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Challenge_3A.xml
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Challenge_3A.xml
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<?xml version="1.0" ?>
<AMASE>
<ScenarioData>
<SimulationView LongExtent="0.7341" Latitude="53.4534" Longitude="-1.7857"/>
<ScenarioName>Challenge 3 Competition Scenario</ScenarioName>
<Date>24/04/2008:00:00:00</Date>
<ScenarioDuration>18180.0</ScenarioDuration>
</ScenarioData>
<HazardReportAnalysis>
<EntityValue Value="1.0"/>
<Hack Time="300" Weight="1.0"/>
<Hack Time="600" Weight="1.0"/>
<Hack Time="900" Weight="1.0"/>
<Hack Time="1200" Weight="1.0"/>
<Hack Time="1500" Weight="1.0"/>
<Hack Time="1800" Weight="1.0"/>
<Hack Time="2100" Weight="1.0"/>
<Hack Time="2400" Weight="1.0"/>
<Hack Time="2700" Weight="1.0"/>
<Hack Time="3000" Weight="1.0"/>
<Hack Time="3300" Weight="1.0"/>
<Hack Time="3600" Weight="1.0"/>
<Hack Time="3900" Weight="1.0"/>
<Hack Time="4200" Weight="1.0"/>
<Hack Time="4500" Weight="1.0"/>
<Hack Time="4800" Weight="1.0"/>
<Hack Time="5100" Weight="1.0"/>
<Hack Time="5400" Weight="1.0"/>
<Hack Time="5700" Weight="1.0"/>
<Hack Time="6000" Weight="1.0"/>
<Hack Time="6300" Weight="1.0"/>
<Hack Time="6600" Weight="1.0"/>
<Hack Time="6900" Weight="1.0"/>
<Hack Time="7200" Weight="1.0"/>
<Hack Time="7500" Weight="1.0"/>
<Hack Time="7800" Weight="1.0"/>
<Hack Time="8100" Weight="1.0"/>
<Hack Time="8400" Weight="1.0"/>
<Hack Time="8700" Weight="1.0"/>
<Hack Time="9000" Weight="1.0"/>
<Hack Time="9300" Weight="1.0"/>
<Hack Time="9600" Weight="1.0"/>
<Hack Time="9900" Weight="1.0"/>
<Hack Time="10200" Weight="1.0"/>
<Hack Time="10500" Weight="1.0"/>
<Hack Time="10800" Weight="1.0"/>
<Hack Time="11100" Weight="1.0"/>
<Hack Time="11400" Weight="1.0"/>
<Hack Time="11700" Weight="1.0"/>
<Hack Time="12000" Weight="1.0"/>
<Hack Time="12300" Weight="1.0"/>
<Hack Time="12600" Weight="1.0"/>
<Hack Time="12900" Weight="1.0"/>
<Hack Time="13200" Weight="1.0"/>
<Hack Time="13500" Weight="1.0"/>
<Hack Time="13800" Weight="1.0"/>
<Hack Time="14100" Weight="1.0"/>
<Hack Time="14400" Weight="1.0"/>
<Hack Time="14700" Weight="1.0"/>
<Hack Time="15000" Weight="1.0"/>
<Hack Time="15300" Weight="1.0"/>
<Hack Time="15600" Weight="1.0"/>
<Hack Time="15900" Weight="1.0"/>
<Hack Time="16200" Weight="1.0"/>
<Hack Time="16500" Weight="1.0"/>
<Hack Time="16800" Weight="1.0"/>
<Hack Time="17100" Weight="1.0"/>
<Hack Time="17400" Weight="1.0"/>
<Hack Time="17700" Weight="1.0"/>
<Hack Time="18000" Weight="1.0"/>
</HazardReportAnalysis>
<ScenarioEventList>
<KeepInZone Series="CMASI">
<ZoneID>2</ZoneID>
<MinAltitude>0.0</MinAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaxAltitude>5000.0</MaxAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<AffectedAircraft/>
<StartTime>0</StartTime>
<EndTime>0</EndTime>
<Padding>0.0</Padding>
<Label/>
<Boundary>
<Rectangle Series="CMASI">
<CenterPoint>
<Location3D Series="CMASI">
<Latitude>53.444887655244045</Latitude>
<Longitude>-1.767224111420533</Longitude>
<Altitude>0.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</CenterPoint>
<Width>40000.0</Width>
<Height>40000.0</Height>
<Rotation>0.0</Rotation>
</Rectangle>
</Boundary>
</KeepInZone>
<AirVehicleConfiguration Time="0.0" Series="CMASI">
<MinimumSpeed>10.0</MinimumSpeed>
<MaximumSpeed>40.0</MaximumSpeed>
<NominalFlightProfile>
<FlightProfile Series="CMASI">
<Name>Cruise</Name>
<Airspeed>30.0</Airspeed>
