<tag><var_init>
initialize PATROL = true
initialize TRAILING_ALLOWED = false
initialize TRAIL = false

<tag><modes>
set MODE = PATROLLING {
  MODE   = ACTIVE
  PATROL = true
  TRAIL != true
} 

set MODE = TRAILING {
  MODE   = ACTIVE
  TRAILING_ALLOWED = true
  TRAIL  = true
} 

<tag><bhvs>
//----------------------------------------------
Behavior = BHV_Loiter
{
  name      = loiter
  pwt       = 100
  condition = MODE == PATROLLING
  updates   = UP_LOITER

         speed = 1.3
     clockwise = false
        radius = 8.0
     nm_radius = 15.0
       polygon = radial:: x=110, y=-50, radius=20, pts=8, snap=1, label=HENRY_LOITER
  visual_hints = nextpt_color=white, nextpt_lcolor=khaki
  visual_hints = edge_color=blue, vertex_color=blue
  visual_hints = edge_size=1, vertex_size=2
}

//----------------------------------------------
Behavior = BHV_Trail
{
  name       = trail_contact
  pwt        = 100
  condition  = MODE == TRAILING
  updates    = TRAIL_INFO
//  templating = spawn

              contact = abe
       pwt_outer_dist = 130
            nm_radius = 18
               radius = 8
          trail_angle = 155
          trail_range = 45

     trail_angle_type = relative
     on_no_contact_ok = true
          extrapolate = true
                decay = 30,60
  bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}