//--------    FILE: gly_1.bhv   -------------

initialize   DEPLOY = false
initialize   RETURN = false
	
//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = RETURN = false
  condition = DEPLOY = true
  //endflag   = RETURN = true
  endflag    = MISSION = complete

	configflag = CRUISE_SPD = $[SPEED]
	//configflag = OSPOS = $[OSX],$[OSY]

	activeflag = INFO=$[OWNSHIP]
	activeflag = INFO=$[BHVNAME]
	activeflag = INFO=$[BHVTYPE]

	cycleflag = CINFO=$[OSX],$[OSY]

	wptflag = PREV=$(PX),$(PY)
	wptflag = NEXT=$(NX),$(NY)
	wptflag = TEST=$(X),$(Y)
	wptflag = OSPOS=$(OSX),$(OSY)
	wptflag_on_start = true

  updates    = WPT_UPDATE
 // perpetual  = true

	         speed_alt = 1.2
       use_alt_speed = true
                lead = 8
         lead_damper = 1
       lead_to_start = true
               speed = 2   // meters per second
        capture_line = true
      capture_radius = 5.0
         slip_radius = 15.0
	efficiency_measure = all

  //          points = pts={107.5,-53.5:112,-43.8:112,-46.1:111.7,-49.3:108.3,-52.7:107.7,-53.3}
	//         polygon = -50,-100: -50,-300: 25, -300: 25, -100: 100, -100: 100, -300: 175, -300: 175, -100
           polygon = -50,-100:   0,-300: 50, -287.5: 0, -87.5: 50, -75: 100, -275: 150, -262.5: 100, -62.5
  //         polygon = -50,-100: -50,-170.71: 0,-220.71: 70.71,-220.71: 120.71,-170.71: 120.71,-100: 70.71,-50: 0,-50: -50,-100
  //         polygon = -50,-100: -50,-300
               order = normal
             repeat  = 0

    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_ConstantDepth
{
  name      = bhv_const_depth
  pwt       = 100
  condition = DEPLOY = true
  perpetual  = true
  updates   = DEPTH_VALUE

        depth = 2
    duration  = no-time-limit
    peakwidth = 8
    basewidth = 12
    summitdelta = 10
}