<?xml version="1.0" encoding="UTF-8"?>
<AVCL xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" vehicleID="3" vehicleName="Predator"  vehicleType="UAV" version="2.1" xsi:noNamespaceSchemaLocation="https://savage.nps.edu/Savage/AuvWorkbench/AVCL/AVCL.2.1.xsd">
  <head>
    <meta content="Unamanned air vehicle (UAV) AVCL mission generated by the AUV Workbench" name="description" />
    <meta content="1 September 2004" name="created" />
    <meta content="28 August 2010" name="modified" />
    <meta content="UavWaypointMission.xml" name="title" />
    <meta content="UavWaypointMission.xml" name="mission" />
    <meta content="Duane Davis, Don Brutzman" name="creator" />
    <meta content="UavWaypointMission.MissionMetadata.xml" name="MissionMetadata" />
    <meta content="UavWaypointMissionReport.pdf" name="reference" />
    <meta content="AUV Workbench https://savage.nps.edu/AuvWorkbench" name="generator" />
    <meta content="http://xmsf.svn.sourceforge.net/viewvc/xmsf/trunk/AuvWorkbench/MyAuvwProjects/DefaultProject/missions/UavWaypointMission.xml" name="identifier" />
    <meta content="0" name="missionOffsetDeltaNorth" />
    <meta content="0" name="missionOffsetDeltaEast" />
  </head>
  <body>
    <MissionPreparation>
      <UnitsOfMeasure time="seconds" mass="kilograms" angle="degrees" distance="meters" />
      <GeoOrigin longitude="-121.885" latitude="36.607" />
      <Configuration>
        <UnmannedAerialVehicle />
      </Configuration>
      <UAVCommandScript description="Scripted UAV mission.">
        <MakeKnots speedOverGround="false" description="Set speed" value="50.0" />
        <SetPositionUAV description="Start point">
          <XYPosition y="0.0" x="0.0" />
          <MSLAltitude value="500.0" />
        </SetPositionUAV>
        <WaypointUAV description="Northwest corner">
          <XYPosition y="0.0" x="3000.0" />
          <MSLAltitude value="500.0" />
          <Knots value="70.0" />
        </WaypointUAV>
        <WaypointUAV>
          <XYPosition y="1500.0" x="3000.0" />
        </WaypointUAV>
        <WaypointUAV>
          <XYPosition y="1500.0" x="250.0" />
          <MSLAltitude value="600.0" />
        </WaypointUAV>
        <WaypointUAV>
          <XYPosition y="2500.0" x="250.0" />
        </WaypointUAV>
        <WaypointUAV>
          <XYPosition y="2500.0" x="3000.0" />
          <MSLAltitude value="700.0" />
        </WaypointUAV>
        <WaypointUAV description="Northeast corner">
          <XYPosition y="3000.0" x="3000.0" />
          <MSLAltitude value="700.0" />
        </WaypointUAV>
        <WaypointUAV description="Southeast corner">
          <XYPosition y="3000.0" x="-250.0" />
        </WaypointUAV>
        <WaypointUAV>
          <XYPosition y="500.0" x="-250.0" />
        </WaypointUAV>
        <WaypointUAV>
          <XYPosition y="500.0" x="1500.0" />
          <MSLAltitude value="900.0" />
        </WaypointUAV>
        <WaypointUAV description="Near center, spiral back out">
          <XYPosition y="2000.0" x="1500.0" />
        </WaypointUAV>
        <WaypointUAV>
          <XYPosition y="2000.0" x="2750.0" />
          <MSLAltitude value="1000.0" />
        </WaypointUAV>
        <WaypointUAV>
          <XYPosition y="1000.0" x="2750.0" />
        </WaypointUAV>
        <WaypointUAV>
          <XYPosition y="1000.0" x="250.0" />
          <MSLAltitude value="500.0" />
        </WaypointUAV>
        <WaypointUAV description="Southwest corner">
          <XYPosition y="0.0" x="-250.0" />
          <AGLAltitude value="100.0" />
        </WaypointUAV>
        <WaypointUAV description="Finish point near start point">
          <XYPosition y="0.0" x="-0.0" />
          <MSLAltitude value="50.0" />
        </WaypointUAV>
        <Quit />
      </UAVCommandScript>
    </MissionPreparation>
  </body>
</AVCL>

