###############################################################################
#
# PURPOSE: Box mission 300 m offshore of MISO
# AUTHORS: (1) Rob McEwen 03/10/2006
#          (2) Thomas Hoover 1 Sep 2006, additional waypoints and comments
# NOTE:    Sequential behavoirs are bottom-up.  Priorities are top-down.
# MODS:
#
###############################################################################
#
#  GoBackOffshore = [ 36.612484  -121.878174 ]
#
#  GoBackHarbor = [ 36.60687 -121.88733 ]
#
#  1025 meters between Harbor and Offshore waypoints
#  or approximately 18 minutes at 1.0 m/s or 12 minutes at 1.5 m/s

# Offshore to oboxNE is 125 meters (92 seconds at 1.5 m/s)
# Offshore to iboxNE is 411 meters (275 seconds or 4+ minutes at 1.5 m/s)
# Offshore to Box500-10-060707-pt1 is 510 meters (340 secons or 6- minutes at 1.5 m/s)

# Precomputed Miso box corners, assuming channel axis is at 334.
#
# iboxSW  = [ 36.606819 -121.874569 ]
# iboxNW  = [ 36.609244 -121.876043 ]
# iboxNWa = [ 36.608435 -121.875552 ]
# iboxSE  = [ 36.607016 -121.874066 ]
# iboxNE  = [ 36.609441 -121.875539 ] 
# oboxNW  = [ 36.611669 -121.877516 ]
# oboxNWa = [ 36.610860 -121.877025 ]
# oboxNE  = [ 36.611866 -121.877013 ]
#


# 
# define LATITUDE     36.60896
# define LONGITUDE  -121.87673


#  Time is in seconds
#  600 is 10 minutes
#
behavior missionTimer
{
  timeOut = 860;
}

#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 5; #Meters
  minAltitude = 5 ;#Meters
  abortDepth = 8; #Meters
}
#
# iboxNE = [36.609441 -121.875539]
behavior waypoint
{
latitude = LATITUDE;
longitude = LONGITUDE;
duration = 800;
depth = 0.;
speed = 1.0;
}

behavior getgps
{
minHits = 10;
duration = 60;
abortOnTimeout = True;
}