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

initialize   DEPLOY = false
initialize   RETURN = false
initialize   STATION_KEEP = false
initialize   REGION = one
initialize   SURFACE = false
	
//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_survey1
  pwt       = 100
  condition = RETURN = false
  condition = STATION_KEEP = false
  condition = DEPLOY = true
	condition = REGION = one
	condition = SURFACE != true
	endflag   = SURFACE = true
  updates   = WPT_UPDATE1
  perpetual = true

                lead = 8
         lead_damper = 1
       lead_to_start = true
              speed  = $(SPEED)  // meters per second
        capture_line = true
      capture_radius = 5
         slip_radius = 15
	efficiency_measure = all

  points = format=lawnmower, label=fox, x=-60, y=-70, height=40, width=50, lane_width=8, rows=north-south, startx=0, starty=0, degs=336

           order = reverse
          repeat = 0

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

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_survey2
  pwt       = 100
  condition = RETURN = false
  condition = STATION_KEEP = false
  condition = DEPLOY = true
	condition = REGION = two
  endflag   = RETURN = true
  updates   = WPT_UPDATE2
  perpetual = true

                lead = 8
         lead_damper = 1
       lead_to_start = true
              speed  = $(SPEED)  // meters per second
        capture_line = true
      capture_radius = 5
         slip_radius = 15
	efficiency_measure = all

  points = format=lawnmower, label=fox, x=43, y=-22, height=40, width=50, lane_width=8, rows=north-south, startx=0, starty=0, degs=336

           order = normal
          repeat = 0

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

//----------------------------------------------
Behavior=BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = RETURN = true
  condition  = STATION_KEEP = false
  condition  = DEPLOY = true
  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_all
  pwt          = 100
  condition    = STATION_KEEP = true
  condition    = DEPLOY = true

     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
}

//----------------------------------------------                                          
Behavior = BHV_StationKeep
{
  name         = station_keep_1
  pwt          = 100
  condition    = DEPLOY  = true
  condition    = SURFACE = true
  endflag      = SURFACE = false
  endflag      = REGION  = two
	duration     = 150
	duration_idle_decay = false
	
	        station_pt = -5,-48
        inner_radius = 2
        outer_radius = 10
         outer_speed = 1.0

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