################################################################################
#
# PURPOSE: Simulate wall following.  Check Rock's family of ic sim runs.
#          
# AUTHOR:  rsm
# DATE:    9 Oct 2013
# NOTE:    Sequential behaviors are bottom-up.  Priorities are top-down.
# MODS:
#
################################################################################
# 
behavior missionTimer
{
  timeOut = 8000;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth      = 0;         #Meters
  maxDepth      = 250;        #Meters
  abortDepth    = 245;        #Meters
  minAltitude   = 20;        #Meters
  abortAltitude = 15;        #Meters
  deltaDepthRestart =5;      #Meters
  minObstacleRange = 20.;    #Meters
}
# pitchLimitAltitude = 9.;   #Meters-below which the commanded pitch is clipped.
# maxLowerPitch = 10.;       #Degrees, positive.
#
#behavior lowAltitudeFollowing
#{
#  endTime = 3600;
#}
behavior ascend 
{
  duration         = 200;       #Seconds
  horizontalMode   = heading;  #Mode
  horizontal       = 90;       #Degrees; 
  pitch            = 30;       #Degrees
  speed            = 1.5;      #Meters/sec
  endDepth         = 0;	       #Meters
}
 behavior waypoint_wall
{
    latitude     =   36.811730;
    longitude    = -122.016987;
    duration     = 8000; 
    speed        = 1.5;
    initialDepth = 200;
    finalDepth   = 200;
    speed        = 1.5;
    starboardMaxCrossTrackError = 4000;
    maxCrossTrackError = 4000;    #Meters; Maximum cross-track displacement
    standOff     = 50;          #Meters; Stand off from the wall
    sonarTimeOut = 2;           #Seconds;
    windowLen    = 1;
    useWallEstimator = True;
    wallFeedForward  = False;
}
#behavior lowAltitudeFollowingOff
#{
#    duration = 2;	
#}
 behavior waypoint_wall
{
    latitude     =   36.770742;
    longitude    = -121.967089;
    duration     = 300; 
    speed        = 1.5;
    initialDepth = 200;
    finalDepth   = 200;
    speed        = 1.5;
    starboardMaxCrossTrackError = 4000;
    maxCrossTrackError = 4000;    #Meters; Maximum cross-track displacement
    standOff     = 50;          #Meters; Stand off from the wall
    sonarTimeOut = 2;           #Seconds;
    windowLen    = 1;
    useWallEstimator = True;
    wallFeedForward  = False;
}
#
#Started here:
#March 2015; Wedding cake start:
#latitude    =   36.7662;            //Decimal Degrees
#longitude   = -121.9605;            //Decimal Degrees. Minus for West Long.
#
# Sequential behaviors begin at the bottom.
#