//--------    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
}