<?xml version="1.0" encoding="UTF-8"?>
<AVCL xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" version="2.1" vehicleName="SeaFox" vehicleType="USV" vehicleID="2" xsi:noNamespaceSchemaLocation="https://savage.nps.edu/Savage/AuvWorkbench/AVCL/AVCL.2.1.xsd">
  <head>
    <meta name="description" content="Box-shaped mission to test USV kinematics." />
    <meta name="creator" content="Duane Davis, Don Brutzman" />
    <meta name="created" content="23 May 2005" />
    <meta name="modified" content="28 August 2010" />
    <meta name="title" content="UsvBoxTest.xml" />
    <meta name="mission" content="UsvBoxTest.xml" />
    <meta name="MissionMetadata" content="UsvBoxTest.MissionMetadata.xml" />
    <meta name="reference" content="UsvBoxTestMissionReport.pdf" />
    <meta name="identifier" content="http://xmsf.svn.sourceforge.net/viewvc/xmsf/trunk/AuvWorkbench/MyAuvwProjects/DefaultProject/missions/UsvBoxTest.xml" />
    <meta name="generator" content="AUV Workbench https://savage.nps.edu/AuvWorkbench" />
    <meta name="missionOffsetDeltaNorth" content="0" />
    <meta name="missionOffsetDeltaEast" content="0" />
  </head>
  <body>
    <MissionPreparation>
      <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds" />
      <GeoOrigin latitude="36.607" longitude="-121.885" />
      <Configuration>
        <UnmannedSurfaceVehicle />
      </Configuration>
      <USVCommandScript>
        <Thrusters value="true" description="Add thrusters control" />
        <SetPositionUSV description="Launch point">
          <XYPosition x="50.0" y="0.0" />
        </SetPositionUSV>
        <WaypointUSV description="Northwest corner">
          <XYPosition x="550.0" y="0.0" />
          <Speed value="5.0" />
        </WaypointUSV>
        <WaypointUSV description="Upper northeast corner">
          <XYPosition x="550.0" y="450.0" />
        </WaypointUSV>
        <WaypointUSV description="Lower northeast corner">
          <XYPosition x="450.0" y="550.0" />
          <Speed value="5.0" />
        </WaypointUSV>
        <WaypointUSV description="Southeast corner">
          <XYPosition x="50.0" y="550.0" />
          <Speed value="5.0" />
        </WaypointUSV>
        <WaypointUSV description="Finish by start point">
          <XYPosition x="50.0" y="0.0" />
          <Speed value="4.5" />
        </WaypointUSV>
        <Quit description="UsvBoxTest mission complete" />
      </USVCommandScript>
    </MissionPreparation>
  </body>
</AVCL>

