################################################################################
#
# PURPOSE: Test the Circle Behavior: 
# AUTHOR:  rsm
# DATE:    07/06/18:
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
#
#define HEADING 0.
#define MISSION_SPEED 1.5
#
behavior missionTimer 
{
    timeOut = 800;
}

behavior depthEnvelope 
{
    minDepth = 0;
    maxDepth = 35;
    abortDepth = 40;
    abortAltitude = 15;
    abortLockoutDepth = 1.0;
}

# ascend behavior
behavior ascend 
{
    duration  = 200;
    horizontalMode   = rudder;
    horizontal       = 10;
    pitch            = 20;
    speed            = 1.5;
    endDepth         = 2;
}
#latitude     = 36.8547;
#longitude     = -121.8283;
behavior circle
{
    northing     = 4066525.5;
    easting      = 599808.3;
    duration     = 400; 
    depth        = 5;
    speed        = 1.5;
    radius       = 40;
    abortOnTimeout = false; 
}

# Descend behavior to 5 meters
behavior descend 
{
    horizontalMode   = heading;
    horizontal   = HEADING;
    pitch        = -15;
    speed        = 1.5;
    maxDepth     = 5;
    minAltitude  = 5;
    duration     = 60;
}

# setpoint on surface to gather momentum
behavior setpoint 
{
    duration     = 30;
    heading      = HEADING;
    speed        = 1.5;
    verticalMode = pitch;
    pitch        = 0;
}

# acquire gps fix
behavior getgps 
{
    duration = 300;
    minHits = 15;
    abortOnTimeout = True;
}
