<?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://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="OutdoorComms">

<!-- If the code is still running after P2H, shut it down and exit.-->

    <Timeout Duration="P2H"/>

<!-- Execute the SurfOps stack repeatedly-->

    <Aggregate Id="SurfOps">

        <Sequence Repeat="5"/>

<!--    Get multiple GPS fixs.   -->

        <Aggregate Id="Repeat_Gps_Fixes">

            <Sequence Repeat = "5"/>

            <ReadDatum>
<!-- If not completed after a period of "Duration", continue.  -->
                <Timeout Duration="P2M" />
                <Universal:time_fix/>
            </ReadDatum>

        </Aggregate>

<!--  Send an Iridium SBD message that includes the GPS fix. -->

        <ReadDatum>
<!-- If not completed after a period of "Duration", continue.  -->
            <Timeout Duration="P2M"></Timeout>
            <Universal:platform_communications/>
        </ReadDatum>

<!-- Wait for a period of "Duration" before continuing.-->

        <Guidance:Wait>
            <Sequence/>
            <Timeout Duration="P1M" />
        </Guidance:Wait>

    </Aggregate>

</Mission>
