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

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

	endflag   = SUMMARY=speed=$[SPEED],time=$[DUR_RUN_TIME]
	
	configflag = CRUISE_SPD = $[SPEED]

	activeflag = INFO=$[OWNSHIP]
	activeflag = INFO=$[BHVNAME]
	activeflag = INFO=$[BHVTYPE]

	cycleflag = CINFO=$[OSX],$[OSY]

	wptflag = PREV=$(PX),$(PY)
	wptflag = NEXT=$(NX),$(NY)
	wptflag = TEST=$(X),$(Y)
	wptflag = OSPOS=$(OSX),$(OSY)
	wptflag_on_start = true

  updates    = WPT_UPDATE
  perpetual  = true

	         speed_alt = 1.2
       use_alt_speed = true
                lead = 8
         lead_damper = 1
       lead_to_start = true
               speed = 3   // meters per second
        capture_line = true
      capture_radius = 5.0
         slip_radius = 15.0
	efficiency_measure = all
	           polygon = 60,-40:60,-160:150,-160:180,-100:150,-40

               order = normal
             repeat  = 0

    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
  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_ConstantSpeed
{
  name      = const_speed
  pwt       = 200
  condition = SPD=true
  condition = DEPLOY = true
  perpetual = true
  updates   = SPEED_UPDATE
  endflag   = SPD = false

           speed = 0.5
		    duration = 10
	duration_reset = CONST_SPD_RESET=true
	
}