################################################################################
#
# PURPOSE: Test the vehicle's ability to control pitch.
#          Preliminary to establishing depth control.
# DATE:    03/19/2001:
# NOTES:   
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2000;
}

behavior depthEnvelope
{
  minDepth = 0;
  maxDepth =15; 
  minAltitude = 10;
  abortDepth = 40;
}

# ascend behavior for return to surface
behavior ascend
{
duration = 180;
horizontalMode = heading;
horizontal = 111;
pitch = 10;
speed = 1.5;
endDepth = 3.0;
}

# setpoint at pitch = 0
behavior setpoint
{
  duration     = 1200;        #Seconds
  heading      = 111;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 10.0;         #Meters
  legDuration  = 1200;        #Seconds
}

# use descend behavior for launch in order to simplify
# commanded pitch
# use descend behavior for launch in order to simplify
# commanded pitch
behavior descend
{
  duration         = 40;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 111;      #Degrees;
  pitch            = -5.0;      #Degrees
  speed            = 1.5;      #Meters/sec
  minAltitude      = 20;       #Meters
  maxDepth         = 10;       #Meters
}


#
# Launch
#
#behavior launch
#{
#  duration  = 60;           #Seconds
#  elevator  = 3;           #Degrees
#  speed     = 1.5;         #Meters/sec
#  finalDepth= 3;            #Meters
#}

behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 111;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
  legDuration  = 60;        #Seconds
}