################################################################################
#
# 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 = 2000;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 100;        #Meters
  minAltitude   = 3.0;       #Meters
  abortAltitude = 1.5;       #Meters
  deltaDepthRestart = 1;     #Meters
  abortDepth    = 105;       #Meters
}
behavior ascend 
{
  duration         = 300;      #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = 3;        #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;	       #Meters
}
behavior waypoint_homing
{
    latitude     = 36.81249;
    longitude    = -121.973463;
    duration     = 400; 
    depth        = 95;
    speed        = 1.0;
    dockBearing  = 90.;
    inTrkOffset  = -75;
}
behavior startCamera
{
    duration       = 1;
    nPhotos        = 100;
    nSamplePeriods = 8;
}
behavior waypoint_homing
{
    latitude     = 36.81249;
    longitude    = -121.973463;
    duration     = 400; 
    depth        = 95;
    speed        = 1.0;
    dockBearing  = 90.;
    inTrkOffset  = 75;
}
behavior waypoint_homing
{
    latitude     = 36.81249;
    longitude    = -121.973463;
    duration     = 400; 
    depth        = 80;
    speed        = 1.0;
    dockBearing  = 90.;
    inTrkOffset  = 150;
}
# Eight
behavior waypoint
{
    latitude     = 36.8127577;
    longitude    = -121.9764611;
    duration     = 400; 
    depth        = 70;
    speed        = 1.5;
}

# Seven
behavior waypoint
{
    latitude     = 36.8125286;
    longitude    = -121.9779469;
    duration     = 400; 
    depth        = 90;
    speed        = 1.5;
}
# Six
behavior waypoint
{
    latitude     = 36.8135278;
    longitude    = -121.9788305;
    duration     = 400; 
    depth        = 115;
    speed        = 1.5;
}
# Five
behavior waypoint
{
    latitude     = 36.8152854;
    longitude    = -121.9788072;
    duration     = 400; 
    depth        = 90;
    speed        = 1.5;
}
# Four
behavior waypoint
{
    latitude     = 36.8150073;
    longitude    = -121.9779140;
    duration     = 400; 
    depth        = 70;
    speed        = 1.5;
}
# Three
behavior waypoint
{
    latitude     = 36.8134300;
    longitude    = -121.9779349;
    duration     = 400; 
    depth        = 100;
    speed        = 1.5;
}
# Two
behavior waypoint
{
    latitude     = 36.8136194;
    longitude    = -121.9767080;
    duration     = 400; 
    depth        = 45;
    speed        = 1.5;
}
# One
behavior waypoint
{
    latitude     = 36.8138565;
    longitude    = -121.9751265;
    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
}

behavior getgps {
duration = 300;
minHits = 5;
abortOnTimeout = True;
}
#
# Sequential behaviors begin at the bottom.
#