################################################################################
#
# PURPOSE: Test Terrain aided navigation, home to transponder.
#          
# AUTHORS: Debbie, Rob
# DATE:    2011/04/18
# NOTES:   This should take between 25 and 38 minutes.
#          Vehicle travels toward homer 50 and returns
#	   back to its starting location, using CLOSED-loop TRN.
#	   This route is a modified version of route #3 planned for the 
#	   07/19/10 BIAUV dive.
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2300;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 300;        #Meters
  minAltitude   = 15;       #Meters
  abortAltitude = 10;      #Meters
  deltaDepthRestart = 4;     #Meters
  abortDepth    = 310;       #Meters
}
behavior getgps 
{
    duration = 300;
    minHits = 10;
    abortOnTimeout = True;
}
#
# Come back up to the surface. 
#
behavior ascend 
{
  duration         = 300;       #Seconds
  horizontalMode   = rudder;  #Mode
  horizontal       = 3;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;	       #Meters
}

# Fourteen - waypoint post-homing
behavior waypoint
{
    latitude     = 36.8133467;
    longitude    = -121.9742418;
    duration     = 180;
    depth 	 = 66;
    speed        = 1.5;
}

# Thirteen - waypoint post-homing
behavior waypoint
{
    latitude     = 36.8142740;
    longitude    = -121.9758460;
    duration     = 100;
    depth 	 = 66;
    speed        = 1.5;
}

# Twelve - waypoint post-homing
behavior waypoint_depth
{
    latitude     = 36.8144529;
    longitude    = -121.9768054;
    duration     = 130;
    initialDepth = 105;
    finalDepth   = 66;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
# Eleven - waypoint post-homing
behavior waypoint_depth
{
    latitude     = 36.8146941;
    longitude    = -121.9780989;
    duration     = 250;
    initialDepth = 160;
    finalDepth   = 105;
    maxCrossTrackError = 100;
    speed        = 1.5;
}

# Ten - waypoint post-homing
behavior waypoint_depth
{
    latitude     = 36.8151991;
    longitude    = -121.9807329;
    duration     = 350;
    initialDepth = 280;
    finalDepth   = 160;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
behavior stopCamera
{
    duration     = 1;
}
#Nine - waypoint 100m past homer
behavior waypoint_depth
{
    latitude     = 36.8156495;
    longitude    = -121.9843004;
    duration     = 110;
    initialDepth = 261;
    finalDepth   = 280;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
#Eight - homer waypoint
behavior waypoint_depth
{
    latitude     = 36.8163338;
    longitude    = -121.9835707;
    duration 	 = 140;
    initialDepth = 252;
    finalDepth   = 261;
    maxCrossTrackError = 100;
    speed        = 1.5;
}

behavior startCamera
{
    duration     = 1;
    nSamplePeriods = 8;
}

# Seven
behavior waypoint_depth
{
    latitude     = 36.8172234;
    longitude    = -121.9826221;
    duration     = 160;
    initialDepth = 215;
    finalDepth   = 252;
    maxCrossTrackError = 100;
    speed        = 1.5;
}


# Six
behavior waypoint_depth
{
    latitude     = 36.8181672;
    longitude    = -121.9813299;
    duration     = 315;
    initialDepth = 144;
    finalDepth   = 215;
    maxCrossTrackError = 100;
    speed        = 1.5;
}

# Five
behavior waypoint_depth
{
    latitude     = 36.8158800; 
    longitude    = -121.9798460;
    duration     = 110; 
    initialDepth = 138;
    finalDepth   = 144;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
# Four
behavior waypoint_depth
{
    latitude     = 36.8149590;
    longitude    = -121.9794687;
    duration     = 120;
    initialDepth = 155;
    finalDepth   = 138;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
# Three
behavior waypoint_depth
{
    latitude     = 36.8139519;
    longitude    = -121.9790561;
    duration     = 200;
    initialDepth = 82;
    finalDepth   = 155;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
# Two
behavior waypoint_depth
{
    latitude     = 36.8141542;
    longitude    = -121.9770403;
    duration     = 110;
    initialDepth = 67;
    finalDepth 	 = 82;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
# One
behavior waypoint
{
    latitude     = 36.8142740;
    longitude    = -121.9758460;
    duration     = 500; 
    depth   	 = 67;
    speed        = 1.5;
}
behavior descend 
{
  duration         = 200;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 300;      #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 67;       #Meters
  minAltitude 	   = 26;       #Meters
}

# setpoint on surface to gather momentum
behavior setpoint 
{
    duration     = 30;
    heading      = 300;
    speed        = 1.5;
    verticalMode = pitch;
    pitch        = 0;
}

behavior getgps 
{
    duration = 300;
    minHits = 10;
    abortOnTimeout = True;
}