# 1 "zig_zag_yoyo.cfg"
################################################################################

#PURPOSE: Test the waypoint behavior and dead reckoning with GPS fixes.

#DATE:    00/4/4:
#NOTES:  

#MODS:

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

















behavior acousticAbort
{
  dummyAttribute = 0;
}

behavior missionTimer
{
  timeOut = 4100;
}


#Depth Envelope

behavior depthEnvelope
{
  minDepth     = 0 ;         #Meters
  maxDepth     = 95 ;        #Meters
  minAltitude  = 5 ;        #Meters
  abortDepth   = 100 ;        #Meters
}


behavior ascend 
{
  duration         = 300;       #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = -10;       #Degrees; 
  pitch            = 15;       #Degrees
  speed            = 1.3 ;      #Meters/sec
  endDepth         = 2;	       #Meters
}

behavior yoyo 
{
  duration       = 3600 ;     #Seconds
  minDepth       = 4 ;       #Meters
  maxDepth       = 95 ;      #Meters
  minAltitude    = 8 ;   #Meters
  maxCycles      = 1000 ;
}

#behavior setpoint
#{
#duration     = 3600 ;        #Seconds
#heading      = 45.0 ;       #Degrees
#speed        = 1.3 ;       #Meters/second
#}

behavior waypoint
{
  latitude	= 36.7554; 		# positive = north
  longitude	= -121.8579; 		# negative = west
  speed		= 1.3 ;       	# Meters/second
  captureRadius	= 10; 			# Meters
  circleMode	= 1;
  duration	= 3600 ;	#Seconds
}


######################  
#LAUNCH and Descend #
######################

#Use descend behavior instead of launch to maintain pitch control.
behavior descend 
{
  duration         = 90;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 45.0 ;       #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.4 ;      #Meters/sec
  maxDepth         = 5;        #Meters
}

behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 45.0 ;      #Degrees
  speed        = 1.4 ;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;         #Meters
  legDuration  = 60;        #Seconds
}


#Get fix at start of mission

#behavior getgps {
#abortOnTimeout=false;
#duration = 30;
#minHits = 5;
#}