<PitchAngle>0.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
</NominalFlightProfile>
<AlternateFlightProfiles>
<FlightProfile Series="CMASI">
<Name>Climb</Name>
<Airspeed>25.0</Airspeed>
<PitchAngle>10.0</PitchAngle>
<VerticalSpeed>5.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Descent</Name>
<Airspeed>25.0</Airspeed>
<PitchAngle>-5.0</PitchAngle>
<VerticalSpeed>-5.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Loiter</Name>
<Airspeed>20.0</Airspeed>
<PitchAngle>5.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0083</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Dash</Name>
<Airspeed>40.0</Airspeed>
<PitchAngle>-2.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0185</EnergyRate>
</FlightProfile>
</AlternateFlightProfiles>
<AvailableLoiterTypes>
<LoiterType>Circular</LoiterType>
<LoiterType>Racetrack</LoiterType>
<LoiterType>FigureEight</LoiterType>
</AvailableLoiterTypes>
<AvailableTurnTypes>
<TurnType>TurnShort</TurnType>
<TurnType>FlyOver</TurnType>
</AvailableTurnTypes>
<MinimumAltitude>0.0</MinimumAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaximumAltitude>1000000.0</MaximumAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<ID>1</ID>
<Affiliation>Unknown</Affiliation>
<EntityType>FixedWing</EntityType>
<Label>Fixed1</Label>
<NominalSpeed>0.0</NominalSpeed>
<NominalAltitude>0.0</NominalAltitude>
<NominalAltitudeType>AGL</NominalAltitudeType>
<PayloadConfigurationList>
<GimbalConfiguration Series="CMASI">
<SupportedPointingModes/>
<MinAzimuth>-180.0</MinAzimuth>
<MaxAzimuth>180.0</MaxAzimuth>
<IsAzimuthClamped>false</IsAzimuthClamped>
<MinElevation>-90.0</MinElevation>
<MaxElevation>0.0</MaxElevation>
<IsElevationClamped>false</IsElevationClamped>
<MinRotation>0.0</MinRotation>
<MaxRotation>0.0</MaxRotation>
<IsRotationClamped>true</IsRotationClamped>
<MaxAzimuthSlewRate>720.0</MaxAzimuthSlewRate>
<MaxElevationSlewRate>720.0</MaxElevationSlewRate>
<MaxRotationRate>0.0</MaxRotationRate>
<ContainedPayloadList>
<int64>2</int64>
<int64>3</int64>
</ContainedPayloadList>
<PayloadID>1</PayloadID>
<PayloadKind/>
<Parameters/>
</GimbalConfiguration>
<CameraConfiguration Series="CMASI">
<SupportedWavelengthBand>EO</SupportedWavelengthBand>
<FieldOfViewMode>Continuous</FieldOfViewMode>
<MinHorizontalFieldOfView>55.0</MinHorizontalFieldOfView>
<MaxHorizontalFieldOfView>55.0</MaxHorizontalFieldOfView>
<DiscreteHorizontalFieldOfViewList/>
<VideoStreamHorizontalResolution>1</VideoStreamHorizontalResolution>
<VideoStreamVerticalResolution>1</VideoStreamVerticalResolution>
<PayloadID>2</PayloadID>
<PayloadKind/>
<Parameters/>
</CameraConfiguration>
<HazardSensorConfiguration Series="SEARCHAI">
<MaxRange>1000.0</MaxRange>
<HorizontalFOV>10.0</HorizontalFOV>
<VerticalFOV>10.0</VerticalFOV>
<DetectableHazardTypes>
<HazardType>Fire</HazardType>
<HazardType>Smoke</HazardType>
</DetectableHazardTypes>
<PayloadID>3</PayloadID>
<PayloadKind/>
<Parameters/>
</HazardSensorConfiguration>
</PayloadConfigurationList>
<Info/>
</AirVehicleConfiguration>
<AirVehicleState Time="0.0" Series="CMASI">
<Airspeed>30.0</Airspeed>
<VerticalSpeed>0.0</VerticalSpeed>
<WindSpeed>0.0</WindSpeed>
<WindDirection>0.0</WindDirection>
<ID>1</ID>
<u>0.0</u>
<v>0.0</v>
<w>0.0</w>
<udot>0.0</udot>
<vdot>0.0</vdot>
<wdot>0.0</wdot>
<Heading>270.0</Heading>
<Pitch>0.0</Pitch>
<Roll>0.0</Roll>
<p>0.0</p>
<q>0.0</q>
<r>0.0</r>
<Course>0.0</Course>
<Groundspeed>0.0</Groundspeed>
<Location>
<Location3D Series="CMASI">
