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#
# PURPOSE: Test setpoint/descend/pitch control
#
# DATE:    00/7/27
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 600;
}
behavior depthEnvelope
{
minDepth =  0;
maxDepth = 15;
minAltitude = 10;
abortDepth = 20;
}
# ascend behavior for launch

behavior ascend 
{
duration = 60;
horizontalMode = heading;
horizontal = 250;
pitch = 10;
speed = 1.50;
endDepth = 2;
}

# setpoint under depth control

behavior setpoint
{
duration = 360;
heading = 250;
speed = 1.50;
verticalMode = depth;
depth = 8;
legDuration = 360;
}

# descend behavior for launch

behavior descend 
{
duration = 90;
horizontalMode = heading;
horizontal = 250;
pitch = -10;
speed = 1.50;
maxDepth = 10;
minAltitude = 10;
}

# setpoint on surface to accelerate to speed.

behavior setpoint
{
duration = 20;
heading = 250;
speed = 1.50;
verticalMode = pitch;
pitch = 0;
legDuration = 20;
}