<?xml version="1.0" encoding="UTF-8"?>
<AVCL xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" vehicleID="6" vehicleName="Aries" vehicleType="UUV" version="2.1" xsi:noNamespaceSchemaLocation="https://savage.nps.edu/Savage/AuvWorkbench/AVCL/AVCL.2.1.xsd">
  <head>
    <meta content="Unmanned underwater vehicle (UUV) AVCL mission generated by the AUV Workbench" name="description" />
    <meta content="Duane Davis, Don Brutzman" name="creator" />
    <meta content="30 October 2008" name="created" />
    <meta content="28 August 2010" name="modified" />
    <meta content="WWWGridDemo1.xml" name="title" />
    <meta content="WWWGridDemo1.xml" name="mission" />
    <meta content="WWWGridDemo1.MissionMetadata.xml" name="MissionMetadata" />
    <meta content="WWWGridDemo1MissionReport.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/WWWGridDemo1.xml" name="identifier" />
    <meta content="0" name="missionOriginDeltaNorth" />
    <meta content="0" name="missionOriginDeltaEast" />
  </head>
  <body>
    <MissionPreparation>
      <UnitsOfMeasure time="seconds" mass="kilograms" angle="degrees" distance="meters" />
      <GeoOrigin longitude="-121.8898665" latitude="36.602379" />
      <Configuration>
        <UnmannedUnderwaterVehicle>
          <CapabilityUUV value="communicationsCapable" />
          <CapabilityUUV value="communicationsCapable" />
        </UnmannedUnderwaterVehicle>
      </Configuration>
      <UUVCommandScript description="Scripted AUV mission.">
        <SetPositionUUV description="Start point">
          <XYPosition y="0.0" x="275.0" />
          <Depth value="0.0" />
        </SetPositionUUV>
        <Thrusters description="Side thrusters off" value="false" />
        <MakeKnots speedOverGround="false" description="Make turns for 2 knots" value="2.0" />
        <WaypointUUV description="First milestone">
          <XYPosition y="-25.0" x="350.0" />
          <Depth value="25.0" />
        </WaypointUUV>
        <SendMessage>
          <AVCLMessage description="test message 1" version="2.1">
            <head>
              <Sender value="0" />
              <Recipient value="1" />
            </head>
            <body>
              <InformationRequest informationType="ping" />
            </body>
          </AVCLMessage>
        </SendMessage>
        <WaypointUUV description="Start small search box">
          <XYPosition y="-25.0" x="400.0" />
          <Depth value="25.0" />
        </WaypointUUV>
        <SendMessage>
          <AVCLMessage description="test message 2" version="2.1">
            <head>
              <Sender value="0" />
              <Recipient value="1" />
            </head>
            <body>
              <InformationRequest informationType="ping" />
            </body>
          </AVCLMessage>
        </SendMessage>
        <WaypointUUV>
          <XYPosition y="50.0" x="400.0" />
          <Depth value="25.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="50.0" x="325.0" />
          <Depth value="25.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="-25.0" x="325.0" />
          <Depth value="25.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="-25.0" x="425.0" />
          <Depth value="25.0" />
        </WaypointUUV>
        <WaypointUUV description="Start mowing the lawn">
          <XYPosition y="75.0" x="500.0" />
          <Depth value="25.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="125.0" x="500.0" />
          <Depth value="25.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="125.0" x="-50.0" />
          <Depth value="25.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="200.0" x="-50.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="200.0" x="500.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="275.0" x="500.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="275.0" x="-50.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="350.0" x="-50.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="350.0" x="500.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="425.0" x="500.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="425.0" x="-50.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV description="Southeast corner">
          <XYPosition y="500.0" x="-50.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV description="Lawnmower search done, now return">
          <XYPosition y="500.0" x="350.0" />
          <Depth value="15.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="150.0" x="350.0" />
          <Depth value="15.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="150.0" x="400.0" />
          <Depth value="13.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="100.0" x="400.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="100.0" x="300.0" />
          <Depth value="20.0" />
        </WaypointUUV>
        <WaypointUUV description="Finish at start point">
          <XYPosition y="0.0" x="275.0" />
          <Depth value="0.0" />
        </WaypointUUV>
        <SetPower description="Engines off">
          <AllPropellers value="0.0" />
        </SetPower>
      </UUVCommandScript>
    </MissionPreparation>
  </body>
</AVCL>

