//---------------------------------------------- 
Behavior = BHV_AvdColregsV22
{
  name         = avdcol_
  pwt          = 400
  condition    = DEPLOY == true
  updates      = CONTACT_INFO
  //endflag      = CONTACT_RESOLVED = $[CONTACT]
  templating   = spawn

  activeflag   = AVOIDING = active
  inactiveflag = AVOIDING = inactive
  runflag      = AVOIDING = running
  endflag      = AVOIDING = end

            contact = to-be-set
   on_no_contact_ok = true
        extrapolate = true
              decay = 30,60

        headon_only = false
    velocity_filter = min_spd=0.2, max_spd=1.0, pct=40
       use_refinery = true
	
     pwt_outer_dist = 20
     pwt_inner_dist = 10
     completed_dist = 25
  min_util_cpa_dist = 4
  max_util_cpa_dist = 8
          pwt_grade = linear
   bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0
}