<Latitude>53.39684697702266</Latitude>
<Longitude>-1.4902728941494083</Longitude>
<Altitude>700.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</Location>
<EnergyAvailable>100.0</EnergyAvailable>
<ActualEnergyRate>0.0111</ActualEnergyRate>
<PayloadStateList>
<GimbalState Series="CMASI">
<PointingMode>AirVehicleRelativeAngle</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>-45.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>1</PayloadID>
<Parameters/>
</GimbalState>
<CameraState Series="CMASI">
<HorizontalFieldOfView>60.0</HorizontalFieldOfView>
<VerticalFieldOfView>0.0</VerticalFieldOfView>
<Footprint/>
<PointingMode>Unknown</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>0.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>2</PayloadID>
<Parameters/>
</CameraState>
<HazardSensorState Series="SEARCHAI">
<HorizontalFieldOfView>0.0</HorizontalFieldOfView>
<VerticalFieldOfView>0.0</VerticalFieldOfView>
<Footprint/>
<PointingMode>Unknown</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>0.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>3</PayloadID>
<Parameters/>
</HazardSensorState>
</PayloadStateList>
<CurrentWaypoint>0</CurrentWaypoint>
<CurrentCommand>0</CurrentCommand>
<Mode>Waypoint</Mode>
<AssociatedTasks/>
<Time>0</Time>
<Info/>
</AirVehicleState>
<AirVehicleConfiguration Series="CMASI">
<MinimumSpeed>10.0</MinimumSpeed>
<MaximumSpeed>40.0</MaximumSpeed>
<NominalFlightProfile>
<FlightProfile Series="CMASI">
<Name>Cruise</Name>
<Airspeed>30.0</Airspeed>
<PitchAngle>0.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
</NominalFlightProfile>
<AlternateFlightProfiles>
<FlightProfile Series="CMASI">
<Name>Climb</Name>
<Airspeed>25.0</Airspeed>
<PitchAngle>10.0</PitchAngle>
<VerticalSpeed>5.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Descent</Name>
<Airspeed>25.0</Airspeed>
<PitchAngle>-5.0</PitchAngle>
<VerticalSpeed>-5.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Loiter</Name>
<Airspeed>20.0</Airspeed>
<PitchAngle>5.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0083</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Dash</Name>
<Airspeed>40.0</Airspeed>
<PitchAngle>-2.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0185</EnergyRate>
</FlightProfile>
</AlternateFlightProfiles>
<AvailableLoiterTypes>
<LoiterType>Circular</LoiterType>
<LoiterType>Racetrack</LoiterType>
<LoiterType>FigureEight</LoiterType>
</AvailableLoiterTypes>
<AvailableTurnTypes>
<TurnType>TurnShort</TurnType>
<TurnType>FlyOver</TurnType>
</AvailableTurnTypes>
<MinimumAltitude>0.0</MinimumAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaximumAltitude>1000000.0</MaximumAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<ID>4</ID>
<Affiliation>Unknown</Affiliation>
<EntityType>FixedWing</EntityType>
<Label>Fixed2</Label>
<NominalSpeed>0.0</NominalSpeed>
<NominalAltitude>0.0</NominalAltitude>
<NominalAltitudeType>AGL</NominalAltitudeType>
<PayloadConfigurationList>
<GimbalConfiguration Series="CMASI">
<SupportedPointingModes/>
<MinAzimuth>-180.0</MinAzimuth>
<MaxAzimuth>180.0</MaxAzimuth>
<IsAzimuthClamped>false</IsAzimuthClamped>
<MinElevation>-90.0</MinElevation>
<MaxElevation>0.0</MaxElevation>
<IsElevationClamped>false</IsElevationClamped>
<MinRotation>0.0</MinRotation>
<MaxRotation>0.0</MaxRotation>
<IsRotationClamped>true</IsRotationClamped>
<MaxAzimuthSlewRate>720.0</MaxAzimuthSlewRate>
<MaxElevationSlewRate>720.0</MaxElevationSlewRate>
