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

<Deployment name="deck" hibernate="false" comment="deck test hibernating">

  <!-- Run short sample sites so we can hopefully watch the vehicle -->
  <!-- Each site takes about 10 min -->
  <Plan name="Quick-run-through" sites="2">

    <VehicleCheckup />

    <MoveForward name="0.5 meters" distance="0.5" sleep="0" take_images="TruE" image_interval="0.8" />

    <MoveForward name="pause" distance="0" sleep="2.5" take_images="false" />

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

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

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

    <!-- 2 1-minute iterations  (2 min) -->
    <OptodeMeasure name="2x1 measure" iterations="2" duration="0.3" interval="0.3" />

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

    <HomeChambers />
    
  </Plan>
  


  <!-- The Show: Each site takes 25 minutes -->
  <Plan name="long-term deployment" sites="0">
  
    <VehicleCheckup />

    <MakeHeading name="90 degrees" desired_heading="90" />

    <!-- Wait up to 5 minutess for favorable current -->
    <FavorableCurrent name="7-min-opposite" heading="opp" deviation="90" duration="7" sample_time="1" sample_interval="2.5" />

    <!-- 2m move -->
    <MoveForward name="2m" distance="2" sleep="0" take_images="true" image_interval="0.75" />

    <!-- This is the equivalent of a Pause -->
    <MoveForward name="pause" distance="0" sleep="5" take_images="false" />

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

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

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

    <!-- 3 4minute iterations  (9min) -->
    <OptodeMeasure name="3x3 measure" iterations="3" duration="0.33" interval="2.2" />

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

  </Plan>

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

</Deployment>
