behavior missionTimer
{
timeOut = 5000;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 400;
abortDepth = 395;
minAltitude = 3.0;
abortAltitude = 2.0;
}
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
behavior waypoint_bottom
{
latitude = 36.817850;
longitude = -121.88470;
duration = 2600;
depth = 400.;
speed = 1.500000;
altitude = 15;
avoidRange = 50.;
useThetaB = False;
tau = 3;
maxLowerPitch = 15;
}
# PlateauMiddle
behavior waypoint_bottom
{
latitude = 36.817850;
longitude = -121.84350;
duration = 600;
depth = 400.;
speed = 1.500000;
altitude = 15;
avoidRange = 50.;
useThetaB = False;
tau = 3;
maxLowerPitch = 15;
}
# PlateauMax
behavior waypoint_bottom
{
latitude = 36.817850;
longitude = -121.84030;
duration = 600;
depth = 400.000000;
speed = 1.500000;
altitude = 15;
avoidRange = 50.;
useThetaB = False;
tau = 3;
maxLowerPitch = 15;
}
behavior waypoint_bottom
{
latitude = 36.817850;
longitude = -121.83470;
duration = 600;
depth = 400.000000;
speed = 1.500000;
altitude = 15;
avoidRange = 50.;
useThetaB = False;
tau = 3;
maxLowerPitch = 15;
}
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 400;
minAltitude = 15.000000;
duration = 800;
}
behavior waypoint
{
latitude = 36.817850;
longitude = -121.83470;
duration = 600;
depth = 45.000000;
speed = 1.500000;
}
# Started at:
#longitude = -121.8430;
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 10.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 5.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 10.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}