<MaxRotationRate>0.0</MaxRotationRate>
<ContainedPayloadList>
<int64>2</int64>
<int64>3</int64>
</ContainedPayloadList>
<PayloadID>1</PayloadID>
<PayloadKind/>
<Parameters/>
</GimbalConfiguration>
<CameraConfiguration Series="CMASI">
<SupportedWavelengthBand>EO</SupportedWavelengthBand>
<FieldOfViewMode>Continuous</FieldOfViewMode>
<MinHorizontalFieldOfView>55.0</MinHorizontalFieldOfView>
<MaxHorizontalFieldOfView>55.0</MaxHorizontalFieldOfView>
<DiscreteHorizontalFieldOfViewList/>
<VideoStreamHorizontalResolution>1</VideoStreamHorizontalResolution>
<VideoStreamVerticalResolution>1</VideoStreamVerticalResolution>
<PayloadID>2</PayloadID>
<PayloadKind/>
<Parameters/>
</CameraConfiguration>
<HazardSensorConfiguration Series="SEARCHAI">
<MaxRange>1000.0</MaxRange>
<HorizontalFOV>10.0</HorizontalFOV>
<VerticalFOV>10.0</VerticalFOV>
<DetectableHazardTypes>
<HazardType>Fire</HazardType>
<HazardType>Smoke</HazardType>
</DetectableHazardTypes>
<PayloadID>3</PayloadID>
<PayloadKind/>
<Parameters/>
</HazardSensorConfiguration>
</PayloadConfigurationList>
<Info/>
</AirVehicleConfiguration>
<AirVehicleState Series="CMASI">
<Airspeed>30.0</Airspeed>
<VerticalSpeed>0.0</VerticalSpeed>
<WindSpeed>0.0</WindSpeed>
<WindDirection>0.0</WindDirection>
<ID>4</ID>
<u>0.0</u>
<v>0.0</v>
<w>0.0</w>
<udot>0.0</udot>
<vdot>0.0</vdot>
<wdot>0.0</wdot>
<Heading>270.0</Heading>
<Pitch>0.0</Pitch>
<Roll>0.0</Roll>
<p>0.0</p>
<q>0.0</q>
<r>0.0</r>
<Course>0.0</Course>
<Groundspeed>0.0</Groundspeed>
<Location>
<Location3D Series="CMASI">
<Latitude>53.389116553656805</Latitude>
<Longitude>-1.5109032376605873</Longitude>
<Altitude>700.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</Location>
<EnergyAvailable>100.0</EnergyAvailable>
<ActualEnergyRate>0.0111</ActualEnergyRate>
<PayloadStateList>
<GimbalState Series="CMASI">
<PointingMode>AirVehicleRelativeAngle</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>-45.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>1</PayloadID>
<Parameters/>
</GimbalState>
<CameraState Series="CMASI">
<HorizontalFieldOfView>60.0</HorizontalFieldOfView>
<VerticalFieldOfView>0.0</VerticalFieldOfView>
<Footprint/>
<PointingMode>Unknown</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>0.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>2</PayloadID>
<Parameters/>
</CameraState>
<HazardSensorState Series="SEARCHAI">
<HorizontalFieldOfView>0.0</HorizontalFieldOfView>
<VerticalFieldOfView>0.0</VerticalFieldOfView>
<Footprint/>
<PointingMode>Unknown</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>0.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>3</PayloadID>
<Parameters/>
</HazardSensorState>
</PayloadStateList>
<CurrentWaypoint>0</CurrentWaypoint>
<CurrentCommand>0</CurrentCommand>
<Mode>Waypoint</Mode>
<AssociatedTasks/>
<Time>0</Time>
<Info/>
</AirVehicleState>
<AirVehicleConfiguration Series="CMASI">
<MinimumSpeed>10.0</MinimumSpeed>
<MaximumSpeed>40.0</MaximumSpeed>
<NominalFlightProfile>
<FlightProfile Series="CMASI">
<Name>Cruise</Name>
<Airspeed>30.0</Airspeed>
<PitchAngle>0.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
</NominalFlightProfile>
<AlternateFlightProfiles>
<FlightProfile Series="CMASI">
<Name>Climb</Name>
<Airspeed>25.0</Airspeed>
<PitchAngle>10.0</PitchAngle>
<VerticalSpeed>5.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Descent</Name>
<Airspeed>25.0</Airspeed>
<PitchAngle>-5.0</PitchAngle>
