<?xml version="1.0" encoding="UTF-8"?>
<Mission 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">
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>20</Value></Setting>
    </Guidance:AltitudeEnvelope>

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

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>5</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>300</Value></Setting>
    </Guidance:DepthEnvelope>

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

    <Insert Filename="Insert/Surface.xml" Id="SurfaceOps" />

    <Aggregate Id="SpiralAggregate">

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

        <Guidance:YoYo RunIn="Parallel"/>

        <CustomBehavior Name="SpiralCommand" RunIn="Sequence">
            <Timeout Duration="P120M30S"></Timeout>
            <Initialize>
                <Input Name="latitude"><Universal:latitude/><Units:degree/><DefaultValue>NaN</DefaultValue></Input>
                <Input Name="longitude"><Universal:longitude/><Units:degree/><DefaultValue>NaN</DefaultValue></Input>
                <Test InputValue="36.0 -122"/>
                <Script Language="Lua"><![CDATA[
                        i = 0;
                        origLat = latitude;
                        origLon = longitude;
                        goalLat = (math.sin(i) * 0.005) + origLat;
                        goalLon = (math.cos(i) * 0.005) + origLon;
                    ]]></Script>
            </Initialize>
            <Run>
                <Input Name="latitude"><Universal:latitude/><Units:degree/><DefaultValue>NaN</DefaultValue></Input>
                <Input Name="longitude"><Universal:longitude/><Units:degree/><DefaultValue>NaN</DefaultValue></Input>
                <Output><Control:HorizontalControl.horizontalMode/><Units:enum/></Output>
                <Output><Control:HorizontalControl.latitudeCmd/><Units:degree/></Output>
                <Output><Control:HorizontalControl.longitudeCmd/><Units:degree/></Output>
                <Test OutputValue="1.0 36.0 -122.0"/>
                <Script Language="Lua"><![CDATA[
                        diffLat = math.abs(goalLat - latitude);
                        diffLon = math.abs(goalLon - longitude);
                        if diffLat <= 0.0001 and diffLon <= 0.0001 then
                            i = (i + 0.2) % (2 * math.pi);
                            goalLat = (math.sin(i) * 0.005) + origLat;
                            goalLon = (math.cos(i) * 0.005) + origLon;
                        end                         
                        return 1.0, goalLat, goalLon;
                     ]]></Script>
            </Run>
        </CustomBehavior>

    </Aggregate>

<!-- end of STACK -->

</Mission>
