################################################################################
#
# PURPOSE: Circle an iceberg in the Petersen Fjord.
#          
# AUTHOR:  rsm
# DATE:    8 July 2017
# NOTE:    Sequential behaviors are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 4200;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth    = 0;        #Meters
  maxDepth    = 120;       #Meters
  abortDepth  = 130;       #Meters
  minAltitude = 20;       #Meters
  abortAltitude     = 15; #Meters
  deltaDepthRestart =5;   #Meters
}
behavior ascend
{
   duration = 500; #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 Stocklund:
#    latitude = 65.911236;
#    longitude = -38.085363;
 behavior waypoint_wall
{
    latitude = 65.932187;
    longitude = -38.321158; 
    duration = 3600;
    initialDepth = 110;
    finalDepth = 110;
    speed = 1.5;
    standOff = 50; #Meters; Stand off from the wall
    sonarTimeOut = 2; #Seconds;
    wallAbsentTime = 15;
    waypointPriority = 0;
}

#
# Set Reson logging on 
behavior reson
{
duration = 6;
Log_Mode = 2;
}
# 
# Descend behavior 
behavior descend
{
horizontalMode = rudder;
horizontal = -3;
pitch = -45.;
speed = 1.6;
maxDepth = 110.;
minAltitude = 5.;
duration = 1000;
}

behavior descend
{
horizontalMode = heading;
horizontal = 323.0;
pitch = -45.000000;
speed = 1.600000;
maxDepth = 5.;
minAltitude = 5.000000;
duration = 300;
}

# 
# 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 = 1421.0;
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.
#