################################################################################
#
# PURPOSE: Simulate wall following.
#          
# AUTHOR:  rsm
# DATE:    7 Nov 2012
# NOTE:    Sequential behaviors are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 1800;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 60; #Meters
  abortDepth = 70; #Meters
  minAltitude = 20.0; #Meters
  abortAltitude = 10.0; #Meters
  deltaDepthRestart = 3.0; #Meters
  altSuspendDepthControl = True; #N/A
  altTimeOut = 60;
}
# minObstacleRange = 20.;     #Meters

behavior ascend
{
  duration = 300; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = 2; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 0; #Meters
}
behavior waypoint_bottom
{
    latitude = 36.8135709;
    longitude = -121.9733738;
    duration = 500;
    speed = 1.5;
    depth = 40.; #Meters
}
behavior waypoint_bottom
{
    latitude = 36.8135709;
    longitude = -121.9683738;
    duration = 500;
    speed = 1.5;
    depth = 50.; #Meters
}
behavior waypoint
{
    latitude = 36.8135709;
    longitude = -121.9623738;
    duration = 800;
    depth = 50;
    speed = 1.5;
}

#
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270.0;
pitch = -30;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 270.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 5;
abortOnTimeout = True;
}