//--------    FILE: meta_vehicle.bhv   -------------

initialize   DEPLOY = false
initialize   RETURN = false
initialize   AVOIDING = idle
//initialize   DRIFT_X = 0.5
//initialize   DRIFT_Y = 0.7

//----------------------------------------------
Behavior = BHV_SailMax
{ 
  name      = sailmax
  pwt       = 100
  condition = RETURN = false
  condition = DEPLOY = true
	endflag   = RETURN = true
	endflag   = SAIL_TRIAL = complete

  updates    = SAIL_UPDATE
  perpetual  = true

            lead       = 30
     lead_damper       = 10
           speed       = 2.0   // meters per second
    capture_line       = true
  capture_radius       = 5
     slip_radius       = 15
   channel_width       = 80    // m
upwind_threshold       = 50    // degrees
prop_timer_trigger     = 120   // sec
windir_filter_length   = 120   // sec
//windir_shift_threshold = 7     // +/- degrees

      //points = pts={50,-50:150,0:250,-15:190,-75:225,-100:50,-180}
      //points = pts={50,-50:150,0:225,-100:50,-180}          
      //points = pts={10,-40:80,-150:140,-90:-130,-120:70,0:30,-130}          
      //points = pts={-50,-100:150,-100:300,-250:-50,-250:-50,-100} 
      //points = pts={50,-100:200,-50:250,-200:100,-250}  
      points = pts={50,-100:250,-25:300,-175:100,-250}         
      repeat = 0     // number of _additional_ repeats or 'forever'
#include plug_polar.moos		

   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=6, edge_size=1
}

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

	endflag   = EFLAG  = r_endings=$[CTR_02]
	cycleflag = CFLAG  = r_cyles=$[CTR_01]
	wptflag   = WFLAG  = r_waypoints=$[CTR]

      lead_condition = AVOIDING != active

                lead = 8
         lead_damper = 1
       lead_to_start = true

           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
          point = 0,-20
 }