<?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://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/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="PeakDetect">

    <DefineOutput Name="PeakDepth"><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PeakValue"><Units:celsius_per_meter/><Value>NaN</Value></DefineOutput>

<!-- some high priority behaviors -->

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>20</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:OffshoreEnvelope>
        <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>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>300</Value></Setting>
    </Guidance:DepthEnvelope>

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

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

    <ReadData>
        <Universal:sea_water_temperature/>
    </ReadData>

    <Aggregate Id="Ops">

        <Sequence/>

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>5</Value></Setting>
        </Guidance:DepthEnvelope>

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

        <Guidance:YoYo>
            <Parallel/>
        </Guidance:YoYo>

        <Aggregate>

            <When>
                <True/>
            </When>

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

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

        </Aggregate>

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.longitudeDelta/><Units:degree/><Value>-0.05</Value></Setting>
        </Guidance:Waypoint>

    </Aggregate>

    <Call RefId="SurfaceOps"/>

</Mission>
