################################################################################
#
# PURPOSE: Speed steps.
# AUTHOR:
# DATE:    01/05/30:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
#
behavior missionTimer
{
  timeOut = 1300;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;          #Meters
  maxDepth     = 50;         #Meters
  minAltitude  = 10;         #Meters
  abortDepth   = 55;         #Meters
}
#
# Come back up to the surface.
#
behavior ascend {

  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees;
  pitch            = 15;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;        #Meters
}
#
# OK, shut 'er off and let 'er float up.  The elevator will end up fixed in 
# a dive position.
#
behavior setRudder 
{
  duration         = 600;     # seconds
  depth            = 40;      # meters
  speed            = 0.0;     # m/s
  rudder           = 0.0;
}
#
# Command a constant heading and depth.
#
behavior setpoint
{
  duration     = 300;          #Seconds
  heading      = 270;          #Degrees
  speed        = 1.5;          #Meters/second
  verticalMode = depth;
  depth        = 40;           #Meters
}
#
# Use descend behavior instead of launch to maintain pitch control.
#
behavior descend {

  duration         = 240;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees;
  pitch            = -15;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 35;       #Meters
}

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