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If you're on the equator, +Z is north and -Z is south.
Make sense?
You'll need at least one more waypoint to do any calculation using the pathagreom theorem to determine a waypoint that is at a 90 degree angle straight up.
I'm not at all familiar with how Space Engineers handles transformation of coordinates, but generally you want to find what's called the World to Local transform. This will convert your frame of reference from the absolute global X/Y/Z values and convert them into the localized versions which are relative. In that case, it would just be a simple patter of incrementing Z (assuming SE uses that as the up vector, it could use Y instead), and then converting those coordinates back into world space.
If someone can point me to the API for 3D math in SE I could probably whip up some pseudo code to show how to do that.
Left = -X
Up = +Y
Down = -Y
Foward = -Z
Backward = +Z
That is how the directions are handled. But that is also the "local space".
In "world space" things can be different due to different orientations.
That means if you are at some positon p with (xp, yp, zp) the point (xp, yp+1, zp), even though it has an offset of (0, 1, 0) and thus +Y = up, could be any other orientation in local space for that object at position p. (Think of reference frames)
Though i guess that isnt the question here. If it was that, you need to go deeper into matrices and vector/matrix transformations.