//--------    FILE: alpha.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
  post_mapping = WPT_STAT, SURVEY_STAT
  post_mapping = WPT_INDEX, SURVEY_INDEX

           lead = 8
    lead_damper = 1
  lead_to_start = false
          speed = 2.0   // meters per second
         radius = 8.0
         points = 60,-40:60,-160:150,-160:180,-100:150,-40
         repeat = 1
   visual_hints = nextpt_color=white, nextpt_lcolor=white
   visual_hints = vertex_color=yellow, line_color=white
   visual_hints = vertex_size=5, 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

         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
}