################################################################################
#
# PURPOSE: Test Terrain aided navigation, home to transponder.
#          
# AUTHORS: Debbie, Rob
# DATE:    2009/10/20
# NOTES:   This should take about 20 minutes.
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2000;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 260;       #Meters
  minAltitude   = 15;        #Meters
  abortAltitude = 10;        #Meters
  deltaDepthRestart = 1;     #Meters
  abortDepth    = 280;       #Meters
}
#
behavior ascend 
{
  duration         = 300;      #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = 3;        #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;	       #Meters
}
# One - waypoint post-homing
behavior waypoint
{
    latitude     = 36.8145270;
    longitude    = -121.9765560;
    duration     = 700; 
    depth        = 30;
    speed        = 1.5;
}
# Eight - waypoint post-homing
behavior waypoint
{
    latitude     = 36.8157175;
    longitude    = -121.9817783;
    duration     = 700; 
    depth        = 145;
    speed        = 1.5;
}

behavior waypoint_homing
{
    latitude     = 36.8161143;
    longitude    = -121.9835191;
    duration     = 600; 
    depth        = 250;
    speed        = 1.0;
    inTrkOffset  = 0;
}
behavior startCamera
{
    duration     = 1;
    nPhotos      = 15;
    distance     = 10.;
}
behavior waypoint_homing
{
    latitude     = 36.8161143;
    longitude    = -121.9835191;
    duration     = 600; 
    depth        = 250;
    speed        = 1.0;
    inTrkOffset  = 75;
}
#   dockBearing  = 150.;
behavior waypoint_homing
{
    latitude     = 36.8161143;
    longitude    = -121.9835191;
    duration     = 600; 
    depth        = 230;
    speed        = 1.0;
    inTrkOffset  = 150;
}

# Seven
behavior waypoint
{
    latitude     = 36.8150445;
    longitude    = -121.9821455;
    duration     = 400; 
    depth        = 170;
    speed        = 1.5;
}
# Six
behavior waypoint
{
    latitude     = 36.8163945;
    longitude    = -121.9791815;
    duration     = 400; 
    depth        = 100;
    speed        = 1.5;
}
# Five
behavior waypoint
{
    latitude     = 36.8148751;
    longitude    = -121.9787541;
    duration     = 400; 
    depth        = 95;
    speed        = 1.5;
}
# Four
behavior waypoint
{
    latitude     = 36.8136260;
    longitude    = -121.9790950;
    duration     = 400; 
    depth        = 130;
    speed        = 1.5;
}
# Three
behavior waypoint
{
    latitude     = 36.8133640;
    longitude    = -121.9779210;
    duration     = 400; 
    depth        = 105;
    speed        = 1.5;
}
# Two
behavior waypoint
{
    latitude     = 36.8139218;
    longitude    = -121.9772660;
    duration     = 400; 
    depth        = 55;
    speed        = 1.5;
}
# One
behavior waypoint
{
    latitude     = 36.8145270;
    longitude    = -121.9765560;
    duration     = 600; 
    depth        = 30;
    speed        = 1.5;
}

behavior descend 
{
  duration         = 200;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 180;      #Degrees; 
  pitch            = -30;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 27;       #Meters
}

# setpoint on surface to gather momentum
behavior setpoint 
{
    duration     = 30;
    heading      = 180;
    speed        = 1.5;
    verticalMode = pitch;
    pitch        = 0;
}

behavior getgps 
{
    duration = 300;
    minHits = 10;
    abortOnTimeout = True;
}
#
# Sequential behaviors begin at the bottom.
#