################################################################################
#
# PURPOSE: Simulate wall following.  Check Rock's family of ic sim runs.
#          
# AUTHOR:  rsm
# DATE:    9 Oct 2013
# NOTE:    Sequential behaviors are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 3500;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 250;        #Meters
  abortDepth    = 245;        #Meters
  minAltitude   = 20;        #Meters
  abortAltitude = 15;        #Meters
  deltaDepthRestart =5;      #Meters
}
behavior ascend 
{
   duration         = 200;      #Seconds
   horizontalMode   = rudder;   #Mode
   horizontal       = -3;       #Degrees; 
   pitch            = 30;       #Degrees
   speed            = 1.5;      #Meters/sec
   endDepth         = 2;	#Meters
}
behavior waypoint_wall
{
   escape = True;
   escapeDistance = 200;
   duration = 100;
   speed = 1.500000;
   wallAbsentTime = 70;
   standOff = 30;
   sonarTimeOut = 5;
}
 behavior waypoint_wall
{
    latitude    =   36.766494614;
    longitude   = -122.003984855;
    duration     = 30; 
    initialDepth = 30;
    finalDepth   = 30;
    speed        = 1.5;
    standOff     = 20;          #Meters; Stand off from the wall
    sonarTimeOut = 2;           #Seconds;
    wallAbsentTime   = 60;
    waypointPriority = 0;
}
 behavior waypoint_wall
{
    runIfTrnConv  = True;
    bergTermAngle = 180;       #Degrees	
    duration     = 600; 
    speed        = 1.5;
    initialDepth = 30;
    finalDepth   = 30;
    standOff     = 10;          #Meters; Stand off from the wall
    sonarTimeOut = 2;           #Seconds;
    wallAbsentTime   = 60;
    waypointPriority = 0;
}
 behavior waypoint_wall
{
    runIfTrnConv  = True;
    bergTermAngle = 130;       #Degrees	
    duration     = 600; 
    speed        = 1.5;
    initialDepth = 30;
    finalDepth   = 30;
    standOff     = 20;          #Meters; Stand off from the wall
    sonarTimeOut = 2;           #Seconds;
    wallAbsentTime   = 60;
    waypointPriority = 0;
}
 behavior waypoint_wall
{
    latitude    =   36.766494614;
    longitude   = -122.003984855;
    duration     = 600; 
    initialDepth = 30;
    finalDepth   = 30;
    speed        = 1.5;
    standOff     = 20;          #Meters; Stand off from the wall
    sonarTimeOut = 2;           #Seconds;
    wallAbsentTime   = 60;
    waypointPriority = 0;
    termIfTrnConv    = True;
}
#   Lat/log from behavior below:
#    latitude    =   36.766494614;
#    longitude   = -122.003984855;
 behavior waypoint_wall
{
    initialDistance = 150;
    initialBearing  = 0.;
    duration     = 600; 
    initialDepth = 30;
    finalDepth   = 30;
    speed        = 1.5;
    standOff     = 20;          #Meters; Stand off from the wall
    sonarTimeOut = 2;           #Seconds;
    wallAbsentTime   = 60;
    waypointPriority = 0;
}
#
#Started here:
# Apr 2017 New Iceberg start in the bay:
# theBerg_0deg_1m_4069498_588897.bo;
# utm2geo1(4069498,588897,10)
#latitude    =   36.765494614;
#longitude   = -122.003984855;
#
# Sequential behaviors begin at the bottom.
#
