<?xml version="1.0" encoding="UTF-8"?>
<AVCL xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" vehicleID="7" 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="WWWGridDemo2.xml" name="title" />
    <meta content="WWWGridDemo2.xml" name="mission" />
    <meta content="Duane Davis, Don Brutzman" name="creator" />
    <meta content="30 October 2008" name="created" />
    <meta content="28 August 2010" name="modified" />
    <meta content="WWWGridDemo2.MissionMetadata.xml" name="MissionMetadata" />
    <meta content="WWWGridDemo2MissionReport.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/WWWGridDemo2.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="-121.88500213623047" latitude="36.606998443603516" />
      <Configuration>
        <UnmannedUnderwaterVehicle>
          <CapabilityUUV value="communicationsCapable" />
          <CapabilityUUV value="communicationsCapable" />
        </UnmannedUnderwaterVehicle>
      </Configuration>
      <UUVCommandScript description="Scripted AUV mission.">
        <SetPositionUUV description="Start point">
          <XYPosition y="0.0" x="250.0" />
          <Depth value="0.0" />
        </SetPositionUUV>
        <Thrusters description="Disable thrusters" value="false" />
        <WaypointUUV description="Dive to first waypoint">
          <XYPosition y="-25.0" x="175.0" />
          <Depth value="12.0" />
        </WaypointUUV>
        <SendMessage>
          <AVCLMessage description="test message 1" version="2.1">
            <head>
              <Sender value="1" />
              <Recipient value="0" />
            </head>
            <body>
              <InformationRequest informationType="ping" />
            </body>
          </AVCLMessage>
        </SendMessage>
        <WaypointUUV description="Start small box search">
          <XYPosition y="-25.0" x="100.0" />
          <Depth value="12.0" />
        </WaypointUUV>
        <SendMessage>
          <AVCLMessage description="test message 2" version="2.1">
            <head>
              <Sender value="1" />
              <Recipient value="0" />
            </head>
            <body>
              <InformationRequest informationType="ping" />
            </body>
          </AVCLMessage>
        </SendMessage>
        <WaypointUUV>
          <XYPosition y="50.0" x="100.0" />
          <Depth value="12.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="50.0" x="200.0" />
          <Depth value="12.0" />
          <SetPower>
            <AllPropellers value="75.0" />
          </SetPower>
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="-25.0" x="200.0" />
          <Depth value="12.0" />
        </WaypointUUV>
        <WaypointUUV description="Small box search complete">
          <XYPosition y="-25.0" x="75.0" />
          <Depth value="12.0" />
          <SetPower>
            <AllPropellers value="100.0" />
          </SetPower>
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="75.0" x="-50.0" />
          <Depth value="12.0" />
        </WaypointUUV>
        <WaypointUUV description="Begin lawnmower search">
          <XYPosition y="100.0" x="-50.0" />
          <Depth value="12.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="100.0" x="500.0" />
          <Depth value="12.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="175.0" x="500.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="175.0" x="-50.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="250.0" x="-50.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="250.0" x="500.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="325.0" x="500.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="325.0" x="-50.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="400.0" x="-50.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="400.0" x="500.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="475.0" x="500.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV description="Lawnmower search complete, return">
          <XYPosition y="475.0" x="-50.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="150.0" x="150.0" />
          <Depth value="8.0" />
        </WaypointUUV>
        <WaypointUUV>
          <XYPosition y="150.0" x="250.0" />
          <Depth value="10.0" />
        </WaypointUUV>
        <WaypointUUV description="Surface at start point">
          <XYPosition y="0.0" x="250.0" />
          <Depth value="0.0" />
        </WaypointUUV>
        <SetPower description="Shut down">
          <AllPropellers value="0.0" />
        </SetPower>
        <Quit />
      </UUVCommandScript>
    </MissionPreparation>
  </body>
</AVCL>

