#
# Depth here should be ~600 m.
#
behavior missionTimer
{
timeOut = 1800;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 85;
abortDepth = 90;
minAltitude = 20.000000;
abortAltitude = 15.000000;
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 = 36.798672;
longitude = -121.972;
duration = 400;
depth = 50.0;
speed = 1.500000;
}
behavior waypoint_wall
{
latitude = 36.798672;
longitude = -121.970;
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 = 36.798672;
lastLongitude = -121.968;
}
behavior waypoint
{
latitude = 36.798672;
longitude = -121.968;
duration = 1000;
depth = 50.0;
speed = 1.500000;
}
behavior waypoint
{
latitude = 36.798672;
longitude = -121.966;
duration = 1000;
depth = 50.0;
speed = 1.500000;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 90.0;
pitch = -45.000000;
speed = 1.500000;
maxDepth = 47.000000;
minAltitude = 100.000000;
duration = 400;
}
# 
# 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;
}
#######################################################