################################################################################
#
# PURPOSE: Test the vehicle's ability to control pitch.
#          Preliminary to establishing depth control.
# DATE:    00/7/26:
# NOTES:   
#          
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 360;
}

behavior depthEnvelope
{
  minDepth = 0;
  maxDepth =20; 
  minAltitude = 10;
  abortDepth = 45;
}

# ascend behavior for return to surface

behavior ascend
{
duration = 60;
horizontalMode = heading;
horizontal = 270;
pitch = 10;
speed = 1.5;
endDepth = 0.5;
}

# setpoint at pitch = 0
behavior setpoint
{
  duration     = 180;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = depth;
  depth        = 10.0;         #Meters
  legDuration  = 180;        #Seconds
}
#
#  Forward launch
#
#behavior launch 
#{
#duration  = 30;
#speed = 1.5;
#finalDepth = 4;
#elevator = 0;
#}

# use descend behavior for launch in order to simplify
# commanded pitch

behavior descend
{
  duration         = 40;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees;
  pitch            = -15;      #Degrees
  speed            = 1.5;      #Meters/sec
  minAltitude      = 20;       #Meters
  maxDepth         = 40;       #Meters
}

behavior launch 
{
duration  = 30;
speed = 1.5;
finalDepth = 4;
elevator = 2;
}

behavior setpoint
{
  duration     = 20;        #Seconds
  heading      = 270;       #Degrees
  speed        = 1.5;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;         #Meters
  legDuration  = 20;        #Seconds
}