<?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="speed_step">

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

    <DefineArg Name="Wpt1Lat"><Units:degree/><Value>36.8154</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree/><Value>-121.869</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Units:minute/><Value>65</Value></DefineArg>

<!-- The timeout -->

    <Timeout Duration="P250M"/>

<!-- 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>30</Value></Set>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Set><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>1.0</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>75</Value>
            </Or>
        </When>

        <Call refId="SurfaceComms"/>

    </Stack>

    <Guidance:Buoyancy RunIn="Parallel">
        <Set><Guidance:Buoyancy.position /><Units:cubic_centimeter /><Value>275</Value></Set>
    </Guidance:Buoyancy>

    <Stack Id="SpeedStepsToWpt">

        <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>20</Value></Set>
            </Guidance:Pitch>

        </Stack>

        <Stack Id="SPEEDS">

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

            <Stack Id="Speed_1">

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

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

            </Stack>

            <Stack Id="Speed_0.8">

                <Guidance:SetSpeed RunIn="Parallel">
                    <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.8</Value></Set>
                </Guidance:SetSpeed>

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

            </Stack>

            <Stack Id="Speed_0.7">

                <Guidance:SetSpeed RunIn="Parallel">
                    <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.7</Value></Set>
                </Guidance:SetSpeed>

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

            </Stack>

            <Stack Id="Speed_0.6">

                <Guidance:SetSpeed RunIn="Parallel">
                    <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.6</Value></Set>
                </Guidance:SetSpeed>

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

            </Stack>

            <Stack Id="Speed_0.5">

                <Guidance:SetSpeed RunIn="Parallel">
                    <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.5</Value></Set>
                </Guidance:SetSpeed>

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

            </Stack>

            <Stack Id="Speed_0.4">

                <Guidance:SetSpeed RunIn="Parallel">
                    <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.4</Value></Set>
                </Guidance:SetSpeed>

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

</Mission>
