#
# Depth here should be ~600 m.
#
behavior missionTimer
{
timeOut = 1600;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 85;
abortDepth = 90;
minAltitude = 100.000000;
abortAltitude = 90.000000;
deltaDepthRestart = 10.000000;
}
#######################################################
# 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
{
latitude = 36.785;
longitude = -121.920;
duration = 400;
depth = 50.0;
speed = 1.500000;
}
behavior waypoint_wall
{
latitude = 36.785;
longitude = -121.922;
duration = 400;
initialDepth = 50.0;
finalDepth = 50.0;
speed = 1.500000;
maxCrossTrackError = 25;    #Meters; Maximum cross-track displacement
standOff     = 50;          #Meters; Stand off from the wall
sonarTimeOut = 2;           #Seconds;
windowLen    = 1;
useWallEstimator = True;
wallFeedForward  = False;
lastLatitude =   36.785;
lastLongitude= -121.924;
}
behavior waypoint
{
latitude = 36.785;
longitude = -121.924;
duration = 400;
depth = 50.0;
speed = 1.500000;
}
behavior waypoint
{
latitude = 36.785;
longitude = -121.926;
duration = 400;
depth = 50.0;
speed = 1.500000;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 315.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 47.000000;
minAltitude = 100.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 315.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################