################################################################################
#
# PURPOSE: Double setpoint mission. Setpoint for 30 sec at 210 Degrees at 0 m depth,
#          followed by a second setpoint at the same heading but 2 m depth.
#          Set the Mission Timer to 80 seconds; verify it's operation.
# DATE:    99/12/23:
# NOTES:   Tether still on vehicle.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 120;
}
#
# Proceed at a depth of 2 meters and heading of 210 degrees for 60 seconds.
#
behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 180;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 2;         #Meters
  legDuration  = 60;        #Seconds
}
#
# Proceed at a depth of 0 meters and heading of 210 degrees for 30 seconds. 
#
behavior setpoint
{
  duration     = 30;        #Seconds
  heading      = 180;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 0;         #Meters
  legDuration  = 30;        #Seconds
}