################################################################################
#
# PURPOSE: 
#          
# DATE:    99/12/23:
# NOTES:   Beware that the launch behavior finishes when the
#          "finalDepth" is reached.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 300;
}
#
#
#
behavior depthEnvelope
{
  minDepth     = 0;          #Meters
  maxDepth     = 7;          #Meters
  minAltitude  = 5;         #Meters
  abortDepth   = 10;         #Meters
}
#
#
#
behavior ascend {

  duration         = 120;       #Seconds
  horizontalMode   = heading;   #Mode
  horizontal       = 30;        #Degrees; 
  pitch            = 20;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 1;		#Meters
}
#
# Keep it on the surface, but try to drive towards 20 degs
#
behavior setpoint
{
  duration     = 120;        #Seconds
  heading      = 30;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 5;         #Meters
}
#
# Keep it on the surface, but try to drive towards 20 degs
#
behavior setpoint
{
  duration     = 120;        #Seconds
  heading      = 30;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 3;         #Meters
}
#
# Launch
#
behavior launch
{
  duration  = 60;           #Seconds
  elevator  = 10;           #Degrees
  speed     = -1.5;         #Meters/sec
  finalDepth= 2;            #Meters
}