################################################################################
#
# PURPOSE: Launch, then proceed at a fixed heading for 2 min, at 15 m depth.
#		Then force rudder angle of n deg for 2 min, 15 m depth.  Finish with another
#           2 minute setpoint at the initial heading.
# AUTHOR:  
# DATE:    01/05/30:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 900;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 20;         #Meters
  minAltitude  = 10;        #Meters
  abortDepth   = 25;         #Meters
}
#
# Come back up to the surface.  
#

behavior ascend {

  duration         = 60;       #Seconds
  horizontalMode   = heading;   #Mode
  horizontal       = 270;       #Degrees; 
  pitch            = 10;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;	       #Meters
}


behavior setpoint
{
  duration     = 600;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 15;        #Meters
}

# Use descend behavior instead of launch to maintain pitch control.
behavior descend {

  duration         = 90;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;       #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 15;        #Meters
}

behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;         #Meters
  legDuration  = 60;        #Seconds
}