<?xml version="1.0" encoding="UTF-8"?>
<AVCL xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" version="2.1" vehicleName="Aries" vehicleType="UUV" vehicleID="0" xsi:noNamespaceSchemaLocation="https://savage.nps.edu/Savage/AuvWorkbench/AVCL/AVCL.2.1.xsd">
  <head>
    <meta name="title" content="MEAMission.xml" />
    <meta name="mission" content="MEAMission.xml" />
    <meta name="description" content="AVCL mission generated by the AUV Workbench" />
    <meta name="created" content="29 March 2011" />
    <meta name="revised" content="18 November 2012" />
    <meta name="creator" content="Don Brutzman, Duane Davis, Bob McGhee" />
    <meta name="MissionMetadata" content="MEAMission.MissionMetadata.xml" />
    <meta name="generator" content="AUV Workbench https://savage.nps.edu/AuvWorkbench" />
    <meta name="identifier" content="http://TODO insert persistent url path here/MEAMission.xml" />
    <meta name="missionOffsetDeltaNorth" content="0" />
    <meta name="missionOffsetDeltaEast" content="0" />
  </head>
  <body>
    <MissionPreparation>
      <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds" />
      <GeoOrigin latitude="36.606998443603516" longitude="-121.88500213623047" />
      <Configuration>
        <UnmannedUnderwaterVehicle />
      </Configuration>
      <AgendaMission>
        <LaunchPosition description="Start point">
          <XYPosition x="450.0" y="-460.0" timeStamp="0.0" />
        </LaunchPosition>
        <RecoveryPosition description="Finish point">
          <XYPosition x="550.0" y="-400.0" timeStamp="0.0" />
        </RecoveryPosition>
        <GoalList>
          <Goal nextOnSucceed="goalB" nextOnFail="goalC" alert="false" description="search operating area A" id="goalA">
            <Search datumType="area" requiredPD="0.8" singleTarget="false" />
            <OperatingArea>
              <Rectangle>
                <NorthwestCorner>
                  <XYPosition x="725.0" y="-475.0" timeStamp="0.0" />
                </NorthwestCorner>
                <Width value="50.0" timeStamp="0.0" description="" />
                <Height value="150.0" timeStamp="0.0" description="" />
              </Rectangle>
            </OperatingArea>
            <Duration value="3000.0" />
          </Goal>
          <Goal nextOnSucceed="goalC" alert="false" description="sample operating area B" id="goalB">
            <SampleEnvironment />
            <OperatingArea>
              <Rectangle>
                <NorthwestCorner>
                  <XYPosition x="725.0" y="-350.0" timeStamp="0.0" />
                </NorthwestCorner>
                <Width value="100.0" timeStamp="0.0" description="" />
                <Height value="100.0" timeStamp="0.0" description="" />
              </Rectangle>
            </OperatingArea>
            <Duration value="3000.0" />
          </Goal>
          <Goal nextOnFail="goalD" alert="false" description="search trapezoidal polygon area C" id="goalC">
            <Search datumType="point" requiredPD="0.8" singleTarget="true" />
            <OperatingArea>
              <Polygon>
                <XYPosition x="425.0" y="-350.0" timeStamp="0.0" description="" />
                <XYPosition x="425.0" y="-300.0" timeStamp="0.0" description="" />
                <XYPosition x="450.0" y="-250.0" timeStamp="0.0" description="" />
                <XYPosition x="525.0" y="-275.0" timeStamp="0.0" description="" />
                <XYPosition x="525.0" y="-330.0" timeStamp="0.0" description="" />
              </Polygon>
            </OperatingArea>
            <Duration value="3000.0" />
          </Goal>
          <Goal alert="false" description="rendezvous area D" id="goalD">
            <Rendezvous description="rendezvous with vehicle 2">
              <TargetVehicleID value="2" />
            </Rendezvous>
            <OperatingArea>
              <Circle>
                <Center>
                  <XYPosition x="500.0" y="-575.0" timeStamp="0.0" />
                </Center>
                <Radius value="50.0" />
              </Circle>
            </OperatingArea>
            <Duration value="3000.0" />
          </Goal>
        </GoalList>
        <ConstraintList>
          <AvoidArea timeStamp="0.0" description="Launch obstacle before goalA" id="AvoidAreaLaunch">
            <Rectangle timeStamp="0.0" description="">
              <NorthwestCorner timeStamp="0.0" description="">
                <XYPosition x="515.0" y="-500.0" timeStamp="0.0" description="" />
              </NorthwestCorner>
              <Width value="100.0" timeStamp="0.0" description="" />
              <Height value="15.0" timeStamp="0.0" description="" />
            </Rectangle>
            <Depth value="0.0" timeStamp="0.0" description="" />
          </AvoidArea>
        </ConstraintList>
      </AgendaMission>
    </MissionPreparation>
  </body>
</AVCL>

