MAVProxy Waypoint File Format

Example of the file: https://github.com/ArduPilot/ardupilot/blob/master/Tools/autotest/CMAC-circuit.txt

Columns:

<INDEX> <CURRENT WP> <COORD FRAME> <COMMAND> <PARAM1> <PARAM2> <PARAM3> <PARAM4> <PARAM5/X/LONGITUDE> <PARAM6/Y/LATITUDE> <PARAM7/Z/ALTITUDE> <AUTOCONTINUE>

Param 1, 2, 3, etc meanings:

<entry value="16" name="MAV_CMD_NAV_WAYPOINT">
<description>Navigate to MISSION.</description>
<param index="1">Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)</param>
<param index="2">Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)</param>
<param index="3">0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.</param>
<param index="4">Desired yaw angle at MISSION (rotary wing)</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>

[Source](https://diydrones.com/forum/topics/waypoint-file-format)