<?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="Default">

    <Stack Id="SatComms" >

        <When>
            <Elapsed/>
            <Lt/><Units:second/><Value>10.0</Value>
            <Or>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Gt/><Units:hour/><Value>1.0</Value>
            </Or>
            <Or>
                <Elapsed><Universal:platform_communications/></Elapsed>
                <Gt/><Units:minute/><Value>5.0</Value>
                <And><Universal:platform_conversation/>
                    <Eq/><True/>
                </And>
            </Or>
            <Or>
                <Elapsed><Universal:platform_communications/></Elapsed>
                <Gt/><Units:hour/><Value>1.0</Value>
            </Or>
        </When>

<!--    Run at high speed -->

        <Guidance:SetSpeed RunIn="Parallel">
            <Set><Guidance:SetSpeed.period/><Units:millisecond/><Value>400</Value></Set>
        </Guidance:SetSpeed>

<!--    Get to the surface -->

        <Guidance:GoToSurface RunIn="Sequence"/>

<!--    Get GPS fix -->

        <Guidance:ReadSensor RunIn="Sequence">
            <Timeout Duration="P2M">
                <Touch Id="TouchTime"><Universal:time_fix/></Touch>
            </Timeout>
            <SetUri><Guidance:ReadSensor.uri/><Universal:latitude_fix/></SetUri>
        </Guidance:ReadSensor>

<!--    Do data comms -->

        <Guidance:ReadSensor RunIn="Sequence">
            <Timeout Duration="P2H">
                <Guidance:Execute RunIn="Sequence">
                    <Set><Guidance:Execute.command/><String>Burn on</String></Set>
                </Guidance:Execute>
                <Syslog Severity="Critical">Dropped drop weight due to communications timeout</Syslog>
            </Timeout>
            <SetUri><Guidance:ReadSensor.uri/><Universal:platform_communications/></SetUri>
        </Guidance:ReadSensor>

    </Stack>

<!-- Wait forever at the surface-->

<!-- Run at low speed -->

    <Guidance:SetSpeed RunIn="Parallel">
        <Set><Guidance:SetSpeed.period/><Units:second/><Value>5</Value></Set>
    </Guidance:SetSpeed>

    <Guidance:GoToSurface RunIn="Parallel"/>

    <Guidance:Wait RunIn="Sequence"></Guidance:Wait>

</Stack>
