initialize   DEPLOY = false
initialize   RETURN = false

Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = DEPLOY=true
  condition = RETURN=false
  endflag   = RETURN = true
  UPDATES   = WPT_UPDATE
  perpetual = true

            lead = 8
     lead_damper = 1
           speed = 1.5   // meters per second
    capture_line = true
  capture_radius = 5.0
     slip_radius = 15.0
//          points = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
//	   points = 50,-25 : 0,-45 : 0, -70: 50,-50  // square along dock
	   points = 10,-25:100,-25 

        repeat = 1800
           order = normal


    visual_hints = nextpt_color=red, nextpt_lcolor=green
    visual_hints = vertex_color=blue, edge_color=pink
    visual_hints = vertex_size=4, edge_size=1
    efficiency_measure = internal
}

Behavior=BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = DEPLOY=true
  condition  = RETURN=true
  perpetual  = true
  endflag    = RETURN = false
  endflag    = DEPLOY = false

           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
          points = 0,0
}

Behavior = BHV_OpRegion
{
  name		= opregion
  pwt		= 100
  condition	= MODE==ACTIVE


  polygon = -220, -120 : -100, -430 : 380, -240 : 254, 46 : 112, 21 
  trigger_entry_time = 1
  trigger_exit_time = 1

  visual_hints = edge_size=1
}