################################################################################
#
# PURPOSE: Temperature following behavior to track tide generated internal wave
# AUTHOR:  Zhang, Hoover
# DATE:    2007MAR16
# NOTE:    Planned as third mission, 2 hour run, to Offshore and back to test behavior
#		Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################


#
# Inshore waypoint: 	
# Latitude:  	   36º 41.70 min (36.6950º)
# Longitude:	 -121º 53.40 min (-121.8900º)
#
# Offshore waypoint:			
# Latitude:  	   36º 42.10 min (36.7017º)
# Longitude:	 -121º 56.10 min (-121.9350º)
#
# Distance between 2 waypoints: 4.082 km
# If horizontal speed of AUV while doing yoyo is 1.3m/s, 
# it will take AUV 52min20s to go from one point to the other
#
#
# Midway point: 	
# Latitude:  	   36º 41.90 min (36.6984º)
# Longitude:	 -121º 54.75 min (-121.9125º)
#
#

# Enter values for mintemp and maxtemp here
#
#
#define MINTEMP ???
#define MAXTEMP ???



# Mission timer
# Total time in subroutines is 10680
# Time to travel distance is 7200
# Max time set at 7200 + 1700
# "Wrong way Charlie" AUV is at least 1000 m off the beach from any fix
behavior missionTimer {
timeOut = 9000;
}

# Maximum depth and Abort Depth
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 80;
 abortDepth = 90;
 abortAltitude = 2.5;
}

# 300 secs or 30 GPS hits to continue
behavior getgps {
duration = 300;
minHits = 30;
abortOnTimeout = True;
}

# Surface, 20 upangle, for 20 minutes
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 30;
speed = 1.5;
endDepth = 2;
}

###
#    At Inshore waypoint
###

# 60 minutes to Inshore with temp bands
behavior waypointtemp_yoyo {
latitude = 36.6950;
longitude = -121.8900;
captureRadius = 10;
duration = 3600;
speed = 1.5;
minDepth = 2.5;
maxDepth = 40;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}


# Dive, 15 degre down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 101;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


# 30 seconds to gain speed at heading 101
behavior setpoint {
duration = 30;
heading = 101;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}


# 300 secs or 30 GPS hits to continue
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = True;
}


# Surface, 20 upangle, for 20 minutes
behavior ascend {
duration = 1200;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

###
#    At Offshore waypoint
###

# 60 minutes to Offshore with temp bands
behavior waypointtemp_yoyo {
latitude = 36.7017;
longitude = -121.9350;
captureRadius = 10;
duration = 3600;
speed = 1.5;
minDepth = 2.5;
maxDepth = 40;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}


# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 90;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 9;
duration = 60;
}


# 30 seconds to gain speed at heading 281
behavior setpoint {
duration = 30;
heading = 90;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# 300 seconds or 30 GPS hits
behavior getgps {
duration = 300;
minHits = 15;
abortOnTimeout = True;
}