################################################################################
#
# PURPOSE: Test low speed flight.
#          
# AUTHOR:  rsm
# DATE:    27 June 2013
# NOTE:    Sequential behaviors are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 1000;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 100; #Meters
  abortDepth = 110; #Meters
  minAltitude = 20.0; #Meters
  abortAltitude = 10.0; #Meters
  deltaDepthRestart = 3.0; #Meters
}
behavior ascend
{
  duration = 300; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 270; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 0; #Meters
}
behavior setRudder {
  duration         = 180;      # seconds
  depth            = 80;       # meters
  speed            = 1.2;      # m/s
  rudder           = 2.7;      # deg
}
behavior waypoint
{
  duration  = 600;
  depth = 80;
  speed = 1.2;
  latitude  =   36.779;
  longitude = -121.918;
}
behavior acousticUpdate
{
  duration = 2;
  dummy = 1;
}
#
# Over the axis, 633m.
#
behavior waypoint
{
  duration  = 600;
  depth = 80;
  speed = 1.5;
  latitude  =   36.779;
  longitude = -121.916;
}
#
# Descend behavior to desired depth:
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -30;
speed = 1.5;
maxDepth = 78;
duration = 400;
minAltitude = 30;
}

#
# Descend behavior to 5 meters
behavior descend {
horizontalMode = heading;
horizontal = 270;
pitch = -30;
speed = 1.5;
maxDepth = 5;
duration = 60;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 270;
speed = 1.0;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 10;
abortOnTimeout = True;
}