################################################################################
#
# PURPOSE: Test Terrain aided navigation, home to transponder.
#          
# AUTHORS: Debbie, Rob
# DATE:    2009/12/15
# NOTES:   This should take about 25 minutes.
#          Vehicle travels at a constant heading to the homer and returns
#	   back to its starting location
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2000;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 280;        #Meters
  minAltitude   = 15;       #Meters
  abortAltitude = 10;      #Meters
  deltaDepthRestart = 1;     #Meters
  abortDepth    = 290;       #Meters
}
#
# Come back up to the surface. 
#
behavior ascend 
{
  duration         = 300;       #Seconds
  horizontalMode   = rudder;  #Mode
  horizontal       = 3;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;	       #Meters
}
# Five - waypoint post-homing
behavior waypoint
{
    latitude     = 36.8142740;
    longitude    = -121.9758460;
    duration     = 700; 
    depth        = 15;
    speed        = 1.5;
}
# Four - waypoint post-homing
behavior waypoint
{
    latitude     = 36.8152487;
    longitude    = -121.9799097;
    duration     = 700; 
    depth        = 100;
    speed        = 1.5;
}
behavior stopCamera
{
    duration     = 1;
}
# Three - waypoint 50m past homer
behavior waypoint
{
    latitude     = 36.8162431;
    longitude    = -121.9840563;
    duration     = 700; 
    depth        = 250;
    speed        = 1.5;
}
behavior waypoint_homing
{
    latitude	= 36.8161143;
    longitude 	= -121.9835191;
    duration	= 400;
    depth 	= 250;
    speed 	= 1.0;
    inTrkOffset = 0;
    beaconAddr  = V4_5;              #50, 298m
    clusterRadius= 10;               #meters, nav reset
}
behavior startCamera
{
    duration     = 1;
    nSamplePeriods = 8;
}
#  dockBearing  = 90.;
behavior waypoint_homing
{
    latitude	= 36.8161143;
    longitude 	= -121.9835191;
    duration 	= 400;
    depth 	= 250;
    speed 	= 1.0;
    inTrkOffset = 75;
    beaconAddr  = V4_5;              #50, 298m
    clusterRadius= 10;               #meters, nav reset
}
behavior waypoint_homing
{
    latitude     = 36.8161143;
    longitude    = -121.9835191;
    duration 	 = 400;
    depth 	 = 230;
    speed 	 = 1.0;
    inTrkOffset  = 150;
    beaconAddr  = V4_5;              #50, 298m
    clusterRadius= 10;               #meters, nav reset
}

# Two
behavior waypoint
{
    latitude     = 36.8156176;
    longitude    = -121.9814481;
    duration     = 400; 
    depth        = 155;
    speed        = 1.5;
}
# One
behavior waypoint
{
    latitude     = 36.8142740;
    longitude    = -121.9758460;
    duration     = 500; 
    depth        = 30;
    speed        = 1.5;
}
behavior descend 
{
  duration         = 200;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = -30;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 37;       #Meters
}

# setpoint on surface to gather momentum
behavior setpoint 
{
    duration     = 30;
    heading      = 270;
    speed        = 1.5;
    verticalMode = pitch;
    pitch        = 0;
}

behavior getgps 
{
    duration = 300;
    minHits = 10;
    abortOnTimeout = True;
}