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How to despawn AI after completing a waypoint?

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So I'm new to the Arma III editor and I'm wondering what script would I use to despawn AI after it completes a waypoint? The context is that I want a helicopter to perform a set of tasks, but then have its final waypoint move far out of view, despawning completely after reaching that far-out move waypoint. If anyone is able to answer this it would help tremendously! 

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