################################################################################
#
# PURPOSE: Launch, then descend to 10 meters and yo-yo between 3 and 
#		around 12m by altitude.
# DATE:    00/8/1
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 480;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 15;        #Meters
  minAltitude  = 3;        #Meters
  abortDepth   = 17;        #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       = 240;       #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 1;	       #Meters
  dropDescentWeight= true;
  dropAscentWeight = true;
}
#
# Yo-yo behavior; it over-rides the depth component of the following setpoint.
#
behavior yoyo 
{
  duration       = 240;     #Seconds
  minDepth       = 3;       #Meters
  maxDepth       = 14;      #Meters
  minAltitude    = 12;
  maxCycles      = 100;
}
#
# Proceed at a depth of 10 meters.
#
behavior setpoint
{
  duration     = 240;       #Seconds
  heading      = 240;       #Degrees
  speed        = 1.5;       #Meters/second
}
#
# Launch
#
behavior launch
{
  duration  = 60;           #Seconds
  elevator  = 10;           #Degrees
  speed     = -1.5;         #Meters/sec
  finalDepth= 2;            #Meters
}
#
# Sequential behaviors begin at the bottom.
#