# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
  timeOut = 2200;
}
# 
# depth envelope
behavior depthEnvelope
{
  minDepth = 0;
  maxDepth = 98;
  abortDepth = 98.;
  minAltitude = 3.0;
  abortAltitude = 2.5;
}
#######################################################
# 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 = 36.702;
  longitude = -121.949;
  lastLatitude = 36.702;
  lastLongitude = -121.948;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 15;
  triggerDelay = 100000;
}
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.948;
  lastLatitude = 36.702;
  lastLongitude = -121.947;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 12;
  triggerDelay = 100000;
}
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.947;
  lastLatitude = 36.702;
  lastLongitude = -121.946;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 9;
  triggerDelay = 100000;
}
behavior delta_t
{
  duration = 5;
  sonar = 1;
  receiveGain = 9;
  triggerDelay = 100000;
}
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.946;
  lastLatitude = 36.702;
  lastLongitude = -121.945;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 15;
  triggerDelay = 70000;
}
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.945;
  lastLatitude = 36.702;
  lastLongitude = -121.944;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 12;
  triggerDelay = 70000;
}
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.944;
  lastLatitude = 36.702;
  lastLongitude = -121.943;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 9;
  triggerDelay = 70000;
}
behavior delta_t
{
  duration = 5;
  sonar = 1;
  receiveGain = 9;
  triggerDelay = 70000;
}
behavior reson
{
duration = 6;
MB_Power = 0;
SBP_Mode = 0;
LoSS_Mode = 0;
HiSS_Mode = 0;
Log_Mode = 0;
}
#turn off the reson
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.943;
  lastLatitude = 36.702;
  lastLongitude = -121.942;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 9;
  triggerDelay = 100000;
}
behavior delta_t
{
  duration = 5;
  sonar = 1;
  receiveGain = 12;
  triggerDelay = 100000;
}
# (above) 100, Reson on
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.942;
  lastLatitude = 36.702;
  lastLongitude = -121.941;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 15;
  triggerDelay = 100000;
}
# (above) 100, Reson on
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.941;
  lastLatitude = 36.702;
  lastLongitude = -121.940;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 12;
  triggerDelay = 100000;
}
# (above) 100, Reson on
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.940;
  lastLatitude = 36.702;
  lastLongitude = -121.939;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 1;
  receiveGain = 9;
  triggerDelay = 100000;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 9;
  triggerDelay = 100000;
}
# (above) 100, Reson on
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.939;
  lastLatitude = 36.702;
  lastLongitude = -121.938;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 1;
  receiveGain = 12;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 9;
}
# (above) 70, Reson on
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.938;
  lastLatitude = 36.702;
  lastLongitude = -121.937;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 15;
}
# (above) 70, Reson on
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.937;
  lastLatitude = 36.702;
  lastLongitude = -121.936;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 12;
}
# (above) 70, Reson on
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.936;
  lastLatitude = 36.702;
  lastLongitude = -121.935;
  maxLowerPitch = 15;
  duration = 900;
  depth = 98;
  altitude = 4;
  speed = 1.500000;
  feedThetaForward=False;
}
# (above) 70, Reson on
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.935;
  lastLatitude = 36.702;
  lastLongitude = -121.934;
  duration = 900;
  depth = 98;
  altitude = 4;
  maxLowerPitch = 15;
  speed = 1.500000;
  feedThetaForward=False;
}
#turn the Reson on:
behavior reson
{
duration = 6;
MB_Range = 20.;
MB_Rate = 3;
MB_Gain = 50;
MB_Power = 220;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 2.0;
MB_Bottom_Detect_Filter_Max_Range = 20.;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 110.;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.934;
  lastLatitude = 36.702;
  lastLongitude = -121.933;
  duration = 900;
  depth = 98;
  altitude = 5;
  maxLowerPitch = 15;
  speed = 1.500000;
  feedThetaForward=False;
}
#tau=3;
#avoidRange=50.0;
behavior delta_t
{
  duration = 5;
  sonar = 1;
  range = 10;
}
behavior delta_t
{
  duration = 5;
  sonar = 0;
  receiveGain = 9;
}
behavior waypoint_bottom
{
  latitude = 36.702;
  longitude = -121.933;
  lastLatitude = 36.702;
  lastLongitude = -121.929;
  duration = 900;
  depth = 90;
  maxLowerPitch = 15;
  speed = 1.500000;
}
behavior waypoint
{
  latitude = 36.702;
  longitude = -121.929;
  duration = 1000;
  depth = 85;
  speed = 1.500000;
}
# 
# Descend behaviors
behavior descend
{
  horizontalMode = rudder;
  horizontal = 3.000000;
  pitch = -35.000000;
  speed = 1.500000;
  maxDepth = 83.000000;
  minAltitude = 15.000000;
  duration = 300;
}
behavior descend
{
  horizontalMode = heading;
  horizontal = 90.0;
  pitch = -35.000000;
  speed = 1.500000;
  maxDepth = 5.;
  minAltitude = 15.000000;
  duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
  duration = 30;
  heading = 90.0;
  speed = 1.500000;
  verticalMode = pitch;
  pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
  duration = 600;
  minHits = 10;
  abortOnTimeout = True;
}