################################################################################
#
# File Name: Mission_One_18.cfg
#
# PURPOSE: Nominal 4 hour YoYo between MISO_Inshore and MISO_Offshore
# AUTHOR:  Hoover
# DATE:    2007Dec14
# NOTE:    Planned as third mission, half day run.
#	   Sequential behaviors are bottom-up.  Priorities are top-down.
#          Start this with vehicle at MISO_Inshore Waypoint
#          
#
#
################################################################################
#
#
# MISO_Inshore	   36deg 38min 15.00secN 121deg 53min 20.00secW		
# latitude = 36.6375
# longitude = -121.8889
# Depth: 62 meters
#
# MISO_Offshore     36deg 40min 0 secN 121deg 55min 20.oo secW
# latitude = 36.6667
# longitude = -121.9222
# Depth: 86 meters
#
# MISO_Inshore to MISO_Offshore 
# Course of 317 true	
# Distance is 4400m
# Time to travel at effective 1.3m/sec is 3384s or 56.4 min
#
# MISO_Offshore to MISO_Inshore
# Course of 137 true	
# Distance is 4400m
# Time to travel at effective 1.3m/sec is 3384s or 56.4 min
#
# Enter values for mintemp and maxtemp here
#
#
#define MINTEMP XXX (11.2) November values
#define MAXTEMP XXX (11.6) November values
#
#
###############################################################################
# End of Mission
################################################################################


# Mission timer
# Mission has four legs, each leg is aprox 56 minutes
# Est. for total mission is 225.6 min or 03:45 hrs or 13536 sec
# Max time is set at 1.1 times 13536 = 14890 or 04:08hr
# Max time set at 14890s
behavior missionTimer {
timeOut = 14890;
}

# Maximum depth and Abort Depth
# Shallow bottom is 62 meters
# 3 meters less for abort depth is 59 meters
# 8 meters less for max depth is 54 meters
# behavior max depth is 52 meters (shallow - 10)
behavior depthEnvelope {
 minDepth = 0;
 maxDepth = 54;
 abortDepth = 59;
 abortAltitude = 4.0;
}


################################################################################
# Recovery at MISO_Inshore
################################################################################

################################################################################
# T+0344 : Vehicle is now at MISO_Inshore
################################################################################

# MISO_Inshore	   36deg 38min 15.00secN 121deg 53min 20.00secW		
# latitude = 36.6375
# longitude = -121.8889

# Surface, 20 upangle, for 11 minutes
# estimate 100sec from max depth 52 to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 2;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


# 0056 from MISO_Offshore to MISO_Inshore
# latitude = 36.6375
# longitude = -121.8889
# Shallow bottom = 62
# Max depth = 62 - 10 = 52
# Max depth setting to initiate yo before bottom following
# Travel time is 3385s at 1.3 m/sec effective
# Allowed Travel time is 1.1 * 3385 = 3723

behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3723;
speed = 1.5;
minDepth = 2.5;
maxDepth = 52;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
# Heading of 137 toward MISO_Inshore
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 toward MISO_Inshore
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;
}


################################################################################
# T+0248 : Vehicle is now at MISO_Offshore
################################################################################

# Surface, 20 upangle, for 11 minutes
# estimate 100sec from max depth 52 to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 2;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 0056 from MISO_Inshore to MISO_Offshore
# Latitude = 36.6667
# Longitude = -121.9222
# Shallow bottom = 62
# Max depth = 62 - 10 = 52
# Max depth setting to initiate yo before bottom following
# Travel time is 3385s at 1.3 m/sec effective
# Allowed Travel time is 1.1 * 3385 = 3723

behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3723;
speed = 1.5;
minDepth = 2.5;
maxDepth = 52;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
# Heading of 317 toward MISO_Offshore
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 toward MISO_Offshore
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;
}


################################################################################
# T+0152 : Vehicle is now at MISO_Inshore
################################################################################

# MISO_Inshore	   36deg 38min 15.00secN 121deg 53min 20.00secW		
# latitude = 36.6375
# longitude = -121.8889

# Surface, 20 upangle, for 11 minutes
# estimate 100sec from max depth 52 to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 2;
pitch = 20;
speed = 1.5;
endDepth = 2;
}


# 0056 from MISO_Offshore to MISO_Inshore
# latitude = 36.6375
# longitude = -121.8889
# Shallow bottom = 62
# Max depth = 62 - 10 = 52
# Max depth setting to initiate yo before bottom following
# Travel time is 3385s at 1.3 m/sec effective
# Allowed Travel time is 1.1 * 3385 = 3723

behavior waypointtemp_yoyo {
latitude = 36.6375;
longitude = -121.8889;
captureRadius = 10;
duration = 3723;
speed = 1.5;
minDepth = 2.5;
maxDepth = 52;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
# Heading of 137 toward MISO_Inshore
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 toward MISO_Inshore
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;
}


################################################################################
# T+0056 : Vehicle is now at MISO_Offshore
################################################################################

# Surface, 20 upangle, for 11 minutes
# estimate 100sec from max depth 52 to surface
behavior ascend {
duration = 700;
horizontalMode = rudder;
horizontal = 2;
pitch = 20;
speed = 1.5;
endDepth = 2;
}

# 0056 from MISO_Inshore to MISO_Offshore
# Latitude = 36.6667
# Longitude = -121.9222
# Shallow bottom = 62
# Max depth = 62 - 10 = 52
# Max depth setting to initiate yo before bottom following
# Travel time is 3385s at 1.3 m/sec effective
# Allowed Travel time is 1.1 * 3385 = 3723

behavior waypointtemp_yoyo {
latitude = 36.6667;
longitude = -121.9222;
captureRadius = 10;
duration = 3723;
speed = 1.5;
minDepth = 2.5;
maxDepth = 52;
minAltitude = 10.0;
minTemp = MINTEMP;
maxTemp = MAXTEMP;
maxCycles = 1000000;
}

# Dive, 15 degree down angle to 5 meter depth for 60 sec
# Heading of 317 toward MISO_Offshore
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 toward MISO_Offshore
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;
}


################################################################################
# T+0000 : Vehicle is now on surface at MISO_Inshore
################################################################################

################################################################################
# T+0000 Launch at MISO_Inshore
################################################################################