<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Derivation="Tethys/Derivation"
       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://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="HFRadarModelTest">

<!-- The following arguments are input arguments -->

    <DefineArg Name="WpLat"><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="WpLon"><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="WpApproachDepth"><Units:meter/><Value>20.0</Value></DefineArg>

    <DefineArg Name="WpSpeed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="Timeout"><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="Depth"><Units:meter/><Value>40</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>2.0</Value></DefineArg>

    <DefineArg Name="SciencePeriod"><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="BuoyPeriod"><Units:second/><Value>5.0</Value></DefineArg>

    <DefineOutput Name="eastwardSurfaceCurrent"><Units:centimeter_per_second/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="northwardSurfaceCurrent"><Units:centimeter_per_second/><Value>NaN</Value></DefineOutput>

<!-- The timeout -->

    <Timeout Duration="Timeout"/>

<!-- And now the mission -->

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>70</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
        <Setting><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>30.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <Insert Filename="Insert/Surface.xml" Id="SurfaceComms">
        <RedefineArg Name="SurfaceSpeed"><Units:meter_per_second/><Value>0</Value></RedefineArg>
    </Insert>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Aggregate Id="NeedComms">

        <When>
            <Elapsed><Universal:time_fix/></Elapsed>
            <Gt><Arg Name="NeedCommsTime"/></Gt>
        </When>

        <Call RefId="SurfaceComms"/>

    </Aggregate>

    <Guidance:SetSpeed>
        <While>
            <Universal:platform_propeller_rotation_rate/>
            <Eq><Units:radian_per_second/><Value>0</Value></Eq>
        </While>
        <Setting><Guidance:SetSpeed.period/><Arg Name="BuoyPeriod"/></Setting>
    </Guidance:SetSpeed>

<!-- If we're executing here or below, lets' get science data! -->

    <ReadData>
        <Period><Arg Name="SciencePeriod"/></Period>
        <Universal:mole_concentration_of_nitrate_in_sea_water/>
        <Universal:sea_water_temperature/>
        <Universal:sea_water_salinity/>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water/>
        <Universal:mass_concentration_of_oxygen_in_sea_water/>
    </ReadData>

    <Aggregate Id="Test">

        <When>
            <True/>
        </When>

        <Derivation:HFRadarModel>
            <Sequence/>
            <OutputArg Name="eastwardSurfaceCurrent"><Derivation:HFRadarModel.eastwardSurfaceCurrent/></OutputArg>
            <OutputArg Name="northwardSurfaceCurrent"><Derivation:HFRadarModel.northwardSurfaceCurrent/></OutputArg>
        </Derivation:HFRadarModel>

        <SendData Service="Express"><Arg Name="eastwardSurfaceCurrent"/><Arg Name="northwardSurfaceCurrent"/>
        </SendData>

        <Syslog><Arg Name="eastwardSurfaceCurrent"/><Units:centimeter_per_second/><Arg Name="northwardSurfaceCurrent"/><Units:centimeter_per_second/></Syslog>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="SciencePeriod"/></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="Waypoint">

        <Sequence/>

        <Break><Arg Name="WpLat" />
            <Eq><Units:degree/><Value>0</Value></Eq>
            <Or><Arg Name="WpLon" /><Eq><Units:degree/><Value>0</Value></Eq></Or>
        </Break>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth /><Arg Name="WpApproachDepth" /></Setting>
        </Guidance:Pitch>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="WpSpeed"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:Waypoint Id="WaypointW1">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude /><Arg Name="WpLat" /></Setting>
            <Setting><Guidance:Waypoint.longitude /><Arg Name="WpLon" /></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceComms" />

    </Aggregate>

    <Aggregate Id="hold">

        <Sequence/>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
        </Guidance:SetSpeed>

        <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

    </Aggregate>

</Mission>
