<?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="ReadSensorInterval">

    <Timeout Duration="P1H"/>

    <Insert Filename="RegressionTests/InsertHighPriority.xml"/>

    <Insert Filename="RegressionTests/InsertSurfaceOps.xml"/>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>5</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>30</Value></Setting>
    </Guidance:DepthEnvelope>

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

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

    <Aggregate Id="SampleEvery10Seconds">

        <Sequence/>

        <Timeout Duration="P5M"/>

        <ReadData>
            <Period><Units:second/><Value>10</Value></Period>
            <Universal:sea_water_temperature/>
        </ReadData>

    </Aggregate>

    <Aggregate Id="SampleEvery2Meters">

        <Sequence/>

        <Timeout Duration="P5M"/>

        <ReadData>
            <Interval><Universal:depth/><Units:meter/><Value>2</Value></Interval>
            <Universal:sea_water_temperature/>
        </ReadData>

    </Aggregate>

    <Aggregate Id="SampleEveryXSeconds">

        <DefineArg Name="X"><Units:second/><Value>20</Value></DefineArg>

        <Sequence/>

        <Timeout Duration="P5M"/>

        <ReadData>
            <Period><Arg Name="X"/></Period>
            <Universal:sea_water_temperature/>
        </ReadData>

    </Aggregate>

    <Aggregate Id="SampleEveryXMeters">

        <DefineArg Name="X"><Units:meter/><Value>5</Value></DefineArg>

        <Sequence/>

        <Timeout Duration="P5M"/>

        <ReadData>
            <Interval><Universal:depth/><Arg Name="X"/></Interval>
            <Universal:sea_water_temperature/>
        </ReadData>

    </Aggregate>

    <Guidance:Waypoint Id="Waypoint">
        <Progression/>
        <Timeout Duration="P21M"/>
        <Setting><Guidance:Waypoint.latitude/><Units:degree/><Value>36.75</Value></Setting>
        <Setting><Guidance:Waypoint.longitude/><Units:degree/><Value>-121.88</Value></Setting>
    </Guidance:Waypoint>

</Mission>
