################################################################################
#
# PURPOSE: Test the launch behavior.
# DATE:    00/5/24:
# NOTES:   
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 660;
}

behavior depthEnvelope
{
  minDepth = 0;
  maxDepth = 9;
  minAltitude = 5;
  abortDepth =10;
}

# setpoint to mimic ascend behavior.
behavior setpoint
{
duration = 20;
heading = 140;
speed = 1.5;
verticalMode = pitch;
pitch = 30;
legDuration = 20;
}
behavior setpoint
{
duration = 60;
heading = 140;
speed = 1.5;
verticalMode = depth;
depth = 6;
legDuration = 60;
}

behavior setpoint
{
duration = 30;
heading = 140;
speed = 1.5;
verticalMode = pitch;
pitch = 5;
legDuration = 30;
}

behavior setpoint
{
duration = 30;
heading = 140;
speed = 1.5;
verticalMode = pitch;
pitch = -5;
legDuration = 30;
}

behavior setpoint 
{
duration = 180;
heading = 140;
speed = 1.5;
verticalMode = depth;
depth = 6.0;
legDuration = 180;
}

behavior setpoint
{
duration = 180;
heading = 140;
speed = 1.5;
verticalMode = depth;
depth = 3.0;
legDuration = 180;
}

behavior launch
{
duration = 60;
elevator = 0.0;
speed    = 1.0;
finalDepth = 2;
}