<?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="PeakDetect">

    <DefineArg Name="PeakDepth"><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="PeakValue"><Units:celsius_per_meter/><Value>0</Value></DefineArg>

<!-- 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.maxDepth/><Units:meter/><Value>300</Value></Set>
    </Guidance:DepthEnvelope>

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

    <Stack Id="SurfaceOps" >

        <Stack Id="SpiralToSurface">

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

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

            <Guidance:GoToSurface RunIn="Sequence"/>

        </Stack>

        <Guidance:GoToSurface RunIn="Parallel"/>

        <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>

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

    <Stack Id="Ops">

        <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"/>

        <Stack>

            <When><True/>
            </When>

            <Trigger:PeakDetect Id="PeakDetect" RunIn="Sequence">
                <Set><Trigger:PeakDetect.detect/><Universal:upward_derivative_of_sea_water_temperature/></Set>
                <Set><Trigger:PeakDetect.windowLength/><Units:count/><Value>5</Value></Set>
                <OutputArg Name="PeakDepth"><Trigger:PeakDetect.peakIndependent/></OutputArg>
                <OutputArg Name="PeakValue"><Trigger:PeakDetect.peakDetect/></OutputArg>
            </Trigger:PeakDetect>

            <Syslog>Detected at depth=<Arg Name="PeakDepth"></Arg><Units:meter/>, value=<Arg Name="PeakValue"></Arg><Units:celsius_per_meter/>
            </Syslog>

        </Stack>

        <Guidance:Waypoint RunIn="Sequence">
            <Set><Guidance:Waypoint.longitudeDelta/><Units:degree/><Value>-0.05</Value></Set>
        </Guidance:Waypoint>

    </Stack>

    <Call RefId="SurfaceOps"/>

</Mission>
