################################################################################
#
# PURPOSE: Simulate wall following.
#          
# AUTHOR:  rsm
# DATE:    10 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
}
# pitchLimitAltitude = 9.;   #Meters-below which the commanded pitch is clipped.
# maxLowerPitch = 10.;       #Degrees, positive.
#
#behavior lowAltitudeFollowing
#{
#  endTime = 3600;
#}
behavior ascend 
{
  duration         = 60;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 0;	       #Meters
}
#behavior lowAltitudeFollowingOff
#{
#    duration = 2;	
#}
behavior waypoint_wall
{
    latitude     = 36.81949;
    longitude    = -121.9732;
    duration     = 800; 
    depth        = 15;
    speed        = 1.5;
    maxCrossTrackError = 40;    #Meters; Maximum cross-track displacement
    standOff     = 50;          #Meters; Stand off from the wall
    sonarTimeOut = 20;          #Seconds;
    rangeInst    = 1;           #n/a: 1) Dvl; 2) Reson; 3) Echosounder.
}
behavior waypoint
{
    latitude     = 36.81249;
    longitude    = -121.9712;
    duration     = 500; 
    depth        = 15;
    speed        = 1.5;
}
#behavior lowAltitudeFollowingOn
#{
#    duration = 2;	
#}
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.
#
