<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Derivation="Tethys/Derivation" 
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Trigger="Tethys/Trigger" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys ../Xml/Tethys.xsd
                           Tethys/Derivation ../Xml/Derivation.xsd
                           Tethys/Guidance ../Xml/Guidance.xsd
                           Tethys/Trigger ../Xml/Trigger.xsd
                           Tethys/Units ../Xml/Units.xsd
                           Tethys/Universal ../Xml/Universal.xsd"
       Id="thermocline_2">

    <DefineArg Name="UpPitch"><Units:degree/><Value>15.0</Value></DefineArg>

    <DefineArg Name="DownPitch"><Units:degree/><Value>-15.0</Value></DefineArg>

    <DefineArg Name="ApproachDepth"><Units:meter/><Value>5.0</Value></DefineArg>

    <DefineArg Name="Wpt1Lat"><Units:degree/><Value>36.80486</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree/><Value>-121.81075</Value></DefineArg>

    <DefineArg Name="Wpt2Lat"><Units:degree/><Value>36.806153</Value></DefineArg>

    <DefineArg Name="Wpt2Lon"><Units:degree/><Value>-121.818970</Value></DefineArg>

    <DefineArg Name="Wpt3Lat"><Units:degree/><Value>36.80732</Value></DefineArg>

    <DefineArg Name="Wpt3Lon"><Units:degree/><Value>-121.827194</Value></DefineArg>

    <Timeout Duration="P120M"/>

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

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

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Set><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>0.75</Value></Set>
    </Guidance:OffshoreEnvelope>

    <Stack Id="SURFACECOMMS" >

        <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:ReadSensor RunIn="Sequence">
                <Timeout Duration="P10M">
                    <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"/>

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

        </Stack>

    </Stack>

    <Stack Id="NeedComms">

        <When><Universal:platform_pitch_angle/>
            <Gt/><Units:degree/><Value>0</Value>
            <And>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Gt/><Units:minute/><Value>45</Value>
            </And>
            <Or>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Gt/><Units:minute/><Value>50</Value>
            </Or>
        </When>

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

    </Stack>

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

    <Guidance:Pitch RunIn="Parallel">
        <Set><Guidance:Pitch.massPosition/><Units:centimeter/><Value>0</Value></Set>
    </Guidance:Pitch>

    <Stack Id="Waypoint2KM">

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Set>
        </Guidance:Pitch>

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

        <Guidance:Waypoint Id="Wpt1" 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"/>

    </Stack>

    <Stack Id="RunTestOutA">

        <Timeout Duration="P30M"/>

        <Insert Filename="Missions/Science.xml"/>

        <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>3</Value></Set>
        </Guidance:DepthEnvelope>

        <Stack Id="INITIAL_DIVE">

            <Until><Universal:depth/>
                <Gt/><Units:meter/><Value>8</Value>
            </Until>

            <Syslog>Initial Dive at <Universal:depth/><Units:meter/>
            </Syslog>

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

            <Guidance:Pitch RunIn="Parallel">
                <Set><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Wait RunIn="Sequence"/>

        </Stack>

        <Stack Id="InitialYoYo">

            <Until>
                <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                <Lt/><Units:second/><Value>1</Value>
            </Until>

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

            <Guidance:YoYo RunIn="Parallel">
                <Set><Guidance:YoYo.upPitch/><Arg Name="UpPitch"/></Set>
                <Set><Guidance:YoYo.downPitch/><Arg Name="DownPitch"/></Set>
            </Guidance:YoYo>

            <Guidance:Wait RunIn="Sequence"/>

        </Stack>

        <Stack Id="GradientYoYo">

            <Stack Id="Notify">

                <When>
                    <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                    <Lt/><Units:second/><Value>0.4</Value>
                </When>

                <Syslog>Depth=<Universal:depth/><Units:meter/>, Thermocline Depth = <Derivation:TempGradientCalculator.thermoclineDepth/><Units:meter/>, Target depth = <Derivation:TempGradientCalculator.targetDepth/><Units:meter/>
                </Syslog>

