################################################################################
#
# PURPOSE: Launch, then proceed at a fixed heading for 2 min, at 5 m depth.
#		Then force rudder angle of 20 deg for 2 min, 5 m depth.
# AUTHOR:  
# DATE:    99/12/23:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 1000;
}

behavior depthEnvelope
{
  minDepth = 0;
  maxDepth = 25; 
  minAltitude = 10;
  abortDepth = 45;
}

# ascend behavior for return to surface
behavior ascend
{
duration = 180;
horizontalMode = rudder;
horizontal = 10.0;
pitch = 10;
speed = 1.5;
endDepth = 2.0;
}

#
#  Command a rudder angle of 10 deg, for 2 min at 5 m depth
#
behavior setRudder {
  duration         = 120;      # seconds
  depth            = 20;        # meters
  speed            = 1.5;      # m/s
  rudder           = 10;       # deg 
}

# setpoint at pitch = 0
behavior setpoint
{
  duration     = 300;        #Seconds
  heading      = 250;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 20.0;         #Meters
  legDuration  = 300;        #Seconds
}


# use descend behavior for launch in order to simplify
# commanded pitch
# use descend behavior for launch in order to simplify
# commanded pitch
behavior descend
{
  duration         = 40;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 250;      #Degrees;
  pitch            = -10.0;      #Degrees
  speed            = 1.5;      #Meters/sec
  minAltitude      = 20;       #Meters
  maxDepth         = 10;       #Meters
}

#
# Launch
#
behavior launch
{
  duration  = 60;           #Seconds
  elevator  = 3;           #Degrees
  speed     = 1.5;         #Meters/sec
  finalDepth= 3;            #Meters
}

behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 250;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
  legDuration  = 60;        #Seconds
}