<?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>5</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>

    <Stack Id="NeedSatFix">

<!-- Going to the surface is preemptive only if fix is very old or uninitialized -->

<!-- This is a workaround for something that should be handled in the code... -->

<!-- i.e., avoiding executing the Waypoint command before we know where we are -->

        <Preemptive><Elapsed><Universal:time_fix/></Elapsed><Gt/><Units:day/><Value>30</Value></Preemptive>

        <When><Universal:platform_pitch_angle/>
            <Gt/><Units:degree/><Value>0</Value>
            <And>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Gt/><Units:minute/><Value>30</Value>
                <Or>
                    <Elapsed><Universal:platform_communications/></Elapsed>
                    <Gt/><Units:minute/><Value>30</Value>
                </Or>
            </And>
            <Or>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Gt/><Units:minute/><Value>60</Value>
            </Or>
            <Or>
                <Elapsed><Universal:platform_communications/></Elapsed>
                <Gt/><Units:minute/><Value>60</Value>
            </Or>
        </When>

        <Guidance:GoToSurface RunIn="Parallel"/>

        <Guidance:GoToSurface RunIn="Sequence"/>

        <Stack Id="SurfOps">

<!-- Surface operations are always preemptive -->

            <Preemptive><True/></Preemptive>

<!-- Get the GPS fix at surfacing time -->

            <Guidance:ReadSensor RunIn="Sequence">
                <Timeout Duration="P10M" />
                <SetUri><Guidance:ReadSensor.uri/><Universal:time_fix/></SetUri>
            </Guidance:ReadSensor>

<!-- Transmit the GPS fix, do other conversations -->

            <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>

<!-- Get another GPS fix before diving -->

            <Guidance:ReadSensor RunIn="Sequence">
                <Timeout Duration="P10M">
                    <Touch Id="TouchTime"><Universal:time_fix/></Touch>
                </Timeout>
                <SetUri><Guidance:ReadSensor.uri/><Universal:time_fix/></SetUri>
            </Guidance:ReadSensor>

        </Stack>

    </Stack>

    <Stack Id="LawnMowerStack" Repeat="8">

        <Guidance:PitchServo RunIn="Parallel">
            <Set><Guidance:PitchServo.holdValue/><Units:meter/><Value>10</Value></Set>
        </Guidance:PitchServo>

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

        <Guidance:Waypoint RunIn="Sequence">
            <Set><Guidance:Waypoint.latitudeDelta/><Units:degree/><Value>-0.005</Value></Set>
        </Guidance:Waypoint>

        <Guidance:Waypoint RunIn="Sequence">
            <Set><Guidance:Waypoint.longitudeDelta/><Units:degree/><Value>0.005</Value></Set>
        </Guidance:Waypoint>

        <Guidance:Waypoint RunIn="Sequence">
            <Set><Guidance:Waypoint.latitudeDelta/><Units:degree/><Value>0.005</Value></Set>
        </Guidance:Waypoint>

        <Guidance:Waypoint RunIn="Sequence">
            <Set><Guidance:Waypoint.longitudeDelta/><Units:degree/><Value>0.005</Value></Set>
        </Guidance:Waypoint>

    </Stack>

</Stack>
