################################################################################
#
# File Name: Mission_One.cfg
#
# PURPOSE: "Yo-yo" behavior over entire survey line to identify thermocline range
# AUTHOR:  Hoover
# DATE:    2007AUG24
# NOTE:    Planned as first mission, half day run.
#	   Sequential behavoirs are bottom-up.  Priorities are top-down.
#          Start this with vehicle near MISO_Inshore Waypoint
# MODS:
#
################################################################################




# Mission timer
# Total time in subroutines is 16534s or 275.56m or 4.59hrs 
# Time to travel distance is   12768s or 212.80m or 3.55hrs
# Est. for total mission is    14400s or 240.00m or 4.00hrs
# Max time set at 13500
behavior missionTimer {
timeOut = 14400;
}

# Maximum depth and Abort Depth
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 76;
 abortDepth = 81;
 abortAltitude = 2.5;
}


# 1145 : Recovery at 25M_Curve_MISO
# 1145 : Vehicle is now at 25M_Curve_MISO

# Surface, 20 upangle, for 1 minutes
# estimate 30sec from max depth (25m - 10m) to surface
behavior ascend {
duration = 60;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 35 minutes from MISO_Inshore to 25M_Curve_MISO
behavior waypointtemp_yoyo {
latitude = 36.6167;
longitude = -121.875;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 10.0;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 150;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 150
behavior setpoint {
duration = 30;
heading = 150;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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


# 1110 : Vehicle is now at MISO_Inshore

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 120;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Offshore to MISO_Inshore
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 137;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 137
behavior setpoint {
duration = 30;
heading = 137;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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



# 1010 : Vehicle is now at MISO_Offshore


# Surface, 20 upangle, for 3 minutes
# estimate 135sec from max depth (76m - 10m) to surface
behavior ascend {
duration = 180;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 1 hour from MISO_Inshore to MISO_Offshore
behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3722;
speed = 1.5;
minDepth = 2.5;
maxDepth = 76;
minAltitude = 10.0;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 317;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 317
behavior setpoint {
duration = 30;
heading = 317;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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


# 0910 : Vehicle is now at MISO_Inshore

# Surface, 20 upangle, for 2 minutes
# estimate 80sec from max depth (50m - 10m) to surface
behavior ascend {
duration = 120;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 35 minutes from 25M_Curve_MISO to MISO_Inshore
behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 10.0;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 330;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 330
behavior setpoint {
duration = 30;
heading = 330;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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

# 0835 : Vehicle is now at 25M_Curve_MISO

# Surface, 20 upangle, for 1 minutes
# estimate 30sec from max depth (25m - 10m) to surface
behavior ascend {
duration = 60;
horizontalMode = rudder;
horizontal = 10;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 35 minutes from MISO_Inshore to 25M_Curve_MISO
behavior waypointtemp_yoyo {
latitude = 36.6167;
longitude = -121.875;
captureRadius = 10;
duration = 2200;
speed = 1.5;
minDepth = 2.5;
maxDepth = 50;
minAltitude = 10.0;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
behavior descend {
horizontalMode = heading;
horizontal = 150;
pitch = -15;
speed = 1.5;
maxDepth = 5;
minAltitude = 10.0;
duration = 60;
}

# 30 seconds to gain speed at heading 150
behavior setpoint {
duration = 30;
heading = 150;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

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

# 0800 : MISO_Inshore
# 0800 : Launch at MISO_Inshore