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

<!-- Wpt1 d=42m; Wpt2 d=95m; Wpt3 d=121m -->

    <DefineArg Name="Wpt1Lat"><Units:degree/><Value>36.80732</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree/><Value>-121.827194</Value></DefineArg>

    <DefineArg Name="Wpt2Lat"><Units:degree/><Value>36.811551</Value></DefineArg>

    <DefineArg Name="Wpt2Lon"><Units:degree/><Value>-121.832617</Value></DefineArg>

    <DefineArg Name="Wpt3Lat"><Units:degree/><Value>36.806609</Value></DefineArg>

    <DefineArg Name="Wpt3Lon"><Units:degree/><Value>-121.836791</Value></DefineArg>

    <Timeout Duration="P160M">
        <Guidance:StopMission RunIn="Sequence"/>
    </Timeout>

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Set><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</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>37</Value></Set>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Set><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>1.0</Value></Set>
    </Guidance:OffshoreEnvelope>

    <Stack Id="SURFACECOMMS" >

        <Guidance:GoToSurface RunIn="Progression"/>

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

        <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:ReadSensor RunIn="Sequence">
                <Timeout Duration="P5M">
                    <When><Universal:platform_conversation/>
                        <Eq/><False/>
                    </When>
                    <Touch Id="TouchComms"><Universal:platform_communications/></Touch>
                </Timeout>
                <SetUri><Guidance:ReadSensor.uri/><Universal:platform_communications/></SetUri>
            </Guidance:ReadSensor>

            <Guidance:PrepareToDive RunIn="Sequence"/>

        </Stack>

    </Stack>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Stack Id="NeedComms">

        <When><Universal:platform_pitch_angle/>
            <Gt/><Units:degree/><Value>0</Value>
            <And>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Gt/><Units:minute/><Value>40</Value>
            </And>
            <Or>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Gt/><Units:minute/><Value>45</Value>
            </Or>
        </When>

        <Call Id="NEEDCOMMS" refId="SURFACECOMMS"/>

    </Stack>

<!-- If we're executing here or below, lets' get science data! -->

    <Guidance:ReadSensor RunIn="Parallel">
        <SetUri><Guidance:ReadSensor.uri/><Universal:sea_water_salinity/></SetUri>
    </Guidance:ReadSensor>

    <Guidance:ReadSensor RunIn="Parallel">
        <SetUri><Guidance:ReadSensor.uri/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></SetUri>
    </Guidance:ReadSensor>

    <Guidance:ReadSensor RunIn="Parallel">
        <SetUri><Guidance:ReadSensor.uri/><Universal:mass_concentration_of_oxygen_in_sea_water/></SetUri>
    </Guidance:ReadSensor>

<!-- Here we dive in a spiral while waiting for buoyancy -->

    <Stack Id="DiveandPump">

        <When>
            <Called/>
        </When>

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

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.depth/><Units:meter/><Value>10</Value></Set>
        </Guidance:Pitch>

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

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

    </Stack>

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

    <Stack Id="WaypointOne">

<!-- Go to Wpt1 and start from there -->

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Set>
        </Guidance:Pitch>

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

        <Guidance:Waypoint Id="WaypointW1" RunIn="Sequence">
            <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Set>
            <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Set>
        </Guidance:Waypoint>

        <Call Id="PHONEHOMEWPT1" refId="SURFACECOMMS"/>

        <Call Id="DIVEFORWPT2" refId="DiveandPump"/>

    </Stack>

    <Stack Id="TestDrive" >

        <Stack Id="YoyoToWpt2">

            <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>25</Value></Set>
                <Set><Guidance:DepthEnvelope.downPitch/><Units:degree/><Value>-20</Value></Set>
                <Set><Guidance:DepthEnvelope.upPitch/><Units:degree/><Value>20</Value></Set>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo RunIn="Parallel">
                <Set><Guidance:YoYo.downPitch/><Units:degree/><Value>-20</Value></Set>
                <Set><Guidance:YoYo.upPitch/><Units:degree/><Value>20</Value></Set>
            </Guidance:YoYo>

            <Guidance:Waypoint Id="Wpt2" RunIn="Sequence">
                <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Set>
                <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Set>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT2" refId="SURFACECOMMS"/>

            <Call Id="DIVEFORWPT3" refId="DiveandPump"/>

        </Stack>

<!--End of <Stack Id="YoyoToWpt2"> -->

        <Stack Id="DepthStepsToWpt3">

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

            <Stack Id="Depth15">

                <Guidance:Pitch RunIn="Parallel">
<!--                <Set><Guidance:Pitch.massPosition/><Units:meter/><Value>0.0</Value></Set>-->
                    <Set><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Set>
                </Guidance:Pitch>

                <Guidance:Wait RunIn="Sequence">
                    <Timeout Duration="P5M"></Timeout>
                </Guidance:Wait>

            </Stack>

            <Stack Id="Depth25">

                <Guidance:Pitch RunIn="Parallel">
                    <Set><Guidance:Pitch.depth/><Units:meter/><Value>25</Value></Set>
                </Guidance:Pitch>

                <Guidance:Wait RunIn="Sequence">
                    <Timeout Duration="P5M"></Timeout>
                </Guidance:Wait>

            </Stack>

            <Stack Id="Depth15">

                <Guidance:Pitch RunIn="Parallel">
                    <Set><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Set>
                </Guidance:Pitch>

                <Guidance:Waypoint Id="Wpt3" RunIn="Sequence">
                    <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt3Lat"/></Set>
                    <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt3Lon"/></Set>
                </Guidance:Waypoint>

