################################################################################
#
# PURPOSE: Test the waypoint behavior and dead reckoning with GPS fixes.
#          
# DATE:    00/4/4:
# NOTES:  
#         
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 1600;
}

#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 110;        #Meters
  minAltitude  = 10;        #Meters
  abortDepth   = 120;        #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         = 600;       #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = -10;       #Degrees; 
  pitch            = 15;       #Degrees
  speed            = 1.4;      #Meters/sec
  endDepth         = 1.5;	       #Meters
}


#
# Waypoint at 25 fathoms
#
# behavior waypoint
# {
#   latitude     = 36.7813;        # waypoint at 43 fathoms in LBL array
#   longitude     = -121.923483;     #
#   speed         = 1.4;       #Meters/second
#   depth         = 15;         #Meters (depth control by yoyo)
#   captureRadius = 10;        #Meters
#   circleMode    = 1;         # 
#   duration      = 210;
# }
#behavior setpoint
#{
#  duration     = 180;        #Seconds
#  heading      = 90;       #Degrees
#  speed        = 1.4;       #Meters/second
#  verticalMode = depth;
#  depth        = 100.0;         #Meters
#  legDuration  = 180;        #Seconds
#}

behavior setpoint
{
  duration     = 180;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.4;       #Meters/second
  verticalMode = depth;
  depth        = 100.0;         #Meters
  legDuration  = 180;        #Seconds
}

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

  duration         = 450;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;       #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.4;      #Meters/sec
  maxDepth         = 100;        #Meters
}

behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.4;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;         #Meters
  legDuration  = 60;        #Seconds
}