################################################################################
#
# PURPOSE: Fly parallel offset passes over the transponder.
#          
# AUTHOR:  rsm
# DATE:    2009/03/26
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 2900;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 95; #Meters
  minAltitude = 3.0; #Meters
  abortAltitude = 1.25; #Meters
  deltaDepthRestart = 1; #Meters
  abortDepth = 100; #Meters
}
#
# Come back up to the surface.  Go straight to avoid fouling the float/tether.
#
behavior ascend
{
  duration = 300; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 270; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 0; #Meters
}
behavior waypoint_homing
{
    latitude = 36.81249;
    longitude = -121.973463;
    duration = 400;
    depth = 95;
    speed = 1.0;
    dockBearing = 90.;
    inTrkOffset = -75;
    xTrkOffset   = 2;
}

behavior startCamera
{
    duration = 1;
    nPhotos = 150;
    distance = 1.;
}

behavior waypoint_homing
{
    latitude = 36.81249;
    longitude = -121.973463;
    duration = 400;
    depth = 95;
    speed = 1.0;
    dockBearing = 90.;
    inTrkOffset = 75;
    xTrkOffset   = 2;
}
behavior waypoint
{
    latitude = 36.812459;
    longitude = -121.976826;
    duration = 400;
    depth = 80;
    speed = 1.5;
}
#
# Go to a point 300 m West of the transponder:
#
behavior waypoint_homing
{
    latitude = 36.81249;
    longitude = -121.973463;
    duration = 400;
    depth = 95;
    speed = 1.0;
    dockBearing = 270.;
    inTrkOffset = -75;
}

behavior startCamera
{
    duration = 1;
    nPhotos = 150;
    distance = 1.;
}

behavior waypoint_homing
{
    latitude = 36.81249;
    longitude = -121.973463;
    duration = 400;
    depth = 95;
    speed = 1.0;
    dockBearing = 270.;
    inTrkOffset = 75;
}
behavior waypoint
{
    latitude = 36.812459;
    longitude = -121.970104;
    duration = 600;
    depth = 80;
    speed = 1.5;
}
#
# Go to a point 300 m East of the transponder:
#
behavior descend
{
  duration = 200; #Seconds
  horizontalMode = heading; #Mode
  horizontal = 180; #Degrees; 
  pitch = -30; #Degrees
  speed = 1.5; #Meters/sec
  maxDepth = 80; #Meters
}


# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 180;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

behavior getgps {
duration = 300;
minHits = 5;
abortOnTimeout = False;
}

#
# Sequential behaviors begin at the bottom.
#