################################################################################
#
# PURPOSE: Simulate new bottom-following behavior
#          
# AUTHOR:  rsm
# DATE:    15 Oct 2012
# NOTE:    Sequential behaviors are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 900;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 20;        #Meters
  abortDepth    = 25;        #Meters
  minAltitude   = 3.0;       #Meters
  abortAltitude = 1.0;       #Meters
  deltaDepthRestart =1.5;    #Meters
  minObstacleRange = 20.;    #Meters
}
behavior ascend 
{
  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 0;	       #Meters
}
behavior waypoint_bottom
{
    latitude     = 36.81649;
    longitude    = -121.9712;
    duration     = 800; 
    depth        = 15;
    speed        = 1.5;
    stime        = 50.;
    wavelength   = 100.;      #Meters
    amplitude    = 5.;        #Meters
    feedThetaForward = True;  #none
    halfWave     = True;         #none
}
behavior waypoint
{
    latitude     = 36.81249;
    longitude    = -121.9712;
    duration     = 500; 
    depth        = 15;
    speed        = 1.5;
}
behavior descend 
{
  duration         = 120;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = -30;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 15;       #Meters
  minAltitude      = 8.0;       #Meters
}
#
# Sequential behaviors begin at the bottom.
#
