<?xml version="1.0" encoding="UTF-8"?>

<Deployment name="pulse-64" hibernate="true" comment="Oct-2014 to June-2015 hibernating" voltage_limit="16">

  <!-- Oct 2014 - June 2015 -->
  <!-- About 250 days. Wakey board timeout set to 40 minutes. -->
  <!-- That means no combination of behaviors can last more than -->
  <!-- that or the wakey will pull the plug prematurely. -->

  <Plan name="launch" sites="1">

    <!-- 0900 Rover deploy and then SES, ROV on site between 1330 and 1530 -->
    <!-- So let's have the Rover hibernate until 1345 and do practice runs until 1715 -->

    <!-- Start with a quick nap, then wakeup and take a Fluoro pic to let -->
    <!-- everyone know the Rover is on full-auto -->

    <MoveForward name="pause" distance="0" sleep="3" take_images="false" />
    <FluoroImage prefix="StaM_6401_RoverFluoro_Launch" />
    <Launch duration="30" vent_duration="30" />

    <!-- I must be in the water. This is the equivalent of a 4hr 45min Pause -->
    <MoveForward name="pause" distance="0" sleep="285" take_images="false" />

  </Plan>

  <!-- The Warm-up: Each site takes about 40 minutes -->
  <Plan name="mini-plan" sites="6">

    <VehicleCheckup />

    <MakeHeading name="270 degrees" desired_heading="270" />

    <!-- 5m move -->
    <MoveForward name="5 meters" distance="5" sleep="3" take_images="true" image_interval="1.15" prefix="StaM_6401_RoverTransit"/>

    <!-- Capture images, measure oxygen concentration, capture images -->
    <FluoroImage prefix="StaM_6401_RoverFluoro" />

    <ChamberImages name="before" prefix="StaM_6401_RoverChmbr_Before" />

    <InsertChambers />

    <ChamberImages name="inserted" prefix="StaM_6401_RoverChmbr_Inserted" />

    <!-- 3 4-minute iterations  (6 min) -->
    <OptodeMeasure name="2x3 measure" iterations="2" duration="1" interval="3" />

    <HomeChambers />

    <MoveForward name="wake-me-up-here" distance="0" sleep="8" take_images="false" />

  </Plan>

  <!-- The Show: Each site takes bewteen 49 and 61 hours (Average ~2.3 days)-->
  <Plan name="long-term deployment" sites="160">

    <VehicleCheckup />

    <MakeHeading name="270 degrees" desired_heading="270" />

    <!-- Wait up to 12 hours for favorable current -->
    <FavorableCurrent name="12-hour opposite" heading="opp" deviation="60" duration="720" sample_time="1" sample_interval="14" />

    <!-- 10m move -->
    <MoveForward name="10 meters" distance="10" sleep="60" take_images="true" image_interval="1.15" prefix="StaM_6401_RoverTransit"/>

    <!-- Capture images, measure oxygen concentration, capture images -->
    <FluoroImage prefix="StaM_6401_RoverFluoro" />

    <ChamberImages name="before" prefix="StaM_6401_RoverChmbr_Before" />

    <InsertChambers />

    <ChamberImages name="inserted" prefix="StaM_6401_RoverChmbr_Inserted" />

    <!-- 192 15-minute iterations  (48 hrs) -->
    <OptodeMeasure name="192x15 measure" iterations="192" duration="1" interval="14" />

    <ChamberImages name="after" prefix="StaM_6401_RoverChmbr_After" />

    <HomeChambers />

  </Plan>

  <!-- ==================================================== -->

  <!-- The After Show: Just in case we complete the main Show, -->
  <!-- hibernate for 2 hours, wake-up and take a pic for another month -->
  <Plan name="Rover-Tripod" sites="400" >
    <MoveForward name="pause" distance="0" sleep="119" take_images="false" />
        
    <TransitImage prefix="StaM_6401_RoverCam" />
  </Plan>
              
</Deployment>
