# 1 "ice_triangle.cfg"

################################################################################



#PURPOSE: Run in a triangle under the ice

#AUTHOR:  sib

#DATE:    2001-October-25

#NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.

#MODS:



#descend to 7m

#initial setpoint at 50m at 230deg

#turn 120deg to port (110deg true)

#turn 120deg to port (350deg true)

#spiral ascent. fixed rudder.

#15min per setpoint



################################################################################

#30m 15min

#yoyo 30min max=50 min=10

#20m back to port side of ship

#500m

#2500m





































behavior acousticAbort

{

  dummyAttribute = 0;

}



behavior missionTimer

{

  timeOut = 5000;

}



#Depth Envelope



behavior depthEnvelope

{

  minDepth     = 0;         #Meters

  maxDepth     = 60;         #Meters

  abortDepth   = 70;         #Meters

}





#Come back up to the surface.  





behavior ascend {

  duration         = 360;       #Seconds

  horizontalMode   = rudder;   #Mode

  horizontal       = 10;       #Degrees; 

  pitch            = 30;       #Degrees

  speed            = 1.4 ;      #Meters/sec

  endDepth         = 5.0;	       #Meters

}



behavior setpoint

{

  duration     = 1600 ;        #Seconds

  heading      = 250 ;       #Degrees

  speed        = 1.4 ;       #Meters/second

  verticalMode = depth;

  depth        = 20 ;        #Meters

}



behavior yoyo

{

  duration = 1900 ;

  minAltitude = 50;

  minDepth = 10;

  maxDepth = 50;

  maxCycles = 100;

}



behavior setpoint

{

  duration     = 1900 ;        #Seconds

  heading      = 120 ;       #Degrees

  speed        = 1.4 ;       #Meters/second

  legDuration  = 1900 ;        #Seconds

}



behavior setpoint

{

  duration     = 330 ;        #Seconds

  heading      = 300 ;       #Degrees

  speed        = 1.4 ;       #Meters/second

  verticalMode = depth;

  depth        = 30 ;        #Meters

}



#Use descend behavior instead of launch to maintain pitch control.

behavior descend {

  duration         = 400;       #Seconds

  horizontalMode   = heading;  #Mode

  horizontal       = 300 ;       #Degrees; 

  pitch            = -15;      #Degrees

  speed            = 1.4 ;      #Meters/sec

  maxDepth         = 7 ;        #Meters

}



behavior setpoint

{

  duration     = 60;        #Seconds

  heading      = 300 ;       #Degrees

  speed        = 1.4 ;       #Meters/second

  verticalMode = depth;

  depth        = 0.0;       #Meters

  legDuration  = 60;        #Seconds

}