################################################################################
#
# 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 = 2000;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 30;        #Meters
  abortDepth    = 35;        #Meters
  minAltitude   = 20;        #Meters
  abortAltitude = 15;        #Meters
  deltaDepthRestart =5;      #Meters
}
behavior ascend 
{
   duration         = 200;      #Seconds
   horizontalMode   = rudder;   #Mode
   horizontal       = -5;       #Degrees; 
   pitch            = 30;       #Degrees
   speed            = 1.5;      #Meters/sec
   endDepth         = 2;	#Meters
}
#
# Set Reson logging off 
behavior reson 
{ 
duration  = 6; 
Log_Mode  = 0; 
MB_Power = 0; 
} 
#   Lat/log from behavior below:
#    latitude    =   36.766494614;
#    longitude   = -122.003984855;
 behavior waypoint_wall
{
    latitude 	 = 65.920636;
    longitude 	 = -38.078207;
    duration     = 1200; 
    initialDepth = 10;
    finalDepth   = 10;
    speed        = 1.5;
    standOff     = 50;          #Meters; Stand off from the wall
    sonarTimeOut = 2;           #Seconds;
    wallAbsentTime   = 120;
    waypointPriority = 0;
}
#
# Set Reson logging on 
behavior reson 
{ 
duration  = 6; 
Log_Mode  = 2; 
} 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 156.0;
pitch = -45.000000;
speed = 1.600000;
maxDepth = 20.;
minAltitude = 5.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum
behavior setpoint
{
duration = 30;
heading = 156.0;
speed = 1.600000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# Set sonar parameters, turn pinging on, power zero and logging off 
# 
behavior reson 
{ 
duration  = 6; 
MB_Mode  = 1; 
Log_Mode  = 0; 
SBP_Mode = 0; 
LoSS_Mode = 0; 
HiSS_Mode = 0; 
MB_Power = 218; 
MB_Range = 200.00; 
MB_Rate = 3; 
MB_Gain = 33; 
MB_Sound_Velocity = 0.0; 
MB_Pulse_Width = 0.001000; 
MB_Bottom_Detect_Filter_Min_Range = 15.0; 
MB_Bottom_Detect_Filter_Max_Range = 200.00; 
MB_Bottom_Detect_Filter_Min_Depth = 0.00; 
MB_Bottom_Detect_Filter_Max_Depth = 200.00; 
MB_Bottom_Detect_Range_Mode = 1; 
MB_Bottom_Detect_Depth_Mode = 0; 
Snippet_Mode = 1; 
Window_Size = 200; 
Log_Mode = 0; 
} 
#
#Started here:
#
# Sequential behaviors begin at the bottom.
#