#---------------------------------------------------------------------
# RC file for Mission Expert
#
# Written by Yoichir Endo
#
# Copyright 2003 - 2006, Georgia Tech Research Corporation 
# Atlanta, Georgia  30332-0415
# ALL RIGHTS RESERVED, See file COPYRIGHT for details. 
#
# $Id: .mission_expertrc,v 1.1.1.1 2008/07/14 16:44:15 endo Exp $
#---------------------------------------------------------------------

#---------------------------------------------------------------------
# Note
#---------------------------------------------------------------------
#
# FEATURE-TYPE (also used for CONSTRAINT-TYPE below)
#   CBR GLOBAL = 0
#   CBR LOCAL = 1
#   CBR LOCAL + CNP TASK-CONSTRAINT = 2
#   CNP TASK-CONSTRAINT = 3
#   CNP ROBOT-CONSTRAINT = 4
#   CNP RUNTIME-CNP (Mission Manager only) = 5
#   CNP RUNTIME-CNP (Bidder only) = 6
#   CNP RUNTIME-CNP (Mission Manager + Bidder) = 7
#   (Defined in mission_expert_types.h)
#
# FEATURE-NON-INDEX
#   FALSE = 0
#   TRUE = 1
#
# FEATURE-HIDE
#   FALSE = 0
#   TRUE = 1
#
# FEATURE-WEIGHT
#   Choose it from 0.00 to 1.00.
#
# FEATURE-ALLOW-DISABLE (Allow disablement of this feature. Default is
# false. Currently, only supported by global features.)
#    FALSE = 0
#    TRUE = 1
#
# FEATURE-OPTION-TYPE (defined in "mission_expert_types.h")
#   TOGGLE = 0
#   SLIDER1 = 1 ([0.10 - 1.00])
#   SLIDER10 = 2 ([1 - 10])
#   SLIDER100 = 3 ([1 - 100])
#   POLYGONS = 4
#   STRINGS = 5
#
#---------------------------------------------------------------------

#---------------------------------------------------------------------
# Global Features
#---------------------------------------------------------------------

<FEATURE BEGIN>
FEATURE-TYPE 0
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.90
FEATURE-ALLOW-DISABLE 1
FEATURE-NAME NumberOfRobots
FEATURE-OPTION-TYPE 3
FEATURE-SELECTED-OPTION 3
FEATURE-OPTION N/A
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 0
FEATURE-NON-INDEX 1
FEATURE-HIDE 1
FEATURE-WEIGHT 0.00
FEATURE-NAME MaxVelocity
FEATURE-OPTION-TYPE 2
#FEATURE-SELECTED-OPTION 5.0
FEATURE-SELECTED-OPTION 50.0
FEATURE-OPTION N/A
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 0
FEATURE-NON-INDEX 1
FEATURE-HIDE 0
FEATURE-WEIGHT 0.00
FEATURE-NAME Aggressiveness
FEATURE-OPTION-TYPE 1
#FEATURE-SELECTED-OPTION 0.25
FEATURE-SELECTED-OPTION 0.50
FEATURE-OPTION N/A
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 0
FEATURE-NON-INDEX 1
FEATURE-HIDE 0
FEATURE-WEIGHT 0.90
FEATURE-NAME WeatherZone
FEATURE-OPTION-TYPE 4
FEATURE-SELECTED-OPTION 0
FEATURE-OPTION N/A
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 0
FEATURE-NON-INDEX 1
FEATURE-HIDE 0
FEATURE-WEIGHT 0.90
FEATURE-NAME NoFlyZone
FEATURE-OPTION-TYPE 4
FEATURE-SELECTED-OPTION 0
FEATURE-OPTION N/A
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 0
FEATURE-NON-INDEX 1
FEATURE-HIDE 0
FEATURE-WEIGHT 0.90
FEATURE-NAME NoCommZone
FEATURE-OPTION-TYPE 4
FEATURE-SELECTED-OPTION 0
FEATURE-OPTION N/A
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 0
FEATURE-NON-INDEX 0
FEATURE-HIDE 1
FEATURE-WEIGHT 0.95
FEATURE-NAME OverlayName
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 0
FEATURE-OPTION wallopsIsland_SmallMap.ovl
#FEATURE-OPTION panama_city_bay.ovl
#FEATURE-OPTION cape_cod.ovl
FEATURE-OPTION us_west_coast.ovl
#FEATURE-OPTION virginia_beach.ovl
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 0
FEATURE-NON-INDEX 1
FEATURE-HIDE 1
FEATURE-WEIGHT 0.90
FEATURE-NAME MissionTime
FEATURE-OPTION-TYPE 5
FEATURE-SELECTED-OPTION 0
FEATURE-OPTION N/A
<FEATURE END>

#---------------------------------------------------------------------
# Local Features
#---------------------------------------------------------------------

<FEATURE BEGIN>
FEATURE-TYPE 2
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.80
FEATURE-NAME MISSION_TYPE
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 0
FEATURE-OPTION RECON
#FEATURE-OPTION SHORE_PROTECTION
#FEATURE-OPTION 
<FEATURE END>

#---------------------------------------------------------------------
# Runtime-CNP Features
#---------------------------------------------------------------------

<FEATURE BEGIN>
FEATURE-TYPE 7
FEATURE-NON-INDEX 1
FEATURE-HIDE 1
FEATURE-WEIGHT 0.80
FEATURE-NAME ROBOT_ID
FEATURE-OPTION-TYPE 3
FEATURE-SELECTED-OPTION 1
FEATURE-OPTION N/A
<FEATURE END>

