################################################################################
#
# PURPOSE: Launch, then proceed at a fixed heading for 2 min, at 40 m depth.
#          Then, fix the elevator at neutral-2 degrees for 5 sec, then back to
#          neutral for 60 sec.  This will approximate an impulse response.
# AUTHOR:  rsm
# DATE:    01/06/05
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
#
behavior missionTimer
{
  timeOut = 600;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 45;         #Meters
  minAltitude  = 10;        #Meters
  abortDepth   = 50;         #Meters
}
#
# Come back up to the surface.
#

behavior ascend {

  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 300;      #Degrees;
  pitch            = 15;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;        #Meters
}

#
#  Command an elevator angle of neutral deg, for 60 sec at 40 m depth.
#  Vehicle should fly level.
#

behavior setElevator 
{
  duration         = 60;       # seconds
  speed            = 1.5;      # m/s
  heading          = 300;      #Degrees
  elevator         = -5;       # deg
}


#
#  Command an elevator angle of neutral-2 deg, for 5 sec at 40 m depth.
#  Vehicle should climb.
#

behavior setElevator 
{
  duration         = 5;       # seconds
  speed            = 1.5;      # m/s
  heading          = 300;      #Degrees
  elevator         = -4;       # deg
}


#
#  Command an elevator angle of neutral-2 deg, for 5 sec at 40 m depth.
#  Vehicle should climb.
#

behavior setElevator 
{
  duration         = 5;       # seconds
  speed            = 1.5;      # m/s
  heading          = 300;      #Degrees
  elevator         = -6;       # deg
}

#
# Command a heading of 130 for 2 min @ 5 m depth
#
behavior setpoint
{
  duration     = 120;          #Seconds
  heading      = 300;          #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       = 300;      #Degrees;
  pitch            = -10;      #Degrees
  speed            = 1.5;      #Meters/sec
  minAltitude      = 3;        #Meters
  maxDepth         = 40;       #Meters
}

behavior setpoint
{
  duration     = 30;        #Seconds
  heading      = 300;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;       #Meters
  legDuration  = 30;        #Seconds
}