################################################################################
#
# PURPOSE: Test Terrain aided navigation, home to transponder.
#          
# AUTHORS: Debbie, Rob
# DATE:    2009/06/16
# NOTES:   This should take about 20 minutes.
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 1700;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 95;        #Meters
  minAltitude   = 3.0;       #Meters
  abortAltitude = 1.25;      #Meters
  deltaDepthRestart = 1;     #Meters
  abortDepth    = 100;       #Meters
}
#
# Come back up to the surface.  Go straight to avoid fouling the float/tether.
#
behavior ascend 
{
  duration         = 300;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 0;	       #Meters
}
behavior waypoint_homing
{
    latitude     = 36.81249;
    longitude    = -121.973463;
    duration     = 400; 
    depth        = 80;
    speed        = 1.0;
    dockBearing  = 90.;
    inTrkOffset  = -75;
}
behavior startCamera
{
    duration     = 1;
    nPhotos      = 100;
    nSamplePeriods=7;
}
//  dockBearing  = 90.;
behavior waypoint_homing
{
    latitude     = 36.81249;
    longitude    = -121.973463;
    duration     = 400; 
    depth        = 80;
    speed        = 1.0;
    inTrkOffset  = 75;
}
behavior waypoint_homing
{
    latitude     = 36.81249;
    longitude    = -121.973463;
    duration     = 400; 
    depth        = 70;
    speed        = 1.5;
    inTrkOffset  = 150;
}

// Six
behavior waypoint
{
    latitude     = 36.8129552;
    longitude    = -121.9751385;
    duration     = 400; 
    depth        = 35;
    speed        = 1.5;
}

// Five
behavior waypoint
{
    latitude     = 36.8126928;
    longitude    = -121.9768960;
    duration     = 400; 
    depth        = 60;
    speed        = 1.5;
}
// Four
behavior waypoint
{
    latitude     = 36.8125286;
    longitude    = -121.9779469;
    duration     = 400; 
    depth        = 110;
    speed        = 1.5;
}

// Three
behavior waypoint
{
    latitude     = 36.8143313;
    longitude    = -121.9779229;
    duration     = 400; 
    depth        = 80;
    speed        = 1.5;
}

// Two
behavior waypoint
{
    latitude     = 36.8144749;
    longitude    = -121.9770493;
    duration     = 400; 
    depth        = 45;
    speed        = 1.5;
}
// One
behavior waypoint
{
    latitude     = 36.8147578;
    longitude    = -121.9751144;
    duration     = 400; 
    depth        = 45;
    speed        = 1.5;
}
behavior descend 
{
  duration         = 200;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 270;      #Degrees; 
  pitch            = -30;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 42;       #Meters
}
#
# Sequential behaviors begin at the bottom.
#