# 1 "under_healy.cfg"
################################################################################

#PURPOSE: Run in a port to starboard config under the Healey
#MISSION: Acquire IPS Calibration data by flying under Healey
#AUTHOR:  Osborne
#DATE:    2001-October-27
#NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
#MODS:


##############################################################################




















behavior acousticAbort
{
  dummyAttribute = 0;
}

behavior missionTimer
{
  timeOut = 5000;
}

#Depth Envelope

behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 50;         #Meters
  abortDepth   = 70;         #Meters
}


#Come back up to the surface.  


behavior ascend {
  duration         = 360;       #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = 10;       #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.4 ;      #Meters/sec
  endDepth         = 5.0;	       #Meters
}
#Return run setpoint
behavior setpoint
{
  duration     = 300 ;        #Seconds
  heading      = 0 ;       #Degrees
  speed        = 1.4 ;       #Meters/second
  verticalMode = depth;
  depth        = 30 ;        #Meters
}

behavior setRudder
{
  duration    = 12;	#Seconds
  rudder      = 12 ;	#Degrees
  speed	      = 1.4 ;
  depth	      = 30 ;
}

behavior setpoint
{
  duration     = 270 ;        #Seconds
  heading      = 270 ;       #Degrees
  speed        = 1.4 ;       #Meters/second
  verticalMode = depth;
  depth        = 30 ;        #Meters
}

behavior setRudder
{
  duration    = 12;	#Seconds
  rudder      = 12 ;	#Degrees
  speed	      = 1.4 ;
  depth	      = 30 ;
}

behavior setpoint
{
  duration     = 270 ;        #Seconds
  heading      = 90 ;       #Degrees
  speed        = 1.4 ;       #Meters/second
  verticalMode = depth;
  depth        = 30 ;        #Meters
}

behavior setRudder
{
  duration    = 12;	#Seconds
  rudder      = -12 ;	#Degrees
  speed	      = 1.4 ;
  depth	      = 30 ;
}

behavior setpoint
{
  duration     = 270 ;        #Seconds
  heading      = 270 ;       #Degrees
  speed        = 1.4 ;       #Meters/second
  verticalMode = depth;
  depth        = 30 ;        #Meters
}

behavior setRudder
{
  duration    = 12;	#Seconds
  rudder      = 12 ;	#Degrees
  speed	      = 1.4 ;
  depth	      = 30 ;
}

behavior setpoint
{
  duration     = 270 ;        #Seconds
  heading      = 90 ;       #Degrees
  speed        = 1.4 ;       #Meters/second
  verticalMode = depth;
  depth        = 30 ;        #Meters
}
#Initial run setpoint
behavior setpoint
{
  duration     = 60 ;        #Seconds
  heading      = 0 ;       #Degrees
  speed        = 1.4 ;       #Meters/second
  verticalMode = depth;
  depth        = 30 ;        #Meters
}

#Use descend behavior instead of launch to maintain pitch control.
behavior descend {
  duration         = 400;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 0 ;       #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.4 ;      #Meters/sec
  maxDepth         = 30 ;        #Meters
}

behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 0 ;       #Degrees
  speed        = 1.4 ;       #Meters/second
  verticalMode = depth;
  depth        = 0;       #Meters
  legDuration  = 60;      #Seconds
}









