            </Stack>

            <Guidance:Waypoint Id="Wpt3" RunIn="Parallel">
                <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt3Lat"/></Set>
                <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt3Lon"/></Set>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT3" refId="SURFACECOMMS"/>

            <Call Id="DIVEFORWPT1" refId="DiveandPump"/>

        </Stack>

<!--  End of <Stack Id="DepthStepsToWpt3"> -->

        <Stack Id="SpeedStepsToWpt1">

            <Stack Id="SPEED_STEPS_DIVE">

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

                <Guidance:Pitch RunIn="Sequence">
                    <Set><Guidance:Pitch.depth/><Units:meter/><Value>32</Value></Set>
                </Guidance:Pitch>

            </Stack>

            <Stack Id="SPEEDS">

                <Guidance:Pitch RunIn="Parallel">
                    <Set><Guidance:Pitch.depth/><Units:meter/><Value>32</Value></Set>
                </Guidance:Pitch>

                <Stack Id="Speed_1.15">

                    <Guidance:SetSpeed RunIn="Parallel">
                        <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.15</Value></Set>
                    </Guidance:SetSpeed>

                    <Guidance:Wait RunIn="Sequence">
                        <Timeout Duration="P3M"></Timeout>
                    </Guidance:Wait>

                </Stack>

                <Stack Id="Speed_1.0">

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

                    <Guidance:Wait RunIn="Sequence">
                        <Timeout Duration="P3M"></Timeout>
                    </Guidance:Wait>

                </Stack>

                <Stack Id="Speed_0.75">

                    <Guidance:SetSpeed RunIn="Parallel">
                        <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.75</Value></Set>
                    </Guidance:SetSpeed>

                    <Guidance:Wait RunIn="Sequence">
                        <Timeout Duration="P4M"></Timeout>
                    </Guidance:Wait>

                </Stack>

                <Stack Id="Speed_0.50">

                    <Guidance:SetSpeed RunIn="Parallel">
                        <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.50</Value></Set>
                    </Guidance:SetSpeed>

                    <Guidance:Wait RunIn="Sequence">
                        <Timeout Duration="P5M"></Timeout>
                    </Guidance:Wait>

                </Stack>

                <Stack Id="Speed_0.25">

                    <Guidance:SetSpeed RunIn="Parallel">
                        <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.25</Value></Set>
                    </Guidance:SetSpeed>

                    <Guidance:Wait RunIn="Sequence">
                        <Timeout Duration="P3M"></Timeout>
                    </Guidance:Wait>

                </Stack>

            </Stack>

<!-- End of  <Stack Id="SPEEDS"> -->

            <Stack Id="SpeedStepsTerminationWpt1">

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

                <Guidance:Pitch RunIn="Parallel">
                    <Set><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Set>
                </Guidance:Pitch>

                <Guidance:Waypoint Id="Wpt1" RunIn="Sequence">
                    <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Set>
                    <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Set>
                </Guidance:Waypoint>

            </Stack>

            <Guidance:Waypoint Id="Wpt1" RunIn="Parallel">
                <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Set>
                <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Set>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT1" refId="SURFACECOMMS"/>

<!-- End of <Stack Id="SpeedStepsTerminationWpt1">-->

        </Stack>

<!-- End of <Stack Id="SpeedStepsToWpt1">-->

    </Stack>

<!-- End of <Stack Id="TestDrive">-->

<!--

    <Stack Id="MAIN">

 Set control params here  

        <Stack Id="NewGains1">

            <Guidance:VerticalControlConfig RunIn="Parallel">
                <Set><Guidance:VerticalControlConfig.maxDepthInt/><Units:degree/><Value>20.0</Value></Set>
                <Set><Guidance:VerticalControlConfig.kiDepthOff/><Units:radian_per_meter/><Value>.1</Value></Set>
                <Set><Guidance:VerticalControlConfig.kiPitchElevator/><Units:reciprocal_second/><Value>.008</Value></Set>
                <Set><Guidance:VerticalControlConfig.kpDepth/><Units:radian_per_meter/><Value>.2</Value></Set>
                <Set><Guidance:VerticalControlConfig.kpPitchElevator/><Units:second/><Value>.10</Value></Set>
                <Set><Guidance:VerticalControlConfig.kdPitchElevator/><Units:second/><Value>.10</Value></Set>
            </Guidance:VerticalControlConfig>

            <Call Id="LAP2" refId="TestDrive"/>

        </Stack>

 Set control params here 

        <Stack Id="NewGains2">

            <Guidance:VerticalControlConfig RunIn="Parallel">
                <Set><Guidance:VerticalControlConfig.maxDepthInt/><Units:degree/><Value>20.0</Value></Set>
                <Set><Guidance:VerticalControlConfig.kiDepthOff/><Units:radian_per_meter/><Value>.1</Value></Set>
                <Set><Guidance:VerticalControlConfig.kiPitchElevator/><Units:reciprocal_second/><Value>.01</Value></Set>
                <Set><Guidance:VerticalControlConfig.kpDepth/><Units:radian_per_meter/><Value>.2</Value></Set>
                <Set><Guidance:VerticalControlConfig.kpPitchElevator/><Units:second/><Value>.05</Value></Set>
                <Set><Guidance:VerticalControlConfig.kdPitchElevator/><Units:second/><Value>1.0</Value></Set>
            </Guidance:VerticalControlConfig>

            <Call Id="LAP3" refId="TestDrive"/>

        </Stack>

    </Stack>
-->

<!-- End of <Stack Id="MAIN"> -->

</Mission>
