################################################################################
#
# 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 = 1200;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 10;         #Meters
  minAltitude  = 10;        #Meters
  abortDepth   = 15;         #Meters
}


#launch first fake buoy
behavior BuoyLaunch
{
  duration = 180;
  heading = 242.0;
  speed = 0.0;
  launchSpeed = 0.0;
  verticalMode = depth;
  depth = 0.0;
  launchDelay = 0;
  legDuration = 180;
  statusCalls = 0;
  fakeLaunch = 1;
}

#first rotate the carousel
behavior RotateCarousel
{
  duration = 120;
  heading = 242.0;
  speed = 0.0;
  verticalMode = depth;
  depth = 0.0;
  initiateRotateDelay = 0;
  rotateDelay = 30;
  legDuration = 120;
  statusCalls = 0;
}

behavior setpoint
{
  duration     = 30;        #Seconds
  heading      = 242;       #Degrees
  speed        = 0.0;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;         #Meters
  legDuration  = 60;        #Seconds
}