<VerticalSpeed>-5.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Loiter</Name>
<Airspeed>20.0</Airspeed>
<PitchAngle>5.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0083</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Dash</Name>
<Airspeed>40.0</Airspeed>
<PitchAngle>-2.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0185</EnergyRate>
</FlightProfile>
</AlternateFlightProfiles>
<AvailableLoiterTypes>
<LoiterType>Circular</LoiterType>
<LoiterType>Racetrack</LoiterType>
<LoiterType>FigureEight</LoiterType>
</AvailableLoiterTypes>
<AvailableTurnTypes>
<TurnType>TurnShort</TurnType>
<TurnType>FlyOver</TurnType>
</AvailableTurnTypes>
<MinimumAltitude>0.0</MinimumAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaximumAltitude>1000000.0</MaximumAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<ID>5</ID>
<Affiliation>Unknown</Affiliation>
<EntityType>FixedWing</EntityType>
<Label>Fixed3</Label>
<NominalSpeed>0.0</NominalSpeed>
<NominalAltitude>0.0</NominalAltitude>
<NominalAltitudeType>AGL</NominalAltitudeType>
<PayloadConfigurationList>
<GimbalConfiguration Series="CMASI">
<SupportedPointingModes/>
<MinAzimuth>-180.0</MinAzimuth>
<MaxAzimuth>180.0</MaxAzimuth>
<IsAzimuthClamped>false</IsAzimuthClamped>
<MinElevation>-90.0</MinElevation>
<MaxElevation>0.0</MaxElevation>
<IsElevationClamped>false</IsElevationClamped>
<MinRotation>0.0</MinRotation>
<MaxRotation>0.0</MaxRotation>
<IsRotationClamped>true</IsRotationClamped>
<MaxAzimuthSlewRate>720.0</MaxAzimuthSlewRate>
<MaxElevationSlewRate>720.0</MaxElevationSlewRate>
<MaxRotationRate>0.0</MaxRotationRate>
<ContainedPayloadList>
<int64>2</int64>
<int64>3</int64>
</ContainedPayloadList>
<PayloadID>1</PayloadID>
<PayloadKind/>
<Parameters/>
</GimbalConfiguration>
<CameraConfiguration Series="CMASI">
<SupportedWavelengthBand>EO</SupportedWavelengthBand>
<FieldOfViewMode>Continuous</FieldOfViewMode>
<MinHorizontalFieldOfView>55.0</MinHorizontalFieldOfView>
<MaxHorizontalFieldOfView>55.0</MaxHorizontalFieldOfView>
<DiscreteHorizontalFieldOfViewList/>
<VideoStreamHorizontalResolution>1</VideoStreamHorizontalResolution>
<VideoStreamVerticalResolution>1</VideoStreamVerticalResolution>
<PayloadID>2</PayloadID>
<PayloadKind/>
<Parameters/>
</CameraConfiguration>
<HazardSensorConfiguration Series="SEARCHAI">
<MaxRange>1000.0</MaxRange>
<HorizontalFOV>10.0</HorizontalFOV>
<VerticalFOV>10.0</VerticalFOV>
<DetectableHazardTypes>
<HazardType>Fire</HazardType>
<HazardType>Smoke</HazardType>
</DetectableHazardTypes>
<PayloadID>3</PayloadID>
<PayloadKind/>
<Parameters/>
</HazardSensorConfiguration>
</PayloadConfigurationList>
<Info/>
</AirVehicleConfiguration>
<AirVehicleState Series="CMASI">
<Airspeed>30.0</Airspeed>
<VerticalSpeed>0.0</VerticalSpeed>
<WindSpeed>0.0</WindSpeed>
<WindDirection>0.0</WindDirection>
<ID>5</ID>
<u>0.0</u>
<v>0.0</v>
<w>0.0</w>
<udot>0.0</udot>
<vdot>0.0</vdot>
<wdot>0.0</wdot>
<Heading>270.0</Heading>
<Pitch>0.0</Pitch>
<Roll>0.0</Roll>
<p>0.0</p>
<q>0.0</q>
<r>0.0</r>
<Course>0.0</Course>
<Groundspeed>0.0</Groundspeed>
<Location>
<Location3D Series="CMASI">
<Latitude>53.37914896094909</Latitude>
<Longitude>-1.5108383319076724</Longitude>
<Altitude>700.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</Location>
<EnergyAvailable>100.0</EnergyAvailable>
<ActualEnergyRate>0.0111</ActualEnergyRate>
<PayloadStateList>
<GimbalState Series="CMASI">
