<?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="2" xsi:noNamespaceSchemaLocation="https://savage.nps.edu/Savage/AuvWorkbench/AVCL/AVCL.2.1.xsd">
  <head>
    <meta name="title" content="UuvDepthCircleTest.xml" />
    <meta name="mission" content="UuvDepthCircleTest.xml" />
    <meta name="description" content="AVCL mission generated by the AUV Workbench" />
    <meta name="created" content="010106ZFEB2012" />
    <meta name="creator" content="Don Brutzman" />
    <meta name="MissionMetadata" content="UuvDepthCircleTest.MissionMetadata.xml" />
    <meta name="generator" content="AUV Workbench https://savage.nps.edu/AuvWorkbench" />
    <meta name="identifier" content="http://TODO insert persistent url path here/UuvDepthCircleTest.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>
          <CapabilityUUV value="bodyThrustersInstalled" />
          <CapabilityUUV value="bodyThrustersInstalled" />
        </UnmannedUnderwaterVehicle>
      </Configuration>
      <UUVCommandScript>
        <SetPositionUUV description="Launch point">
          <XYPosition x="0.0" y="-100.0" />
          <Depth value="0.2" />
        </SetPositionUUV>
        <Thrusters value="true" />
        <MetaCommand name="TODO" content="fix problem with Thrusters enabled command" />
        <SetStandoff value="5.0" description="Distance for declaring success reaching waypoint" />
        <WaypointUUV description="reach and maintain ordered depth">
          <XYPosition x="25.0" y="-150.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV description="circle turn">
          <XYPosition x="100.0" y="-350.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <SetRudder value="-100.0" description="Right full rudder" />
        <Wait value="60.0" description="circle for 1 minute" />
        <SetRudder value="-50.0" description="Right full rudder" />
        <Wait value="60.0" description="circle for 1 minute" />
        <WaypointUUV description="circle again">
          <XYPosition x="250.0" y="-400.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <SetRudder value="100.0" description="Left full rudder" />
        <Wait value="60.0" description="circle for 1 minute" />
        <SetRudder value="50.0" description="Left full rudder" />
        <Wait value="60.0" description="circle for 1 minute" />
        <WaypointUUV description="return to surface">
          <XYPosition x="50.0" y="-120.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV description="mission complete at launch point">
          <XYPosition x="10.0" y="-100.0" />
          <Depth value="0.0" />
          <Standoff value="5.0" />
        </WaypointUUV>
        <SetPower description="all stop">
          <AllPropellers value="0.0" />
        </SetPower>
        <SetRudder value="100.0" description="slow in place" />
        <Wait value="10.0" description="finish slowing maneuver" />
        <Quit />
      </UUVCommandScript>
    </MissionPreparation>
  </body>
</AVCL>

