//------------------------------------------------------
// Hierarchical State Declarations (Created from PLUGIN)
//
// Summary:
//
//      MODES               Behaviors
//   ------------------     -------------------
//   o INACTIVE             NULL
//   * ACTIVE               HSLine
//      o SURVEYING         Identify,ConstantDepth
//      o STATION-KEEPING   StationKeep,ConstantDepth
//      o AWAITING-PTS      ConstantDepth
//      * RETURNING         Waypoint

set MODE = INACTIVE {
  DEPLOY != true
} ACTIVE

set MODE = SURVEYING {
  MODE = ACTIVE
  RETURN  != true
  STATION != true
  AWAITING_RIPOINTS != true
} 

set MODE = STATION-KEEPING {
  MODE = ACTIVE
  STATION = true
}    

set MODE = AWAITING-PTS {
  MODE = ACTIVE
  AWAITING_RIPOINTS = true
} RETURNING