################################################################################
#
# PURPOSE: Test Terrain aided navigation, home to transponder.
#          
# AUTHORS: Debbie, Rob
# DATE:    2010/02/10
# NOTES:   This should take about 25 minutes.  The vehicle flies at constant
# 	   heading to the homer, and returns to its starting location.
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 1400;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 25;        #Meters
  minAltitude   = 50;       #Meters
  abortAltitude = 30;      #Meters
  deltaDepthRestart = 1;     #Meters
  abortDepth    = 85;       #Meters
}
behavior getgps 
{
    duration = 300;
    minHits = 10;
    abortOnTimeout = True;
}






behavior ascend 
{
  duration         = 300;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 129;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;	       #Meters
}

behavior waypoint
{
    latitude     = 36.8095;
    longitude    = -121.9670;
    duration     = 700; 
    depth        = 40;
    speed        = 1.5;
}
behavior descend 
{
  duration         = 300;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 129;      #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 20;       #Meters
}

# setpoint on surface to gather momentum
behavior setpoint 
{
    duration     = 30;
    heading      = 129;
    speed        = 1.5;
    verticalMode = pitch;
    pitch        = 0;
}


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



#
# Come back up to the surface. 
#
behavior ascend 
{
  duration         = 300;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 309;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;	       #Meters
}

# One
behavior waypoint
{
    latitude     = 36.8122;
    longitude    = -121.9710;
    duration     = 700; 
    depth        = 20;
    speed        = 1.5;
}
behavior descend 
{
  duration         = 200;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 309;      #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 20;       #Meters
}

# setpoint on surface to gather momentum
behavior setpoint 
{
    duration     = 30;
    heading      = 309;
    speed        = 1.5;
    verticalMode = pitch;
    pitch        = 0;
}


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


behavior ascend 
{
  duration         = 300;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 129;      #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 2;	       #Meters
}

behavior waypoint
{
    latitude     = 36.8095;
    longitude    = -121.9670;
    duration     = 500; 
    depth        = 20;
    speed        = 1.5;
}
behavior descend 
{
  duration         = 129;      #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 220;      #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.5;      #Meters/sec
  maxDepth         = 20;       #Meters
}

# setpoint on surface to gather momentum
behavior setpoint 
{
    duration     = 30;
    heading      = 129;
    speed        = 1.5;
    verticalMode = pitch;
    pitch        = 0;
}


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