initialize DEPLOY     = false
initialize RETURN     = false
initialize TAGGED     = false

set MODE     = ACTIVE {
  DEPLOY     = true
} INACTIVE

set MODE     = RETURNING {
  MODE       = ACTIVE
  RETURN     = true
} INGAME

set MODE     = TAGGED {
  MODE       = ACTIVE:INGAME
  TAGGED     = true
} UNTAGGED


//#############################################################################
Behavior = BHV_Waypoint
{
  name                    = waypt_return
  pwt                     = 100

  condition               = MODE == RETURNING

  endflag                 = STATION_KEEP = true

  speed                   = 3.0
  radius                  = 3.0
  nm_radius               = 15.0
  points                  = $(RETURN_POS)
  repeat                  = 10
  lead                    = 8
}

//#############################################################################
Behavior = BHV_Waypoint
{
  name                    = waypt_grab
  pwt                     = 50
  perpetual               = true

  condition               = MODE == UNTAGGED

  endflag                 = FLAG_GRAB_REQUEST=vname=$(VNAME)
  endflag                 = TAGGED=true

  speed                   = 2.9 // meters per second
  capture_line            = false
  capture_radius          = 5.0
  slip_radius             = 5.0

  points                  = $(GRAB_POS)
}

//#############################################################################
Behavior = BHV_Waypoint
{
  name                    = waypt_untag
  pwt                     = 50
  perpetual               = true

  condition               = MODE == TAGGED

  endflag                 = TAGGED=false

  speed                   = 2.9 // meters per second
  capture_line            = false
  capture_radius          = 5.0
  slip_radius             = 5.0

  points                  = $(UNTAG_POS)
}