//--------    FILE: alpha.bhv   -------------

initialize   DEPLOY  = false
initialize   RETURN  = false
initialize   STATION = false
	
//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = RETURN = false
  condition = DEPLOY = true
  condition = STATION != true
  endflag   = RETURN = true

  updates    = WPT_UPDATE
  perpetual  = true

                lead = 8
         lead_damper = 1
       lead_to_start = true
               speed = 3   // meters per second
        capture_line = true
      capture_radius = 15
         slip_radius = 25
	efficiency_measure = all

    wptflag = STATION=true

             polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40

               order = normal
             repeat  = 1

    visual_hints = nextpt_color=yellow
    visual_hints = nextpt_vertex_size=8
    visual_hints = nextpt_lcolor=gray70
    visual_hints = vertex_color=dodger_blue, edge_color=white
    visual_hints = vertex_size=5, edge_size=1
}


//----------------------------------------------
Behavior=BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = RETURN = true
  condition  = DEPLOY = true
  condition  = STATION != true
  perpetual  = true
  updates    = RETURN_UPDATE
  endflag    = RETURN = false
  endflag    = DEPLOY = false
  endflag    = MISSION = complete
	
           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
          points = 0,-20
}

//----------------------------------------------
Behavior = BHV_StationKeep
{
  name         = station-keep          
  pwt          = 100                   
  condition    = DEPLOY  = true
  condition    = STATION = true

     duration = 60
     endflag  = STATION = false
     perpetual = true
     duration_idle_decay = false

     center_activate = true   // default
         inner_radius = 8       // default
         outer_radius = 15      // default
//         outer_speed  = 1.2     // default
//       transit_speed  = 2.5     // default
//           station_pt = 0,0     // default
           swing_time = 6       // default
}