//--------    FILE: beta.bhv   -------------

initialize   DEPLOY = false
initialize   RETURN = false
initialize   HSLINE = off

//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = RETURN = false
  condition = DEPLOY = true
  endflag   = RETURN = true
  perpetual = true
  updates   = NEWPTS

          lead = 8
   lead_damper = 1
         speed = 2.0   // meters per second
        radius = 8.0
        points = zigzag:0,0,180,1000,50,15
//        points = 60,-40:60,-160:150,-160:180,-100:150,-40
        repeat = 1
  visual_hints = nextpt_color=red, nextpt_lcolor=green
  visual_hints = vertex_color=yellow, line_color=white
  visual_hints = vertex_size=2, edge_size=1
}

//----------------------------------------------
Behavior = BHV_Waypoint
{
   name       = waypt_return
   pwt        = 100
   condition  = RETURN = true
   condition  = DEPLOY = true
   updates    = UPDATES_RETURN
   perpetual  = true
   endflag    = RETURN = false
   endflag    = DEPLOY = false
   endflag    = MISSION_COMPLETE = true

   speed      = 2.0
   radius     = 2.0
   nm_radius  = 8.0
   points     = 0,0
}

//----------------------------------------------
Behavior = BHV_HSLine
{
  name        = hsline
  condition   = HSLINE=on

  time_on_leg = 10
}

//----------------------------------------------
Behavior = BHV_ConstantHeading
{
  name        = bhv_const_heading
  condition   = DEPLOY = true
  endflag     = RETURN = false
  endflag     = DEPLOY = false
  endflag     = MISSION_COMPLETE = true

  pwt         = 100
  duration    = 300
  heading     = 180
   
}