################################################################################
#
# PURPOSE: Launch, then proceed at a fixed heading for 2 min, at 15 m depth.
#          Then force rudder angle of deltaR deg for 1 min, 15 m depth.  Repeat
#          for a rudder angle of -deltaR deg.
# AUTHOR:
# DATE:    01/05/30:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
#
behavior missionTimer
{
  timeOut = 780;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 20;         #Meters
  minAltitude  = 10;        #Meters
  abortDepth   = 30;         #Meters
}
#
# Come back up to the surface.
#

behavior ascend {

  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 215;      #Degrees;
  pitch            = 15;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;        #Meters
}

#
# Return to original heading.
#
behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 215;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 15;        #Meters
}
#
#  Command a rudder angle of 2 deg, for 1 min at 15 m depth.
#  Vehicle will turn to starboard
#
behavior setRudder {
  duration         = 60;      # seconds
  depth            = 15;      # meters
  speed            = 1.5;     # m/s
  rudder           = 4.0;     # deg. Add 2 to neutral-rudder.
}
#
#  Command a rudder angle of -2 deg, for 1 min at 15 m depth.
#  Vehicle will go approx straight.
#
behavior setRudder {
  duration         = 60;       # seconds
  depth            = 15;       # meters
  speed            = 1.5;      # m/s
  rudder           = -2.0;     # deg
}
#
#  Command a rudder angle of -6 deg, for 1 min at 15 m depth.
#  Vehicle will turn to starboard
#
behavior setRudder {
  duration         = 60;       # seconds
  depth            = 15;       # meters
  speed            = 1.5;      # m/s
  rudder           = -8.0;     # deg
}
#
#  Command a rudder angle of -2 deg, for 1 min at 15 m depth.
#  Vehicle will go approx straight.
#
behavior setRudder {
  duration         = 60;       # seconds
  depth            = 15;       # meters
  speed            = 1.5;      # m/s
  rudder           = -2.0;       # deg.  Neutral rudder position
}
#
# Command a heading of 130 for 2 min @ 5 m depth
#
behavior setpoint
{
  duration     = 300;           #Seconds
  heading      = 215;          #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       = 215;      #Degrees;
  pitch            = -15;       #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 13;       #Meters
}

behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 215;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;       #Meters
  legDuration  = 60;        #Seconds
}