<?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="ValueDetect">

    <DefineArg Name="DetectDepth"><Units: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="NorthSouth">

        <Preemptive><True/></Preemptive>

        <When>
            <Elapsed><Arg Name="DetectDepth"/></Elapsed>
            <Lt/><Units:second/><Value>10</Value>
            <And><Arg Name="DetectDepth"/>
                <Gt/><Units:meter/><Value>0</Value>
            </And>
        </When>

        <Syslog>At detection, depth = <Arg Name="DetectDepth"/><Units:meter/>,
        temperature = <Universal:sea_water_temperature/><Units:celsius/>
        </Syslog>

        <Call RefId="SurfaceOps"/>

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

        <Stack Id="SpiralDown">

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

            <Guidance:Pitch RunIn="Sequence">
                <Set><Guidance:Pitch.depth/><Arg Name="DetectDepth"/></Set>
            </Guidance:Pitch>

        </Stack>

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.depth/><Arg Name="DetectDepth"/></Set>
        </Guidance:Pitch>

        <Guidance:Waypoint RunIn="Sequence">
            <Timeout Duration="P1H"/>
            <Set><Guidance:Waypoint.latitudeDelta/><Units:degree/><Value>0.0015</Value></Set>
        </Guidance:Waypoint>

        <Guidance:Waypoint RunIn="Sequence">
            <Timeout Duration="P1H"/>
            <Set><Guidance:Waypoint.latitudeDelta/><Units:degree/><Value>-0.003</Value></Set>
        </Guidance:Waypoint>

        <Guidance:Waypoint RunIn="Sequence">
            <Timeout Duration="P1H"/>
            <Set><Guidance:Waypoint.latitudeDelta/><Units:degree/><Value>0.0015</Value></Set>
        </Guidance:Waypoint>

        <Call RefId="SurfaceOps"/>

    </Stack>

    <Stack Id="Ops">

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

        <Guidance:YoYo RunIn="Parallel"/>

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

        <Trigger:ValueDetect Id="ValueDetect" RunIn="Parallel">
            <While>
                <Elapsed><Arg Name="DetectDepth"/></Elapsed>
                <Gt/><Units:minute/><Value>45</Value>
            </While>
            <Set><Trigger:ValueDetect.detect/><Universal:sea_water_temperature/></Set>
            <Set><Trigger:ValueDetect.value/><Units:celsius/><Value>10.25</Value></Set>
            <Set><Trigger:ValueDetect.delta/><Units:kelvin/><Value>0.1</Value></Set>
            <OutputArg Name="DetectDepth"><Trigger:ValueDetect.depth/></OutputArg>
        </Trigger:ValueDetect>

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

    </Stack>

    <Call RefId="SurfaceOps"/>

</Mission>
