function info {
    parameter message.
    
    set logmessage to round(missionTime,1) + ": " + message.
    print logmessage.
}
set takeoffspeed to 100.
set targetOrbitAltitude to 101e3.


set steeringmanager:rollcontrolanglerange to 180.

set vectors to ship:partsdubbedpattern("vector").
for v in vectors set v:thrustlimit to 0.
set servos to ship:modulesnamed("ModuleRoboticRotationServo"). 
lock p to choose 0 if airspeed < takeoffspeed else min(20,max(0,groundspeed/7.5)).
set h to 90.
lock steering to heading(h,p).

toggle ag2.
lock throttle to targetOrbitAltitude-apoapsis.
lock angletarget to 0.
when altitude > 72 then {
    info("engage dynamic servo").
    lock angletarget to max(0, min(90,100 - ((-verticalspeed + (80-altitude)/1.5)*100))).
	gear off.
}
toggle ag1.
info("initialize vtols").
lock vlimit to (-verticalspeed + (80-altitude))*100.
until vlimit < 0 {
    set vlimitcopy to vlimit.
    set anglecopy to angletarget.
    for v in vectors set v:thrustlimit to vlimitcopy.
    for s in servos if s:hasfield("target angle") s:setfield("target angle", anglecopy).
    print "   v thrust: " + vlimitcopy at (0,0).
    print "servo angle: " + anglecopy at (0,1).
    wait 0.
}
info("store vtols").

toggle ag2.
for s in servos if s:hasfield("target angle") s:setfield("target angle", 90).
print "   v thrust: " + vlimitcopy at (0,0).
print "servo angle: " + anglecopy at (0,1).
bays off.
info("gain speed").
lock p to 9.6.