            </Stack>

            <Guidance:Pitch Id="PitchDown" RunIn="Parallel">
                <While><Universal:depth/>
                    <Lt/><Derivation:TempGradientCalculator.targetDepth/>
                </While>
                <Set><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Pitch Id="PitchUp" RunIn="Parallel">
                <While><Universal:depth/>
                    <Gt/><Derivation:TempGradientCalculator.targetDepth/>
                </While>
                <Set><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></Set>
            </Guidance:Pitch>

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

        </Stack>

    </Stack>

    <Stack Id="RunTestOutB">

        <Timeout Duration="P30M"/>

        <Insert Filename="Missions/Science.xml"/>

        <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>3</Value></Set>
        </Guidance:DepthEnvelope>

        <Stack Id="INITIAL_UP">

            <Until><Universal:depth/>
                <Lt/><Units:meter/><Value>3</Value>
            </Until>

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

            <Guidance:Pitch RunIn="Parallel">
                <Set><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Wait RunIn="Sequence"/>

        </Stack>

        <Stack Id="INITIAL_DIVE">

            <Until><Universal:depth/>
                <Gt/><Units:meter/><Value>8</Value>
            </Until>

            <Syslog>Initial Dive at <Universal:depth/><Units:meter/>
            </Syslog>

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

            <Guidance:Pitch RunIn="Parallel">
                <Set><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Wait RunIn="Sequence"/>

        </Stack>

        <Stack Id="InitialYoYo">

            <Until>
                <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                <Lt/><Units:second/><Value>1</Value>
            </Until>

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

            <Guidance:YoYo RunIn="Parallel">
                <Set><Guidance:YoYo.upPitch/><Arg Name="UpPitch"/></Set>
                <Set><Guidance:YoYo.downPitch/><Arg Name="DownPitch"/></Set>
            </Guidance:YoYo>

            <Guidance:Wait RunIn="Sequence"/>

        </Stack>

        <Stack Id="GradientYoYo">

            <Stack Id="Notify">

                <When>
                    <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                    <Lt/><Units:second/><Value>0.4</Value>
                </When>

                <Syslog>Depth=<Universal:depth/><Units:meter/>, Thermocline Depth = <Derivation:TempGradientCalculator.thermoclineDepth/><Units:meter/>, Target depth = <Derivation:TempGradientCalculator.targetDepth/><Units:meter/>
                </Syslog>

            </Stack>

            <Guidance:Pitch Id="PitchDown" RunIn="Parallel">
                <While><Universal:depth/>
                    <Lt/><Derivation:TempGradientCalculator.targetDepth/>
                </While>
                <Set><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Pitch Id="PitchUp" RunIn="Parallel">
                <While><Universal:depth/>
                    <Gt/><Derivation:TempGradientCalculator.targetDepth/>
                </While>
                <Set><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></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>

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

    </Stack>

    <Stack Id="RunTestBackA">

        <Timeout Duration="P40M"/>

        <Insert Filename="Missions/Science.xml"/>

        <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>3</Value></Set>
        </Guidance:DepthEnvelope>

        <Stack Id="INITIAL_DIVE">

            <Until><Universal:depth/>
                <Gt/><Units:meter/><Value>8</Value>
            </Until>

            <Syslog>Initial Dive at <Universal:depth/><Units:meter/>
            </Syslog>

            <Guidance:Waypoint Id="Wpt2RETURN" RunIn="Parallel">
                <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Set>
                <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Set>
            </Guidance:Waypoint>

            <Guidance:Pitch RunIn="Parallel">
                <Set><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Wait RunIn="Sequence"/>

        </Stack>

        <Stack Id="InitialYoYo">

            <Until>
                <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                <Lt/><Units:second/><Value>1</Value>
            </Until>

            <Guidance:Waypoint Id="Wpt2RETURN" RunIn="Parallel">
                <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Set>
                <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Set>
            </Guidance:Waypoint>

            <Guidance:YoYo RunIn="Parallel">
                <Set><Guidance:YoYo.upPitch/><Arg Name="UpPitch"/></Set>
                <Set><Guidance:YoYo.downPitch/><Arg Name="DownPitch"/></Set>
            </Guidance:YoYo>

