//--------    FILE: juliet.bhv   -------------

initialize   DEPLOY   = false
initialize   RETURN   = false
initialize   GOTO_DEPTH = false

//========================================================
// Hierarchical Mode Declarations
//  o ROOT                     o ROOT
//  |--o INACTIVE              |--o GOTO_DEPTH
//  |--o ACTIVE                |--o NOT GOTO_TDEPTH
//     |--o RETURNING
//     |--o LOITERING
//========================================================


Set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

//----------------------------------------------
Behavior = BHV_Loiter
{
  name      = loiter
  pwt       = 100
  condition = MODE == LOITERING
  updates   = UP_LOITER

         speed = 1.3
     clockwise = best
        radius = 4.0
     nm_radius = 15.0
       polygon = radial:: x=20, y=-80, radius=20, pts=8, snap=1, label=juliet_loiter
  visual_hints = nextpt_color=red, nextpt_lcolor=khaki, edge_color=khaki
  visual_hints = edge_size=1, vertex_size=4, vertex_color=white
}

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

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

//----------------------------------------------
Behavior = BHV_GoToDepth
{
  name        = bhv_go_to_depth
  pwt         = 1000
  condition   = MODE == LOITERING
  condition   = GOTO_DEPTH = true
  endflag     = GOTO_DEPTH = false

           depth = 40,60:30,45:20,45
          repeat = 2
       perpetual = true
    capture_flag = DEPTH_ACHIEVED
   capture_delta = 0.5
}

//----------------------------------------------
Behavior = BHV_ConstantDepth
{
  name      = bhv_const_depth
  pwt       = 100
  duration  = no-time-limit
  condition = MODE==LOITERING
  condition = GOTO_DEPTH != true
  updates   = DEPTH_VALUE

        depth = 50
    peakwidth = 8
    basewidth = 12
  summitdelta = 10
}