<PointingMode>AirVehicleRelativeAngle</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>-45.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>1</PayloadID>
<Parameters/>
</GimbalState>
<CameraState Series="CMASI">
<HorizontalFieldOfView>60.0</HorizontalFieldOfView>
<VerticalFieldOfView>0.0</VerticalFieldOfView>
<Footprint/>
<PointingMode>Unknown</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>0.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>2</PayloadID>
<Parameters/>
</CameraState>
<HazardSensorState Series="SEARCHAI">
<HorizontalFieldOfView>0.0</HorizontalFieldOfView>
<VerticalFieldOfView>0.0</VerticalFieldOfView>
<Footprint/>
<PointingMode>Unknown</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>0.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>3</PayloadID>
<Parameters/>
</HazardSensorState>
</PayloadStateList>
<CurrentWaypoint>0</CurrentWaypoint>
<CurrentCommand>0</CurrentCommand>
<Mode>Waypoint</Mode>
<AssociatedTasks/>
<Time>0</Time>
<Info/>
</AirVehicleState>
<AirVehicleConfiguration Time="0.0" Series="CMASI">
<MinimumSpeed>0.0</MinimumSpeed>
<MaximumSpeed>25.0</MaximumSpeed>
<NominalFlightProfile>
<FlightProfile Series="CMASI">
<Name>Cruise</Name>
<Airspeed>20.0</Airspeed>
<PitchAngle>0.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.037</EnergyRate>
</FlightProfile>
</NominalFlightProfile>
<AlternateFlightProfiles>
<FlightProfile Series="CMASI">
<Name>Climb</Name>
<Airspeed>20.0</Airspeed>
<PitchAngle>10.0</PitchAngle>
<VerticalSpeed>5.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.037</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Descent</Name>
<Airspeed>20.0</Airspeed>
<PitchAngle>-5.0</PitchAngle>
<VerticalSpeed>-5.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.037</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Loiter</Name>
<Airspeed>20.0</Airspeed>
<PitchAngle>5.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.037</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Dash</Name>
<Airspeed>25.0</Airspeed>
<PitchAngle>-2.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.037</EnergyRate>
</FlightProfile>
</AlternateFlightProfiles>
<AvailableLoiterTypes>
<LoiterType>Circular</LoiterType>
<LoiterType>Racetrack</LoiterType>
<LoiterType>FigureEight</LoiterType>
</AvailableLoiterTypes>
<AvailableTurnTypes>
<TurnType>TurnShort</TurnType>
<TurnType>FlyOver</TurnType>
</AvailableTurnTypes>
<MinimumAltitude>0.0</MinimumAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaximumAltitude>1000000.0</MaximumAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<ID>2</ID>
<Affiliation>Unknown</Affiliation>
<EntityType>Multi</EntityType>
<Label>Multi1</Label>
<NominalSpeed>0.0</NominalSpeed>
<NominalAltitude>0.0</NominalAltitude>
<NominalAltitudeType>AGL</NominalAltitudeType>
<PayloadConfigurationList>
<GimbalConfiguration Series="CMASI">
<SupportedPointingModes/>
<MinAzimuth>-180.0</MinAzimuth>
<MaxAzimuth>180.0</MaxAzimuth>
<IsAzimuthClamped>false</IsAzimuthClamped>
<MinElevation>-90.0</MinElevation>
<MaxElevation>0.0</MaxElevation>
<IsElevationClamped>false</IsElevationClamped>
<MinRotation>0.0</MinRotation>
<MaxRotation>0.0</MaxRotation>
<IsRotationClamped>true</IsRotationClamped>
<MaxAzimuthSlewRate>720.0</MaxAzimuthSlewRate>
<MaxElevationSlewRate>720.0</MaxElevationSlewRate>
<MaxRotationRate>0.0</MaxRotationRate>
<ContainedPayloadList>
<int64>2</int64>
<int64>3</int64>
</ContainedPayloadList>
<PayloadID>1</PayloadID>
<PayloadKind/>
<Parameters/>
</GimbalConfiguration>
<CameraConfiguration Series="CMASI">
