# 1 "biolume_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 = 5500;
}


#Depth Envelope

behavior depthEnvelope
{
  minDepth     = 0 ;         #Meters
  maxDepth     = 50 ;        #Meters
  minAltitude  = 4 ;        #Meters
  abortDepth   = 55 ;        #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       = 1200 ;     #Seconds
#minDepth       = 4 ;       #Meters
#maxDepth       = 40 ;      #Meters
#minAltitude    = 6 ;   #Meters
#maxCycles      = 1000 ;
#}

behavior setpoint

{
  duration     = 1200 ;        #Seconds
  heading      = 90.0 ;       #Degrees
  verticalMode = depth;
  depth = 15;
  speed        = 1.3 ;       #Meters/second
}

#behavior waypoint
#{
#latitude	= 36.91029833; 		# positive = north
#longitude	= -121.94150833; 		# negative = west
#speed		= 1.3 ;       	# Meters/second
#captureRadius	= 10; 			# Meters
#circleMode	= 1;
#duration	= 1200 ;	#Seconds
#}


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

#Use descend behavior instead of launch to maintain pitch control.
behavior descend 
{
  duration         = 90;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 90.0 ;       #Degrees; 
  pitch            = -15;      #Degrees
  speed            = 1.4 ;      #Meters/sec
  maxDepth         = 5;        #Meters
}

behavior setpoint
{
  duration     = 60;        #Seconds
  heading      = 90.0 ;      #Degrees
  speed        = 1.4 ;       #Meters/second
  verticalMode = depth;
  depth        = 0.0;         #Meters
  legDuration  = 60;        #Seconds
}