function [TargetDepth TargetDepthRate] = TargetDepth_Profiling(t)

% This sets the target depth to be repeating profiles from Top to Bottom and back
ProfileTop = -10;
ProfileBottom = -30;
ProfilePeriod = 160;  %Seconds for round trip

%profile_rate = (ProfileTop-ProfileBottom)/(ProfilePeriod/4);  %Profile rate in m/s

%tau = mod(t,ProfilePeriod);

% if tau <= ProfilePeriod/4
%     TargetDepth = ProfileTop;
%     TargetDepthRate = 0;
% elseif tau <= ProfilePeriod/2
%     TargetDepth = ProfileTop-profile_rate*(tau-ProfilePeriod/4); %Relative to global coordinate system.
%     TargetDepthRate = -profile_rate;
% elseif tau <= 3*ProfilePeriod/4
%     TargetDepth = ProfileBottom;
%     TargetDepthRate = 0;
% else
%     TargetDepth = ProfileBottom+profile_rate*(tau-3*ProfilePeriod/4);
%     TargetDepthRate = profile_rate;
%     

if(t < 10 || t > 40) 
%if(t < 10) 
   TargetDepth = ProfileTop;
else
    TargetDepth = -20.0;
end
TargetDepthRate = 0.0;

 TargetDepth = ProfileTop;
 TargetDepthRate = 0.0;
    
end