<SupportedWavelengthBand>SWIR</SupportedWavelengthBand>
<FieldOfViewMode>Continuous</FieldOfViewMode>
<MinHorizontalFieldOfView>55.0</MinHorizontalFieldOfView>
<MaxHorizontalFieldOfView>55.0</MaxHorizontalFieldOfView>
<DiscreteHorizontalFieldOfViewList/>
<VideoStreamHorizontalResolution>256</VideoStreamHorizontalResolution>
<VideoStreamVerticalResolution>192</VideoStreamVerticalResolution>
<PayloadID>2</PayloadID>
<PayloadKind/>
<Parameters/>
</CameraConfiguration>
<HazardSensorConfiguration Series="SEARCHAI">
<MaxRange>500.0</MaxRange>
<HorizontalFOV>10.0</HorizontalFOV>
<VerticalFOV>10.0</VerticalFOV>
<DetectableHazardTypes>
<HazardType>Fire</HazardType>
<HazardType>Smoke</HazardType>
</DetectableHazardTypes>
<PayloadID>3</PayloadID>
<PayloadKind/>
<Parameters/>
</HazardSensorConfiguration>
</PayloadConfigurationList>
<Info/>
</AirVehicleConfiguration>
<AirVehicleState Series="CMASI">
<Airspeed>20.0</Airspeed>
<VerticalSpeed>0.0</VerticalSpeed>
<WindSpeed>0.0</WindSpeed>
<WindDirection>0.0</WindDirection>
<ID>2</ID>
<u>0.0</u>
<v>0.0</v>
<w>0.0</w>
<udot>0.0</udot>
<vdot>0.0</vdot>
<wdot>0.0</wdot>
<Heading>180.0</Heading>
<Pitch>0.0</Pitch>
<Roll>0.0</Roll>
<p>0.0</p>
<q>0.0</q>
<r>0.0</r>
<Course>0.0</Course>
<Groundspeed>0.0</Groundspeed>
<Location>
<Location3D Series="CMASI">
<Latitude>53.58945866502877</Latitude>
<Longitude>-1.7891881793341244</Longitude>
<Altitude>700.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</Location>
<EnergyAvailable>100.0</EnergyAvailable>
<ActualEnergyRate>0.037</ActualEnergyRate>
<PayloadStateList>
<GimbalState Series="CMASI">
<PointingMode>AirVehicleRelativeAngle</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>-45.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>1</PayloadID>
<Parameters/>
</GimbalState>
<CameraState Series="CMASI">
<HorizontalFieldOfView>60.0</HorizontalFieldOfView>
<VerticalFieldOfView>0.0</VerticalFieldOfView>
<Footprint/>
<PointingMode>Unknown</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>0.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>2</PayloadID>
<Parameters/>
</CameraState>
<HazardSensorState Series="SEARCHAI">
<HorizontalFieldOfView>0.0</HorizontalFieldOfView>
<VerticalFieldOfView>0.0</VerticalFieldOfView>
<Footprint/>
<PointingMode>Unknown</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>0.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>3</PayloadID>
<Parameters/>
</HazardSensorState>
</PayloadStateList>
<CurrentWaypoint>0</CurrentWaypoint>
<CurrentCommand>0</CurrentCommand>
<Mode>Waypoint</Mode>
<AssociatedTasks/>
<Time>0</Time>
<Info/>
</AirVehicleState>
<AirVehicleConfiguration Series="CMASI">
<MinimumSpeed>10.0</MinimumSpeed>
<MaximumSpeed>40.0</MaximumSpeed>
<NominalFlightProfile>
<FlightProfile Series="CMASI">
<Name>Cruise</Name>
<Airspeed>30.0</Airspeed>
<PitchAngle>0.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
</NominalFlightProfile>
<AlternateFlightProfiles>
<FlightProfile Series="CMASI">
<Name>Climb</Name>
<Airspeed>25.0</Airspeed>
<PitchAngle>10.0</PitchAngle>
<VerticalSpeed>5.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Descent</Name>
<Airspeed>25.0</Airspeed>
<PitchAngle>-5.0</PitchAngle>
<VerticalSpeed>-5.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0111</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Loiter</Name>
<Airspeed>20.0</Airspeed>
<PitchAngle>5.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0083</EnergyRate>
