################################################################################
#
# PURPOSE: Test Terrain aided navigation, home to transponder.
#          
# AUTHORS: Debbie, Rob
# DATE:    2011/04/18
# NOTES:   This should take between 22 and 35 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 = 2100;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 310;        #Meters
  minAltitude   = 15;       #Meters
  abortAltitude = 10;      #Meters
  deltaDepthRestart = 4;     #Meters
  abortDepth    = 320;       #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     = 36.8131800;
    longitude    = -121.9741917;
    duration     = 300;
    depth 	 = 68;
    speed        = 1.5;
}

# Thirteen - waypoint post-homing
behavior waypoint_depth
{
    latitude     = 36.8144675;
    longitude    = -121.9769759;
    duration     = 120;
    initialDepth = 106;
    finalDepth 	 = 68;
    maxCrossTrackError = 100;
    speed        = 1.5;
}

# Twelve - waypoint post-homing
behavior waypoint_depth
{
    latitude     = 36.8147373;
    longitude    = -121.9781594;
    duration     = 170;
    initialDepth = 142;
    finalDepth   = 106;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
# Eleven - waypoint post-homing
behavior waypoint_depth
{
    latitude     = 36.8151360;
    longitude    = -121.9799084;
    duration     = 185;
    initialDepth = 192;
    finalDepth   = 142;
    maxCrossTrackError = 100;
    speed        = 1.5;
}

# Ten - waypoint post-homing
behavior waypoint_depth
{
    latitude     = 36.8155508;
    longitude    = -121.9817282;
    duration     = 310;
    initialDepth = 292;
    finalDepth   = 192;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
behavior stopCamera
{
    duration     = 1;
}
#Nine - waypoint 100m past homer
behavior waypoint_depth
{
    latitude     = 36.8170388;
    longitude    = -121.9842694;
    duration     = 110;
    initialDepth = 263;
    finalDepth   = 292;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
#Eight - homer waypoint
behavior waypoint_depth
{
    latitude     = 36.8163338;
    longitude    = -121.9835707;
    duration 	 = 210;
    initialDepth = 205;
    finalDepth   = 263;
    maxCrossTrackError = 100;
    speed        = 1.5;
}

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

# Seven
behavior waypoint_depth
{
    latitude     = 36.8149239;
    longitude    = -121.9821735;
    duration     = 90;
    initialDepth = 194;
    finalDepth   = 205;
    maxCrossTrackError = 100;
    speed        = 1.5;
}


# Six
behavior waypoint_depth
{
    latitude     = 36.8142650;
    longitude    = -121.9817620;
    duration     = 160;
    initialDepth = 170;
    finalDepth   = 194;
    maxCrossTrackError = 100;
    speed        = 1.5;
}

# Five
behavior waypoint_depth
{
    latitude     = 36.8138826;
    longitude    = -121.9801661;
    duration     = 110; 
    initialDepth = 162;
    finalDepth   = 170;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
# Four
behavior waypoint_depth
{
    latitude     = 36.8136260;
    longitude    = -121.9790950;
    duration     = 120;
    initialDepth = 132;
    finalDepth   = 162;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
# Three
behavior waypoint_depth
{
    latitude     = 36.8133640;
    longitude    = -121.9779210;
    duration     = 110;
    initialDepth = 91;
    finalDepth   = 132;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
# Two
behavior waypoint_depth
{
    latitude     = 36.8139218;
    longitude    = -121.9772660;
    duration     = 110;
    initialDepth = 69;
    finalDepth 	 = 91;
    maxCrossTrackError = 100;
    speed        = 1.5;
}
# One
behavior waypoint
{
    latitude     = 36.8145270;
    longitude    = -121.9765560;
    duration     = 500; 
    depth   	 = 69;
    speed        = 1.5;
}
behavior descend 
{
  duration         = 200;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 300;      #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 69;       #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;
}