# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
#timeOut = 1800;
behavior missionTimer
{
  timeOut = 900;
}
# 
# depth envelope
behavior depthEnvelope
{
  minDepth = 0;
  maxDepth = 100;
  abortDepth = 99.000000;
  minAltitude = 1.500000;
  abortAltitude = 1.000000;
  deltaDepthRestart = 3.000000;
}
#######################################################
# 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 waypoint_bottom
{
  latitude = 36.696275;
  longitude = -121.936;
  lastLatitude  = 36.696275;
  lastLongitude = -121.946;
  duration = 900;
  depth = 97;
  altitude = 30;
  speed = 1.500000;
  tau=3;
  avoidRange=80.0;
  feedThetaForward=False;
}
#latitude = 36.696275;
behavior waypoint_bottom
{
  latitude = 36.696275;
  longitude = -121.946;
  lastLatitude  = 36.696275;
  lastLongitude = -121.936;
  duration = 900;
  depth = 97;
  altitude = 30;
  speed = 1.500000;
  tau=3;
  avoidRange=80.0;
  feedThetaForward=False;
}
#latitude = 36.696275;
behavior waypoint
{
  latitude = 36.696275;
  longitude = -121.936;
  duration = 1000;
  depth = 75;
  speed = 1.500000;
}
#latitude = 36.696275;
behavior descend
{
  horizontalMode = rudder;
  horizontal = 3.000000;
  pitch = -35.000000;
  speed = 1.500000;
  maxDepth = 87.000000;
  minAltitude = 30.000000;
  duration = 300;
}
behavior descend
{
  horizontalMode = heading;
  horizontal = 270.0;
  pitch = -35.000000;
  speed = 1.500000;
  maxDepth = 5.;
  minAltitude = 35.000000;
  duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
  duration = 30;
  heading = 270.0;
  speed = 1.500000;
  verticalMode = pitch;
  pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
  duration = 600;
  minHits = 10;
  abortOnTimeout = True;
}
