################################################################################
#
# PURPOSE: Launch, then proceed at a fixed heading for 3 min, at 15 m depth,
# take reciprocal heading for 2 minutes.
#	
# AUTHOR:  
# DATE:    01/05/30:
# NOTE:    Sequential behaviors are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 1200;
}

behavior acousticAbort
{
  dummyAttribute = 0;
}

#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 20;         #Meters
  abortDepth   = 25;         #Meters
}

behavior setpoint
{
  duration     = 200;        #Seconds
  heading      = 30;       #Degrees
  speed        = 0.0;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;        #Meters
}

#
# Come back up to the surface.  
#

behavior ascend {

  duration         = 120;       #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = 10;       #Degrees; 
  pitch            = 10;       #Degrees
  speed            = 1.4;      #Meters/sec
  endDepth         = 5;	       #Meters
}

behavior setpoint
{
  duration     = 220;        #Seconds
  heading      = 80;       #Degrees
  speed        = 1.4;       #Meters/second
  verticalMode = depth;
  depth        = 15.0;        #Meters
}

behavior setpoint
{
  duration     = 180;        #Seconds
  heading      = 260;       #Degrees
  speed        = 1.4;       #Meters/second
  verticalMode = depth;
  depth        = 15.0;        #Meters
}

behavior descend {

  duration         = 300;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 260;       #Degrees; 
  pitch            = -5;      #Degrees
  speed            = 1.4;      #Meters/sec
  maxDepth         = 15;        #Meters
}

behavior descend {

  duration         = 300;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 260;       #Degrees; 
  pitch            = -20;      #Degrees
  speed            = 1.4;      #Meters/sec
  maxDepth         = 5;        #Meters
}

behavior setpoint
{
  duration     = 30;        #Seconds
  heading      = 260;       #Degrees
  speed        = 1.4;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;       #Meters
  legDuration  = 30;        #Seconds
}