################################################################################
#
# PURPOSE: Simulate new bottom-following behavior
#          
# AUTHOR:  rsm
# DATE:    15 Oct 2012
# NOTE:    Sequential behaviors are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 900;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 70; #Meters
  abortDepth = 90; #Meters
  minAltitude = 3.0; #Meters
  abortAltitude = 1.0; #Meters
  deltaDepthRestart =1.5; #Meters
}
#  minObstacleRange = 20.;    #Meters
behavior ascend
{
  duration = 60; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 90; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 0; #Meters
}
behavior waypoint_bottom
{
    latitude = 36.7801;
    longitude = -122.0019;
    duration = 800;
    depth = 50;
    speed = 1.5;
    stime = 30.;
    wavelength = 100.; #Meters
    amplitude = 10.0; #Meters
    feedThetaForward = False; #none
    halfWave = False; #none
}
behavior waypoint
{
    latitude = 36.7801;
    longitude = -122.0069;
    duration = 500;
    depth = 50;
    speed = 1.5;
}
behavior descend
{
  duration = 120; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 90.0; #Degrees; 
  pitch = -30; #Degrees
  speed = 1.5; #Meters/sec
  maxDepth = 45; #Meters
  minAltitude = 8.0; #Meters
}
# setpoint on surface to gather momentum
behavior setpoint
{
duration = 45;
heading = 90.0;
speed = 1.6;
verticalMode = pitch;
pitch = 0;
}
#
# acquire gps fix
behavior getgps
{
duration = 100;
minHits = 1;
abortOnTimeout = True;

#
# Sequential behaviors begin at the bottom.
#