################################################################################
#
# PURPOSE: Test the launch behavior.
# DATE:    00/5/24:
# NOTES:   
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 700;
}

behavior depthEnvelope
{
  minDepth = 0;
  maxDepth = 9;
  minAltitude = 5;
  abortDepth =12;
}

# setpoint to mimic ascend behavior.
behavior setpoint
{
  duration = 20;
  heading = 120;
  speed   = 1.5;
  verticalMode = pitch;
  pitch = 30;
  legDuration = 20;
}

behavior setpoint
{
duration = 90;
heading = 120;
speed = 1.5;
verticalMode = depth;
depth = 5.0;
legDuration = 90;
}

behavior setpoint
{
duration = 480;
heading = 300;
speed = 1.5;
verticalMode = depth;
depth = 5.0;
legDuration = 480;
}

behavior launch
{
duration = 60;
elevator = 0.0;
speed = 1.5;
finalDepth = 2;
}