//-------- FILE: archie.bhv ------------- initialize DEPLOY = false initialize RETURN = false //---------------------------------------------- Behavior = BHV_Waypoint { name = waypt_survey pwt = 100 condition = RETURN = false condition = (DEPLOY = true) endflag = RETURN = true perpetual = true speed = 2 // meters per second radius = 5.0 slip_radius = 15.0 lead = 15 points = -200,-130:-90,-420:-57,-402:-170,-120:-129,-104:-22,-388:20,-370:-84,-85:-42,-69:59,-354:100,-339:-2,-53:39,-34:140,-322:175,-311:80,-23:121,-7:216,-290:256,-275:167,3:203,14:296,-260:330,-244:244,6 endflag = NODE_MESSAGE = src_node=archie,dest_node=betty,var_name=SURVEY,string_val=COMPLETE repeat = 0 visual_hints = nextpt_color=red, nextpt_lcolor=green visual_hints = vertex_color=yellow, edge_color=gray25 visual_hints = vertex_size=1, edge_size=1 } //---------------------------------------------- Behavior = BHV_Waypoint { name = waypt_return pwt = 100 condition = RETURN = true condition = DEPLOY = true perpetual = true endflag = RETURN = false endflag = DEPLOY = false endflag = NODE_MESSAGE_LOCAL = src_node=archie,dest_node=betty,var_name=SURVEY,string_val=COMPLETE speed = 2.0 radius = 2.0 nm_radius = 8.0 points = $(START_POS) } //---------------------------------------------- Behavior = BHV_ConstantDepth { name = bhv_const_depth_b pwt = 60 duration = no-time-limit condition = DEPLOY = true depth = 5 peakwidth = 3 basewidth = 2 summitdelta = 20 }