<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       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/Control ../Xml/Control.xsd
                           Tethys/Guidance ../Xml/Guidance.xsd
                           Tethys/Trigger ../Xml/Trigger.xsd
                           Tethys/Units ../Xml/Units.xsd
                           Tethys/Universal ../Xml/Universal.xsd"
       Id="drift_50">

<!-- The following arguments are input arguments -->

    <DefineArg Name="ApproachDepth"><Units:meter/><Value>20.0</Value></DefineArg>

    <DefineArg Name="SampleISUS"><Units:bool/><Value>1</Value></DefineArg>

    <DefineArg Name="WpLat"><Units:degree/><Value>36.8334</Value></DefineArg>

    <DefineArg Name="WpLon"><Units:degree/><Value>-121.9168</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Units:minute/><Value>80</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>10.0</Value></DefineArg>

<!-- The timeout -->

    <Timeout Duration="P400M"/>

<!-- And now the mission -->

    <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>65</Value></Set>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Set><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Set>
        <Set><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>30.0</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="P30M">
                    <Touch Id="TouchComms"><Universal:platform_communications/></Touch>
                </Timeout>
                <SetUri><Guidance:ReadSensor.uri/><Universal:platform_communications/></SetUri>
            </Guidance:ReadSensor>

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

        </Stack>

    </Stack>

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

    <Stack Id="NeedComms">

        <When>
            <Elapsed><Universal:time_fix/></Elapsed>
            <Gt/><Arg Name="NeedCommsTime"/>
            <Or>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Gt/><Units:minute/><Value>90</Value>
            </Or>
        </When>

        <Call refId="SurfaceComms"/>

    </Stack>

<!-- See if the ISUS should get turned on -->

    <Guidance:ReadSensor RunIn="Parallel">
        <While><Arg Name="SampleISUS"/>
            <Eq/><True/>
        </While>
        <Set><Guidance:ReadSensor.uri/><Universal:mole_concentration_of_nitrate_in_sea_water/></Set>
    </Guidance:ReadSensor>

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

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

    <Guidance:Pitch RunIn="Parallel">
        <Set><Guidance:Pitch.massPosition/><Units:centimeter/><Value>1</Value></Set>
    </Guidance:Pitch>

    <Stack Id="Waypoint">

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

        <Guidance:SetSpeed RunIn="Parallel">
            <Set><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Set>
        </Guidance:SetSpeed>

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

        <Call Id="PHONEHOMEWPT" refId="SurfaceComms" />

    </Stack>

    <Stack Id="hold50">

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

        <Guidance:VerticalControlConfig RunIn="Parallel">
            <Set><Guidance:VerticalControlConfig.depthDeadband/><Arg Name="DepthDeadband"/></Set>
        </Guidance:VerticalControlConfig>

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Set>
            <Set><Guidance:Pitch.massPosition/><Units:centimeter/><Value>1</Value></Set>
            <Set><Guidance:Pitch.depth/><Units:meter/><Value>50</Value></Set>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Timeout Duration="P65M"></Timeout>
        </Guidance:Wait>

        <Stack Id="Float_Up">

            <Until><Universal:depth/>
                <Lt/><Units:meter/><Value>1</Value>
            </Until>

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

            <Guidance:Pitch RunIn="Parallel">
                <Set><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Set>
                <Set><Guidance:Pitch.massPosition/><Units:centimeter/><Value>1</Value></Set>
            </Guidance:Pitch>

            <Guidance:Buoyancy RunIn="Parallel">
                <Set><Guidance:Buoyancy.position /><Units:cubic_centimeter /><Value>945</Value></Set>
            </Guidance:Buoyancy>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P25M"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Call Id="PHONEHOME_drift" refId="SurfaceComms" />

    </Stack>

</Mission>