</FlightProfile>
<FlightProfile Series="CMASI">
<Name>Dash</Name>
<Airspeed>40.0</Airspeed>
<PitchAngle>-2.0</PitchAngle>
<VerticalSpeed>0.0</VerticalSpeed>
<MaxBankAngle>30.0</MaxBankAngle>
<EnergyRate>0.0185</EnergyRate>
</FlightProfile>
</AlternateFlightProfiles>
<AvailableLoiterTypes>
<LoiterType>Circular</LoiterType>
<LoiterType>Racetrack</LoiterType>
<LoiterType>FigureEight</LoiterType>
</AvailableLoiterTypes>
<AvailableTurnTypes>
<TurnType>TurnShort</TurnType>
<TurnType>FlyOver</TurnType>
</AvailableTurnTypes>
<MinimumAltitude>0.0</MinimumAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaximumAltitude>1000000.0</MaximumAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<ID>6</ID>
<Affiliation>Unknown</Affiliation>
<EntityType>FixedWing</EntityType>
<Label>Fixed4</Label>
<NominalSpeed>0.0</NominalSpeed>
<NominalAltitude>0.0</NominalAltitude>
<NominalAltitudeType>AGL</NominalAltitudeType>
<PayloadConfigurationList>
<GimbalConfiguration Series="CMASI">
<SupportedPointingModes/>
<MinAzimuth>-180.0</MinAzimuth>
<MaxAzimuth>180.0</MaxAzimuth>
<IsAzimuthClamped>false</IsAzimuthClamped>
<MinElevation>-90.0</MinElevation>
<MaxElevation>0.0</MaxElevation>
<IsElevationClamped>false</IsElevationClamped>
<MinRotation>0.0</MinRotation>
<MaxRotation>0.0</MaxRotation>
<IsRotationClamped>true</IsRotationClamped>
<MaxAzimuthSlewRate>720.0</MaxAzimuthSlewRate>
<MaxElevationSlewRate>720.0</MaxElevationSlewRate>
<MaxRotationRate>0.0</MaxRotationRate>
<ContainedPayloadList>
<int64>2</int64>
<int64>3</int64>
</ContainedPayloadList>
<PayloadID>1</PayloadID>
<PayloadKind/>
<Parameters/>
</GimbalConfiguration>
<CameraConfiguration Series="CMASI">
<SupportedWavelengthBand>EO</SupportedWavelengthBand>
<FieldOfViewMode>Continuous</FieldOfViewMode>
<MinHorizontalFieldOfView>55.0</MinHorizontalFieldOfView>
<MaxHorizontalFieldOfView>55.0</MaxHorizontalFieldOfView>
<DiscreteHorizontalFieldOfViewList/>
<VideoStreamHorizontalResolution>1</VideoStreamHorizontalResolution>
<VideoStreamVerticalResolution>1</VideoStreamVerticalResolution>
<PayloadID>2</PayloadID>
<PayloadKind/>
<Parameters/>
</CameraConfiguration>
<HazardSensorConfiguration Series="SEARCHAI">
<MaxRange>1000.0</MaxRange>
<HorizontalFOV>10.0</HorizontalFOV>
<VerticalFOV>10.0</VerticalFOV>
<DetectableHazardTypes>
<HazardType>Fire</HazardType>
<HazardType>Smoke</HazardType>
</DetectableHazardTypes>
<PayloadID>3</PayloadID>
<PayloadKind/>
<Parameters/>
</HazardSensorConfiguration>
</PayloadConfigurationList>
<Info/>
</AirVehicleConfiguration>
<AirVehicleState Series="CMASI">
<Airspeed>30.0</Airspeed>
<VerticalSpeed>0.0</VerticalSpeed>
<WindSpeed>0.0</WindSpeed>
<WindDirection>0.0</WindDirection>
<ID>6</ID>
<u>0.0</u>
<v>0.0</v>
<w>0.0</w>
<udot>0.0</udot>
<vdot>0.0</vdot>
<wdot>0.0</wdot>
<Heading>270.0</Heading>
<Pitch>0.0</Pitch>
<Roll>0.0</Roll>
<p>0.0</p>
<q>0.0</q>
<r>0.0</r>
<Course>0.0</Course>
<Groundspeed>0.0</Groundspeed>
<Location>
<Location3D Series="CMASI">
<Latitude>53.36915807677053</Latitude>
<Longitude>-1.4751630451642879</Longitude>
<Altitude>700.0</Altitude>
<AltitudeType>MSL</AltitudeType>
</Location3D>
</Location>
<EnergyAvailable>100.0</EnergyAvailable>
<ActualEnergyRate>0.0111</ActualEnergyRate>
<PayloadStateList>
<GimbalState Series="CMASI">
<PointingMode>AirVehicleRelativeAngle</PointingMode>
<Azimuth>0.0</Azimuth>
<Elevation>-45.0</Elevation>
<Rotation>0.0</Rotation>
<PayloadID>1</PayloadID>
<Parameters/>
</GimbalState>