<?xml version="1.0" encoding="UTF-8"?>
<Stack xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys ../Xml/Tethys.xsd
                           Tethys/Control ../Xml/Control.xsd
                           Tethys/Guidance ../Xml/Guidance.xsd
                           Tethys/Units ../Xml/Units.xsd
                           Tethys/Universal ../Xml/Universal.xsd"
       Id="OceanTest_7">

    <Timeout Duration="P15M">
        <Guidance:StopMission RunIn="Sequence"/>
    </Timeout>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Set><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>5</Value></Set>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Set><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Set>
        <Set><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>30</Value></Set>
    </Guidance:DepthEnvelope>

    <Stack Id="GPSFIX" >

        <Guidance:GoToSurface RunIn="Progression"/>

        <Stack>

            <Preemptive><True/></Preemptive>

            <Guidance:SetSpeed RunIn="Parallel">
                <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Set>
            </Guidance:SetSpeed>

            <Guidance:ReadSensor RunIn="Sequence">
                <SetUri><Guidance:ReadSensor.uri/><Universal:latitude_fix/></SetUri>
            </Guidance:ReadSensor>

            <Guidance:PrepareToDive RunIn="Sequence"/>

        </Stack>

    </Stack>

    <Guidance:Buoyancy RunIn="Progression">
        <Set><Guidance:Buoyancy.position/><Units:cubic_centimeter/><Value>100</Value></Set>
    </Guidance:Buoyancy>

    <Stack Id="Transit">

        <Guidance:SetSpeed RunIn="Parallel">
            <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1</Value></Set>
        </Guidance:SetSpeed>

        <Guidance:DepthEnvelope RunIn="Parallel">
            <Set><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>5</Value></Set>
            <Set><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>20</Value></Set>
            <Set><Guidance:DepthEnvelope.upPitch/><Units:degree/><Value>30</Value></Set>
            <Set><Guidance:DepthEnvelope.downPitch/><Units:degree/><Value>-30</Value></Set>
        </Guidance:DepthEnvelope>

        <Guidance:YoYo RunIn="Parallel">
            <Set><Guidance:YoYo.upPitch/><Units:degree/><Value>30</Value></Set>
            <Set><Guidance:YoYo.downPitch/><Units:degree/><Value>-30</Value></Set>
        </Guidance:YoYo>

        <Guidance:Point RunIn="Parallel">
            <Set><Guidance:Point.heading/><Units:degree/><Value>300</Value></Set>
        </Guidance:Point>

        <Guidance:Wait RunIn="Sequence">
            <Timeout Duration="P7M"></Timeout>
        </Guidance:Wait>

    </Stack>

    <Call Id="GPSFIXEND" refId="GPSFIX"/>

</Stack>
