<?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="spiral">

    <Timeout Duration="P20M">
        <Guidance:StopMission RunIn="Sequence"/>
    </Timeout>

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

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Set><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.5</Value></Set>
    </Guidance:OffshoreEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Set><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Set>
        <Set><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>25</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="dive">

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

        <Guidance:Point RunIn="Parallel">
            <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>10</Value></Set>
        </Guidance:Point>

        <Guidance:Pitch RunIn="Sequence">
            <Set><Guidance:Pitch.depth/><Units:meter/><Value>20</Value></Set>
        </Guidance:Pitch>

    </Stack>

    <Stack>

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.depth/><Units:meter/><Value>20</Value></Set>
        </Guidance:Pitch>

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

        <Stack Id="rudder +10">

            <Guidance:Point RunIn="Parallel">
                <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>10</Value></Set>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Stack Id="rudder +8">

            <Guidance:Point RunIn="Parallel">
                <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>8</Value></Set>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Stack Id="rudder +6">

            <Guidance:Point RunIn="Parallel">
                <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>6</Value></Set>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Stack Id="rudder +4">

            <Guidance:Point RunIn="Parallel">
                <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>4</Value></Set>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Stack Id="rudder +2">

            <Guidance:Point RunIn="Parallel">
                <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>2</Value></Set>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Stack Id="rudder 00">

            <Guidance:Point RunIn="Parallel">
                <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>0</Value></Set>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Stack Id="rudder -2">

            <Guidance:Point RunIn="Parallel">
                <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>-2</Value></Set>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Stack Id="rudder -4">

            <Guidance:Point RunIn="Parallel">
                <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>-4</Value></Set>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Stack Id="rudder -6">

            <Guidance:Point RunIn="Parallel">
                <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>-6</Value></Set>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Stack Id="rudder -8">

            <Guidance:Point RunIn="Parallel">
                <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>-8</Value></Set>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Stack Id="rudder -10">

            <Guidance:Point RunIn="Parallel">
                <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>-10</Value></Set>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P1M"></Timeout>
            </Guidance:Wait>

        </Stack>

    </Stack>

    <Stack Id="going up">

        <Guidance:Point RunIn="Parallel">
            <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>-10</Value></Set>
        </Guidance:Point>

        <Guidance:GoToSurface RunIn="Progression"/>

    </Stack>

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

</Stack>
