################################################################################
#
# PURPOSE: Test the waypoint behavior and dead reckoning with GPS fixes.
#          
# DATE:    00/4/4:
# NOTES:  
#         
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 5000;
}

#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth     = 0;         #Meters
  maxDepth     = 30;        #Meters
  minAltitude  = 10;        #Meters
  abortDepth   = 40;        #Meters
}



behavior ascend {

  duration         = 60;       #Seconds
  horizontalMode   = rudder;   #Mode
  horizontal       = -10;       #Degrees; 
  pitch            = 15;       #Degrees
  speed            = 1.4;      #Meters/sec
  endDepth         = 1;	       #Meters
}

behavior yoyo 
{
  duration       = 1200;     #Seconds
  minDepth       = 3;       #Meters
  maxDepth       = 20;      #Meters
  minAltitude    = 20;
  maxCycles      = 100;
}

#
# Waypoint at north corner of LBL array
# starting point = N4073357 E607052
behavior waypoint
 {
   latitude     = 36.76653;    #equal to wp1 36' 44.894''
   longitude     = -121.870117;     #100 meters east 121' 52.336''
   speed         = 1.4;       #Meters/second
#   depth         = 15;         #Meters (depth control by yoyo)
   captureRadius = 10;        #Meters
   circleMode    = 1;         # 
   duration      = 1200;
 }


#
# Get fix at end of mission (may take longer to acquire)
#

behavior yoyo 
{
  duration       = 1200;     #Seconds
  minDepth       = 3;       #Meters
  maxDepth       = 20;      #Meters
  minAltitude    = 20;
  maxCycles      = 100;
}

#
# Waypoint at north corner of LBL array
# starting point = N4073357 E607052
 behavior waypoint
 {
   latitude     = 36.748217;    #equal to wp1 36' 44.894''
   longitude     = -121.87225;     #100 meters east 121' 52.336''
   speed         = 1.4;       #Meters/second
#   depth         = 15;         #Meters (depth control by yoyo)
   captureRadius = 10;        #Meters
   circleMode    = 1;         # 
   duration      = 1200;
 }

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

  duration         = 90;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 180;       #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.4;      #Meters/sec
  maxDepth         = 15;        #Meters
}

behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 180;       #Degrees
  speed        = 1.4;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;         #Meters
  legDuration  = 60;        #Seconds
}
#
# Get fix at start of mission
#
#behavior getgps {
#	abortOnTimeout=true;
#	duration = 120;
#	minHits = 10;
#}