################################################################################
#
# 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 = 700;
}
#
# 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       = 130;       #Degrees; 
  pitch            = 15;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;	       #Meters
}

#
# Command a heading of 130 for 2 min @ 15 m depth
#
behavior setpoint
{
  duration     = 120;        #Seconds
  heading      = 130;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 15;        #Meters
}


#
#  Command a rudder angle of 0 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           = 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;       # deg 
}


#
#  Command a rudder angle of -4 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;       # deg 
}


#
#  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           = -2;       # deg 
}

#
# Command a heading of 130 for 2 min @ 5 m depth
#
behavior setpoint
{
  duration     = 120;        #Seconds
  heading      = 130;       #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       = 130;       #Degrees; 
  pitch            = -10;      #Degrees
  speed            = 1.5;      #Meters/sec
  minAltitude      = 3;        #Meters
  maxDepth         = 15;        #Meters
}

behavior setpoint
{
  duration     = 30;        #Seconds
  heading      = 130;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;         #Meters
  legDuration  = 30;        #Seconds
}