################################################################################
#
# PURPOSE: Test the vehicle's ability to control pitch.
#          Preliminary to establishing depth control.
# DATE:    00/7/26:
# NOTES:   
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 900;
}

behavior depthEnvelope
{
  minDepth = 0;
  maxDepth = 30; 
  minAltitude = 10;
  abortDepth = 40;
}

# ascend behavior for return to surface

behavior ascend
{
duration = 120;
horizontalMode = heading;
horizontal = 270;
pitch = 30;
speed = 1.5;
endDepth = 0.5;
}


# setpoint at depth = 20
behavior setpoint
{
  duration     = 600;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 20.0;         #Meters
  legDuration  = 600;      #Seconds
}


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

  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;       #Degrees; 
  pitch            = -10;      #Degrees
  speed            = 1.5;      #Meters/sec
  minAltitude      = 3;        #Meters
  maxDepth         = 5;        #Meters
}

behavior setpoint
{
  duration     = 30;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
  legDuration  = 30;        #Seconds
}


