

# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
  timeOut = 2200;
}
# 
# depth envelope
behavior depthEnvelope
{
  minDepth = 0;
  maxDepth = 98;
  abortDepth = 98.;
  minAltitude = 3.0;
  abortAltitude = 2.5;
  deltaDepthRestart = 7.;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
  duration = 600;
  minHits = 10;
  abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
  duration = 300;
  horizontalMode = rudder;
  horizontal = 3.000000;
  pitch = 45.000000;
  speed = 1.500000;
  endDepth = 2.000000;
}
behavior delta_t
{
  duration = 5;
  sonar = 1;
  range = 100;
}
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.946;
  lastLatitude = 36.702;
  lastLongitude = -121.942;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
#tau=3;
#avoidRange=50.0;
behavior delta_t
{
  duration = 5;
  sonar = 1;
  range = 20;
}
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.942;
  lastLatitude = 36.702;
  lastLongitude = -121.946;
  duration = 900;
  depth = 98;
  altitude = 4;
  maxLowerPitch = 15;
  speed = 1.500000;
  feedThetaForward=False;
}
#tau=3;
#avoidRange=50.0;

behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.946;
  lastLatitude = 36.702;
  lastLongitude = -121.948;
  duration = 900;
  depth = 93;
  maxLowerPitch = 15;
  speed = 1.500000;
}

behavior waypoint
{
  latitude = 36.702;
  longitude = -121.948;
  duration = 1000;
  depth = 85;
  speed = 1.500000;
}
# 
# Descend behaviors
behavior descend
{
  horizontalMode = rudder;
  horizontal = 3.000000;
  pitch = -35.000000;
  speed = 1.500000;
  maxDepth = 83.000000;
  minAltitude = 15.000000;
  duration = 300;
}
behavior descend
{
  horizontalMode = heading;
  horizontal = 90.0;
  pitch = -35.000000;
  speed = 1.500000;
  maxDepth = 5.;
  minAltitude = 15.000000;
  duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
  duration = 30;
  heading = 90.0;
  speed = 1.500000;
  verticalMode = pitch;
  pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
  duration = 600;
  minHits = 10;
  abortOnTimeout = True;
}
