//*******************************************************
// Vehicle behavior configuration file

initialize   DEPLOY = false
initialize   RETURN = false
initialize   STATION_KEEP = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

set MODE = RETURNING {
  MODE = ACTIVE
  RETURN = true
} TRAVERSING

	
//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_survey
  pwt       = 100
  condition = MODE==TRAVERSING
  endflag   = RETURN = true

  updates   = WPT_UPDATE
  perpetual = true

                lead = 8
         lead_damper = 1
       lead_to_start = true
               speed = $(SPEED)  // meters per second
              //  speed = 0.5
	
        capture_line = false
      capture_radius = 2
         slip_radius = 4
	efficiency_measure = all

  points = pts={-40.4472,-69.1056:-19.5528,-60.8944:-0.44721,-49.1056:20.4472,-40.8944:39.5528,-29.1056:60.4472,-20.8944:79.5528,-9.1056:60.4472,-20.8944:39.5528,-29.1056:20.4472,-40.8944:-0.44721,-49.1056:-19.5528,-60.8944}
  
  repeat = forever

    visual_hints = nextpt_color=yellow
    visual_hints = nextpt_vertex_size=8
    visual_hints = nextpt_lcolor=gray70
    visual_hints = vertex_color=dodger_blue, edge_color=white
    visual_hints = vertex_size=5, edge_size=1
}

//----------------------------------------------
Behavior=BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = MODE==RETURNING
  perpetual  = true
  updates    = RETURN_UPDATE
  endflag    = RETURN = false
  endflag    = DEPLOY = false
  endflag    = MISSION = complete

	   speed = $(SPEED)
  capture_radius = 2.0
     slip_radius = 8.0
  
  points = 0,-10

 }

//----------------------------------------------
Behavior = BHV_StationKeep
{
  name         = station-keep
  pwt          = 100
  condition    = MODE==STATION-KEEPING

     center_activate = true
        inner_radius = 5
        outer_radius = 10
         outer_speed = 1.0

       transit_speed = 0.5
          swing_time = 7
        visual_hints = vertex_size=0, edge_color=gray50
}