################################################################################
#
# PURPOSE: Launch, then proceed for 60 seconds at 210 Degrees at 5 m depth.
#          Set the depth envelope behavior with Abort Depth of 3 m
# AUTHOR:  
# DATE:    99/12/23:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2100;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 110;         #Meters
  minAltitude  = 10;        #Meters
  abortDepth   = 120;         #Meters
}
#
# Come back up to the surface.  The rudder angle is -10 Degrees so
# that this behavior may be distinguished from the abort behavior,
# which has +10 degrees rudder.
#
behavior ascend {

  duration         = 900;       #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = 5;       #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 5;	       #Meters
}

behavior descend {
  duration         = 900;       #Seconds
  horizontalMode   = heading;   #Mode
  horizontal       = 290;       #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  minAltitude 	 = 20;
  maxDepth         = 100;     #Meters
}


#
# Proceed at a depth of 10 meters and heading of 270 degrees for 60 seconds.
#
behavior setpoint
{
  duration     = 120;        #Seconds
  heading      = 290;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = pitch;
  pitch        = 0;        #Meters
}