<?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 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/Units http://aosn.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd"
       Id="TestMission">

<!-- some high priority behaviors -->

    <Guidance:AltitudeEnvelope RunIn="Parallel">
        <Set><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>20</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.minDepth/><Units:meter/><Value>0</Value></Set>
        <Set><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>300</Value></Set>
    </Guidance:DepthEnvelope>

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

    <Stack Id="SurfaceOps" >

        <Guidance:GoToSurface RunIn="Parallel"/>

        <Guidance:GoToSurface RunIn="Sequence"/>

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

    </Stack>

<!-- A set of repeatable commands -->

    <Stack Id="RepeatOps" Repeat="1" >

        <Guidance:ReadSensor RunIn="Parallel">
            <SetUri><Guidance:ReadSensor.uri/><Universal:sea_water_salinity/></SetUri>
        </Guidance:ReadSensor>

        <Guidance:ReadSensor RunIn="Parallel">
            <SetUri><Guidance:ReadSensor.uri/><Universal:sea_water_temperature/></SetUri>
        </Guidance:ReadSensor>

        <Guidance:DepthEnvelope RunIn="Parallel">
            <Set><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>5</Value></Set>
        </Guidance:DepthEnvelope>

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

        <Guidance:YoYo RunIn="Parallel"/>

<!--    head west -->

        <Guidance:Waypoint RunIn="Sequence">
            <Set><Guidance:Waypoint.latitude/><Units:degree/><Value>36.737845</Value></Set>
            <Set><Guidance:Waypoint.longitude/><Units:degree/><Value>-121.88200</Value></Set>
        </Guidance:Waypoint>

<!--    head north -->

        <Guidance:Waypoint RunIn="Sequence">
            <Set><Guidance:Waypoint.latitude/><Units:degree/><Value>36.73900</Value></Set>
            <Set><Guidance:Waypoint.longitude/><Units:degree/><Value>-121.88200</Value></Set>
        </Guidance:Waypoint>

<!--    head west -->

        <Guidance:Waypoint RunIn="Sequence">
            <Set><Guidance:Waypoint.latitude/><Units:degree/><Value>36.73900</Value></Set>
            <Set><Guidance:Waypoint.longitude/><Units:degree/><Value>-121.88350</Value></Set>
        </Guidance:Waypoint>

<!--    End with GPS fix -->

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

    </Stack>

</Stack>