            <Guidance:Wait RunIn="Sequence"/>

        </Stack>

        <Stack Id="GradientYoYo">

            <Stack Id="Notify">

                <When>
                    <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                    <Lt/><Units:second/><Value>0.4</Value>
                </When>

                <Syslog>Depth=<Universal:depth/><Units:meter/>, Thermocline Depth = <Derivation:TempGradientCalculator.thermoclineDepth/><Units:meter/>, Target depth = <Derivation:TempGradientCalculator.targetDepth/><Units:meter/>
                </Syslog>

            </Stack>

            <Guidance:Pitch Id="PitchDown" RunIn="Parallel">
                <While><Universal:depth/>
                    <Lt/><Derivation:TempGradientCalculator.targetDepth/>
                </While>
                <Set><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Pitch Id="PitchUp" RunIn="Parallel">
                <While><Universal:depth/>
                    <Gt/><Derivation:TempGradientCalculator.targetDepth/>
                </While>
                <Set><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Waypoint Id="Wpt2RETURN" RunIn="Sequence">
                <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Set>
                <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Set>
            </Guidance:Waypoint>

        </Stack>

    </Stack>

    <Stack Id="RunTestBackB">

        <Timeout Duration="P40M"/>

        <Insert Filename="Missions/Science.xml"/>

        <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>3</Value></Set>
        </Guidance:DepthEnvelope>

        <Stack Id="INITIAL_UP">

            <Until><Universal:depth/>
                <Lt/><Units:meter/><Value>3</Value>
            </Until>

            <Guidance:Waypoint Id="Wpt1RETURN" RunIn="Parallel">
                <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Set>
                <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Set>
            </Guidance:Waypoint>

            <Guidance:Pitch RunIn="Parallel">
                <Set><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Wait RunIn="Sequence"/>

        </Stack>

        <Stack Id="INITIAL_DIVE">

            <Until><Universal:depth/>
                <Gt/><Units:meter/><Value>8</Value>
            </Until>

            <Syslog>Initial Dive at <Universal:depth/><Units:meter/>
            </Syslog>

            <Guidance:Waypoint Id="Wpt1RETURN" RunIn="Parallel">
                <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Set>
                <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Set>
            </Guidance:Waypoint>

            <Guidance:Pitch RunIn="Parallel">
                <Set><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Wait RunIn="Sequence"/>

        </Stack>

        <Stack Id="InitialYoYo">

            <Until>
                <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                <Lt/><Units:second/><Value>1</Value>
            </Until>

            <Guidance:Waypoint Id="Wpt1RETURN" RunIn="Parallel">
                <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Set>
                <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Set>
            </Guidance:Waypoint>

            <Guidance:YoYo RunIn="Parallel">
                <Set><Guidance:YoYo.upPitch/><Arg Name="UpPitch"/></Set>
                <Set><Guidance:YoYo.downPitch/><Arg Name="DownPitch"/></Set>
            </Guidance:YoYo>

            <Guidance:Wait RunIn="Sequence"/>

        </Stack>

        <Stack Id="GradientYoYo">

            <Stack Id="Notify">

                <When>
                    <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                    <Lt/><Units:second/><Value>0.4</Value>
                </When>

                <Syslog>Depth=<Universal:depth/><Units:meter/>, Thermocline Depth = <Derivation:TempGradientCalculator.thermoclineDepth/><Units:meter/>, Target depth = <Derivation:TempGradientCalculator.targetDepth/><Units:meter/>
                </Syslog>

            </Stack>

            <Guidance:Pitch Id="PitchDown" RunIn="Parallel">
                <While><Universal:depth/>
                    <Lt/><Derivation:TempGradientCalculator.targetDepth/>
                </While>
                <Set><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Pitch Id="PitchUp" RunIn="Parallel">
                <While><Universal:depth/>
                    <Gt/><Derivation:TempGradientCalculator.targetDepth/>
                </While>
                <Set><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></Set>
            </Guidance:Pitch>

            <Guidance:Waypoint Id="Wpt1RETURN" RunIn="Sequence">
                <Set><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Set>
                <Set><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Set>
            </Guidance:Waypoint>

        </Stack>

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

    </Stack>

    <Syslog>Done</Syslog>

</Mission>
