//--------    FILE: echo.bhv   -------------

initialize   DEPLOY = false
initialize   MOOS_MANUAL_OVERRIDE = false
initialize   AUTO_SPAWN = false
initialize   RETURN = false


set IVPHELM_MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set IVPHELM_MODE = SURVEYING {
  IVPHELM_MODE = ACTIVE
  RETURN != true
} RETURNING

//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = IVPHELM_MODE == SURVEYING
  endflag   = RETURN = true
  perpetual = true

          lead = 8
   lead_damper = 1
         speed = 2.0   // meters per second
        radius = 8.0
        repeat = 100000
        points = 60,-40:60,-140:150,-140:170,-90:150,-40
  visual_hints = nextpt_color=yellow, nextpt_lcolor=aqua
  visual_hints = vertex_color=yellow, line_color=white
  visual_hints = vertex_size=2, edge_size=1
}

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = IVPHELM_MODE == RETURNING
  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_BearingLine
{
  name       = bng-line-
  condition  = IVPHELM_MODE == SURVEYING
  updates    = BEARING_POINT
  templating = clone
  duration_idle_decay = true

  bearing_point = 100,-100
       line_pct = 50
        show_pt = true
}