################################################
#
# PURPOSE: Launch, then proceed at a fixed heading for 2 min, at 5 m depth.
#		Then force rudder angle of 20 deg for 2 min, 5 m depth.
# AUTHOR:  
# DATE:    99/12/23:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 330;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 7;         #Meters
  minAltitude  = 5;        #Meters
  abortDepth   = 10;         #Meters
}
#
# Come back up to the surface.  The rudder angle is -10 Degrees so
# that this behavior may be distinguished from the abort behavior,
# which has +10 degrees rudder.
#
behavior ascend {

  duration         = 60;       #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = 10;       #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 1;	       #Meters
}
#
#  Command a rudder angle of 20 deg, for 2 min at 5 m depth
#
behavior setRudder {
  duration         = 120;      # seconds
  depth            = 5;        # meters
  speed            = 1.5;      # m/s
  rudder           = 10;       # deg 
}
#
# Command a heading of 020 for 2 min @ 5 m depth
#
behavior setpoint
{
  duration     = 120;        #Seconds
  heading      = 220;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 5;        #Meters
}
#
# Launch
#
behavior launch
{
  duration  = 60;           #Seconds
  elevator  = 10;           #Degrees
  speed     = -1.5;         #Meters/sec
  finalDepth= 2;            #Meters
}
#