################################################################################
#
# PURPOSE: Test camera at west end of Barry's 200m isobath line
#          
# AUTHORS: 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 = 1000;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 138; #Meters
  minAltitude = 3; #Meters
  abortAltitude = 1.5; #Meters
  deltaDepthRestart = 1.5; #Meters
  abortDepth = 145; #Meters
}

behavior acousticUpdate
{
duration = 2;
dummy = 1;
}

behavior ascend
{
  duration = 600; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = 3; #Degrees; 
  pitch = 45; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
behavior setpoint
{
    duration = 200;
    heading = 325;
    speed = 1.0;
    verticalMode = depth;
    depth = 140;
}

behavior startCamera
{
    duration = 1;
    nPhotos = 20;
    nSamplePeriods = 50;
}

behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
behavior descend
{
  duration = 350;
  horizontalMode = heading;
  horizontal = 325;
  pitch = -30;
  speed = 1.5;
  maxDepth = 130;
  minAltitude = 5;
}

behavior acousticUpdate
{
duration = 2;
dummy = 1;
}

behavior descend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 325; #Degrees; 
  pitch = -30; #Degrees
  speed = 1.5; #Meters/sec
  maxDepth = 5; #Meters
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 325;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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