################################################################################
#
# PURPOSE: Basic Test: 
#          
# AUTHOR:  
# DATE:    99/12/23:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 500;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 60;        #Meters
  minAltitude  = 5;         #Meters
  abortDepth   = 65;        #Meters
}
#
# Come back up to the surface.  Go straight to avoid fouling the float/tether.
#
behavior ascend 
{
  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = .1;       #Meters
}
behavior FireTheGulper
{
  gulperToFire     = 9;
  duration = 1;
}
behavior waypoint
{
    northing     = 4066375.5;
    easting      = 599708.3;
    duration     = 300; 
    depth        = 25;
    speed        = 1.5;
}
behavior ArmTheGulper
{
  gulper4 = 1;     #fl676 > 2.0e-3, d>5 m, 2/4  WILL  FIRE 
  gulper5 = 1;     #fl676 > 1.0e-3, d>5 m, 2/4  WILL  FIRE after 15 sec.
  gulper7 = 1;     #.7e-3<fl676<1.2e-3 and bb470>.022 WILL FIRE when dist>200
  gulper8 = 1;     #.7e-3<fl676<1.2e-3 and bb470>.022 WILL FIRE when dist>200+22
  duration  = 1;   #Seconds
}
# Initial vehicle location {4066375.5, 599958.3, 0.}, or
# latitude  =   36.737845;       //Decimal Degrees
# longitude = -121.8804227;      //Decimal Degrees. Minus for West Long.
# 
# Test location 100 m south of the transponder.
#    northing     = 4066275.5;
#    easting      = 599658.3;
# double trans_N[3] = {4066375.5, 599658.3, 0.};
#    northing     = 4066375.5;
#    easting      = 599658.3;
# double trans_N[3] = {4066475.5, 599658.3, 0.};
behavior waypoint
{
    northing     = 4066375.5;
    easting      = 599808.3;
    duration     = 300; 
    depth        = 25;
    speed        = 1.5;
}
behavior ArmTheGulper
{
  gulper1 = 1;          #fl676 > 1.0e-3, d>50m       WON'T FIRE
  gulper2 = 1;          #fl676 > 2.0e-3, d>5 m       WON'T FIRE Until>100m
  gulper3 = 1;          #fl676 > 1.0e-3, d>5 m       WILL  FIRE
  gulper6 = 1;          #fl676 > 2.0e-3, d>5 m, 2/4  WON'T FIRE Until>100m+15*1.5
  duration  = 1;        #Seconds
}
behavior descend 
{
  duration         = 120;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = -30;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 23;       #Meters
}
behavior ArmTheGulper
{
  gulper0   = 1;        #fl676 > 1.0e-3       WILL FIRE
  duration  = 1;        #Seconds
}
behavior descend 
{
  duration         = 2;        #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = -30;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 23;       #Meters
}
#
# Sequential behaviors begin at the bottom.
#