<FEATURE BEGIN>
FEATURE-TYPE 5
FEATURE-NON-INDEX 0
FEATURE-HIDE 0
FEATURE-WEIGHT 0.80
FEATURE-NAME MISSION
FEATURE-OPTION-TYPE 0
FEATURE-SELECTED-OPTION 2
FEATURE-OPTION CARGO_INSPECTION
FEATURE-OPTION TARGET_TRACKING
FEATURE-OPTION NMC
FEATURE-OPTION VESSEL_INTERCEPTION
<FEATURE END>

#---------------------------------------------------------------------
# Robot Constraints
#
# ROBOT-OPTION-TYPE (Same as FEATURE-OPTION-TYPE.)
#   TOGGLE = 0
#   SLIDER1 = 1 ([0.10 - 1.00])
#   SLIDER10 = 2 ([1 - 10])
#
#---------------------------------------------------------------------

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 1
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 2
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 2
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 2
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 3
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 2
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 4
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 2
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 5
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 2
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 6
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 2
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 7
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 2
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 8
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 9
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 10
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 11
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 12
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 13
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

<ROBOT-CONSTRAINTS BEGIN>
ROBOT-CONSTRAINTS-ROBOT-ID 14
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME VEHICLE_TYPES
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION UAV
CONSTRAINT-OPTION USV
CONSTRAINT-OPTION UUV
CONSTRAINT-OPTION UGV
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_IR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME EO_ESM
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 1
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME SAR
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<CONSTRAINT BEGIN>
CONSTRAINT-TYPE 4
CONSTRAINT-HIDE 0
CONSTRAINT-NAME MAD
CONSTRAINT-OPTION-TYPE 0
CONSTRAINT-SELECTED-OPTION 0
CONSTRAINT-OPTION True
CONSTRAINT-OPTION False
<CONSTRAINT END>
<ROBOT-CONSTRAINTS END>

#---------------------------------------------------------------------
# Local Tasks
#
# TASK-BUTTON-NAME:
#   BiohazardBtn
#   EOIRBtn
#   CommunicationsBtn
#   HostageBtn
#   IcarusBtn
#   InspectBtn
#   InterceptBtn
#   LoiterBtn
#   MADBtn
#   MineBtn
#   MineOceanBtn
#   NavalReconBtn
#   ObserveBtn
#   OtherBtn
#   SARImageBtn
#   SearchAndRescueBtn
#   SearchUAVBtn
#   SearchUUVBtn
#   SentryBtn
#   ShoreProtectionBtn
#   SteerpointBtn
#   TrackBtn
#   WaypointsBtn
#   WeaponReleaseBtn
#
# TASK-MAX-USAGE 
#   - The number of times this task can be placed.
#   - The value should be an integer or "inf" (for infinite number).
# 
# TASK-RUNTIME-CNP 
#   - If the task is used for runtime-CNP
#   - The value is 0 (false) or 1 (true). Default is 0.
# 
# TASK-ICARUS 
#   - If the task is used for ICARUS
#   - The value is 0 (false) or 1 (true). Default is 0.
# 
#---------------------------------------------------------------------

<TASK BEGIN>
TASK-NAME MADTask
TASK-BUTTON-NAME MADBtn
TASK-SPECIFIC-SELECTED-OPTION ENVIRONMENT 0
TASK-MAX-USAGE inf
<TASK END>

<TASK BEGIN>
TASK-NAME SARTask
TASK-BUTTON-NAME SARImageBtn
TASK-SPECIFIC-SELECTED-OPTION ENVIRONMENT 0
TASK-MAX-USAGE inf
<TASK END>

<TASK BEGIN>
TASK-NAME EOIRTask
TASK-BUTTON-NAME EOIRBtn
TASK-SPECIFIC-SELECTED-OPTION ENVIRONMENT 0
TASK-MAX-USAGE inf
<TASK END>

#---------------------------------------------------------------------
# Runtime-CNP Task
#---------------------------------------------------------------------

<TASK BEGIN>
TASK-NAME RuntimeCNPMissionManagerTask
TASK-BUTTON-NAME OtherBtn
TASK-MAX-USAGE inf
TASK-RUNTIME-CNP 1
<TASK END>

<TASK BEGIN>
TASK-NAME RuntimeCNPBidderTask
TASK-BUTTON-NAME OtherBtn
TASK-SPECIFIC-SELECTED-OPTION ROBOT_ID 2
TASK-MAX-USAGE inf
TASK-RUNTIME-CNP 1
<TASK END>

#---------------------------------------------------------------------
# ICARUS Task
#---------------------------------------------------------------------
<TASK BEGIN>
TASK-NAME IcarusTask
TASK-BUTTON-NAME IcarusBtn
TASK-MAX-USAGE 1
TASK-ICARUS 1
<TASK END>

#---------------------------------------------------------------------
# Other Miscellaneous Setup
#---------------------------------------------------------------------

DEFAULT-TASK MADTask
DEFAULT-TASK-WEIGHT 1.00
RUNTIME-CNP-MISSION-MANAGER-TASK RuntimeCNPMissionManagerTask
RUNTIME-CNP-BIDDER-TASK RuntimeCNPBidderTask
ICARUS-TASK IcarusTask
