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Sequence 1

Sequence 1. Add waypoint to Hover (leave hover time at default value) Delete waypoint Add waypoint to set altitude (leave altitude at default value). t-1mn. t. t+1mn. t+2mn. t+3mn. t+4mn. t+5mn. t+6mn. WP-3. Hover. WP-4. Alt 35m. WP-5. 00h17mn37s. Supervisor. Planner. Active.

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Sequence 1

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  1. Sequence 1 • Add waypoint to Hover (leave hover time at default value) • Delete waypoint • Add waypoint to set altitude (leave altitude at default value)

  2. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-3 Hover WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X X Primary Screen 1 Add WP 4 1 B B 3 ! BAT 2 ! H C B C D A D B 20 Bat 6mn00s 15.5m 10 Active GPS Plan Control

  3. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-3 Hover WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X X X Primary Screen 1 Add WP 4 1 B B 3 ! BAT 2 5 ! H C B C D A D B 20 Bat 6mn00s 15.5m 10 Active GPS Plan Control

  4. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-3 Hover WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X X X Primary Screen 1 Add WP 4 1 B B 3 ! BAT 2 5 ! H C B C D A D B 20 Bat 6mn00s 15.5m 10 Active GPS Plan Control

  5. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-3 Hover WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X X X Primary Screen 1 Add WP 4 1 B B 3 ! BAT 2 5 ! H C B C D A D B 20 Bat 6mn00s 15.5m 10 Active GPS Plan Control

  6. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-3 Hover WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X X X Primary Screen 1 Add WP 4 1 B B 3 ! BAT 2 5 ! H C B C D A D B 20 Bat 6mn00s 15.5m 10 Active GPS Plan Control

  7. Sequence 2 • Tag mine on video image • Delete mine • Retag mine

  8. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-3 Hover WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 1 5 4 4 90 1 B 3 ! BAT 2 0 ! 3 Preset Views H 90 45 A B C D C D B Mission 0 20 Bat 6mn00s 15.5m 10 GPS Plan Control

  9. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-3 Hover WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 1 5 4 4 90 1 B 3 ! BAT 2 0 ! 3 Preset Views H 90 45 A C B D B C D Mission Tag Mine? 0 20 Yes No Bat 6mn00s 15.5m 10 GPS Plan Control

  10. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-3 Hover WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 1 5 4 4 90 1 B 3 ! BAT 2 0 ! 3 Preset Views H 90 45 A B C D C D B Mission 0 20 Bat 6mn00s 15.5m 10 GPS Plan Control

  11. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-3 Hover WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 1 5 4 4 90 1 B 3 ! BAT 2 0 ! 3 Preset Views H 90 45 B C D A C D B Mission Delete Mine? 0 20 Yes No Bat 6mn00s 15.5m 10 GPS Plan Control

  12. Sequence 3 • Launch relief UAV • Wait until it gets to waypoint 1 • Swap

  13. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn Launch WOO WP-3 Hover WP-1 WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 4 B B 3 ! ! ! Incoming UAV H Launch D B C B A D C Swap 22mn 20 10 Bat Bat 8mn00s 0m 15.5m GPS -10 10 C B 1 2 5 3 D 4 A Active GPS Incoming

  14. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn Launch WOO WP-3 Hover WP-1 WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 1 4 B B 3 ! ! ! Incoming UAV H Launch D B C B A D C Swap 22mn 20 10 Bat Bat 8mn00s 0m 15.5m GPS -10 10 C B 1 2 5 3 D 4 A Active GPS Incoming

  15. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn Launch WOO WP-3 Hover WP-1 WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 1 4 B B 3 ! ! ! Incoming UAV H Launch D B C B A D C Swap 22mn 20 10 Bat Bat 8mn00s 5m 15.5m GPS -10 10 C B 1 2 5 3 D 4 A Active GPS Incoming

  16. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn Launch WOO WP-3 Hover WP-1 WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 1 4 B B 3 ! ! ! Incoming UAV H Launch D B C B A D C Swap 22mn 20 10 Bat Bat 8mn00s 0m 15.5m GPS -10 10 C B 1 2 5 3 D 4 A Active GPS Incoming

  17. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn Launch WOO WP-3 Hover WP-1 WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 1 4 B B 3 ! ! ! Incoming UAV H Launch D B C B A D C Swap 22mn 20 10 Bat Bat 8mn00s 0m 15.5m GPS -10 10 C B 1 2 5 3 D 4 A Active GPS Incoming

  18. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn Launch WOO WP-3 Hover WP-1 WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 1 4 B B 3 ! ! ! Incoming UAV H Launch D B C B A D C Swap 22mn 20 20 Bat Bat 8mn00s 10m 15.5m GPS 0 10 C B 1 2 5 3 D 4 A Active GPS Incoming

  19. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn Launch WOO WP-3 Hover WP-1 WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 1 4 B B 3 ! ! ! Incoming UAV H Launch D B C B A D C Swap 22mn 20 10 Bat Bat 8mn00s 10m 15.5m GPS -10 10 C B 1 2 5 3 D 4 A Active GPS Incoming

  20. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn Launch WOO WP-3 Hover WP-1 WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 1 4 B B 3 ! ! ! Incoming UAV H Launch D B C B A D C Swap 22mn 20 10 Bat Bat 8mn00s 10m 15.5m GPS -10 10 C B 1 2 5 3 D 4 A Active GPS Incoming

  21. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn Launch WOO WP-3 Hover WP-1 WP-4 Alt 35m WP-5 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 Primary Screen Secondary Screen 5 4 4 1 B B 3 2 3 ! ! ! Outgoing UAV H Launch D A B D B C C Swap 4mn 20 10 Bat Bat 18mn 15m 15.5m GPS -10 10 Active GPS Incoming

  22. Sequence 4 • Monitor commando/guard vehicle position • Hold commandos when guard vehicle approaches

  23. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom 1 B A D C B B 3 2 H Add WP B C D D A B C Hold Commandos Assault Ground Unit Plan Control

  24. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  25. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom 1 B A D C B B 3 2 H Add WP B C D D A B C Hold Commandos Assault Ground Unit Plan Control

  26. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom 1 B A D C B B 3 2 H Add WP B C D D A B C Hold Commandos Assault Ground Unit Plan Control

  27. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom 1 B A D C B B 3 2 H Add WP B C D D A B C Hold Commandos Assault Ground Unit Plan Control

  28. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom 1 B A D C B B 3 2 H Add WP B C D D A B C Hold Commandos Assault Ground Unit Plan Control

  29. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom 1 B A D C B B 3 2 H Add WP B C D D A B C Hold Commandos Assault Ground Unit Plan Control

  30. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C D 1 B A B B 3 2 H Add WP C B A C D B D DANGER Hold Commandos Assault Ground Unit Plan Control

  31. Hold position 1

  32. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  33. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  34. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  35. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  36. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  37. Hold position 2

  38. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  39. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  40. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  41. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  42. Hold position 3

  43. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  44. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  45. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  46. Hold position 4

  47. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A C D B D Hold Commandos Assault Ground Unit Plan Control

  48. t-1mn t t+1mn t+2mn t+3mn t+4mn t+5mn t+6mn WP-B Hold WP-C Hold WP-D 00h17mn37s Supervisor Planner Active Incoming Ground Phase 1 Phase 2 X X X X Primary Screen 5 4 Zoom C 1 A B D B B 3 2 H Add WP C B A D C B D DANGER Hold Commandos Assault Ground Unit Plan Control

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