<?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 http://aosn.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://aosn.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="CallTest">

<!-- some high priority behaviors -->

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Set><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>5</Value></Set>
    </Guidance:AltitudeEnvelope>

    <Guidance:OffshoreEnvelope RunIn="Parallel">
        <Set><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>1</Value></Set>
        <Set><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>50</Value></Set>
    </Guidance:OffshoreEnvelope>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Set><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>300</Value></Set>
    </Guidance:DepthEnvelope>

<!-- Initial GPS (and Iridium) Update -->

    <Stack Id="SurfaceOps" >

        <Guidance:GoToSurface RunIn="Progression"/>

        <Stack>

            <Preemptive><True/></Preemptive>

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

            <Guidance:ReadSensor RunIn="Sequence">
                <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>

    <Insert Filename="TestMissions/CallTestScience.xml"/>

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

    <Stack Id="CalledStack">

        <When>
            <Called/>
        </When>

        <Guidance:Point RunIn="Parallel">
            <Set><Guidance:Point.rudderAngle/><Units:degree/><Value>20</Value></Set>
        </Guidance:Point>

        <Guidance:Execute RunIn="Sequence">
            <Set><Guidance:Execute.command/><String>show stack</String></Set>
        </Guidance:Execute>

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

    </Stack>

    <Call Id="CallThere1" PriorityHere="false" RefId="CalledStack"/>

    <Guidance:GoToSurface RunIn="Sequence"/>

    <Stack Id="Ops">

        <Guidance:Point RunIn="Parallel">
            <Set><Guidance:Point.heading/><Units:degree/><Value>270</Value></Set>
        </Guidance:Point>

        <Call Id="CallHere" PriorityHere="true" RefId="CalledStack"/>

        <Guidance:GoToSurface RunIn="Sequence"/>

        <Call Id="CallThere2" PriorityHere="false" RefId="CalledStack"/>

        <Call Id="CallScience" PriorityHere="false" RefId="Science"/>

        <Guidance:GoToSurface RunIn="Sequence"/>

    </Stack>

    <Stack Id="Final">

        <Guidance:GoToSurface RunIn="Progression"/>

        <Guidance:Wait RunIn="Sequence">
            <Timeout Duration="P1M"/>
        </Guidance:Wait>

    </Stack>

</Mission>
