################################################################################
#
# PURPOSE: Fly two passes crossing over the transponder.
#          
# AUTHOR:  rsm
# DATE:    2009/03/26
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2000;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 20;        #Meters
  minAltitude   = 2.0;       #Meters
  abortAltitude = 1.5;       #Meters
  deltaDepthRestart =4;      #Meters
  abortDepth    = 25;        #Meters
  maxLowerPitch = 10.;       #Degrees, positive.
}
behavior ascend 
{
  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 0;	       #Meters
}
#
# Now home to a simulated beacon 100m north and 400m further west.
#
behavior waypoint_homing
{
    latitude     = 36.81349;         #29 at 30m
    longitude    = -121.977463;      #29 at 30m
    beaconAddr   = V13_2;            #29 at 30m
    duration     = 1000;       
    depth        = 15;
    speed        = 1.5;
    dockBearing  = 270.;
    clusterRadius= 10;
    navReset     = 1;
}
behavior stopCamera
{
    duration     = 1;
}
#    latitude     = 36.81249;           #28 at 30m
behavior waypoint_homing
{
    latitude     = 36.81200;           #50m south of 28 at 30m: Test nav reset
    longitude    = -121.973463;        #28 at 30m
    beaconAddr   = V12_2;              #28 at 30m
    duration     = 400; 
    depth        = 15;
    speed        = 1.0;
    dockBearing  = 270.;
    inTrkOffset  = -75;
    clusterRadius= 10;
    navReset     = 1;
}
behavior startCamera
{
    duration     = 1;
    distance     = 1.;
}
#
# This is the location of the real beacon #27. It is at a simulated depth of
# 30m, not 93m, in order to reduce simulation time.
#
behavior waypoint_homing
{
    latitude     = 36.81249;           #28 at 30m
    longitude    = -121.973463;        #28 at 30m
    beaconAddr   = V12_2;              #28 at 30m
    duration     = 400; 
    depth        = 15;
    speed        = 1.0;
    dockBearing  = 270.;
    inTrkOffset  = 75;
    clusterRadius= 10;
    finalApproach= 175;
    navReset     = 1;
}
behavior descend 
{
  duration         = 120;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = -30;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 13;       #Meters
}
#
# Sequential behaviors begin at the bottom.
#
