//--------    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_SailSurvey
{ 
  name      = sailsurvey
  pwt       = 100
  condition = RETURN = false
  condition = DEPLOY = true

  pattern_width = 25
  performance_grid_spacing = 5
  performance_visuals = active

}

//----------------------------------------------
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
#ifdef REGION pavlab    
          point = 0,-20
#else
          point = 0, 0
#endif          
 }