<?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="transit_1km">

<!-- To be used within 6km of waypoint. No science collection.  -->

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

    <DefineArg Name="Wpt1Lat"><Units:degree/><Value>36.8033</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree/><Value>-121.80126</Value></DefineArg>

    <Timeout Duration="P130M"/>

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

    <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: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/><Units:minute/><Value>35</Value>
        </When>

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

    </Stack>

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

    <Stack Id="WaypointOne">

<!-- Go to Wpt1 -->

        <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="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"/>

    </Stack>

</Mission>
