<?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="ReadSensorWhile">

    <Timeout Duration="P20M"/>

    <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="ReadDataWhile">

        <Sequence/>

        <ReadData>
            <While>
                <Universal:depth/>
                <Gt><Units:meter/><Value>10</Value></Gt>
            </While>
            <Universal:mass_concentration_of_oxygen_in_sea_water/>
        </ReadData>

    </Aggregate>

</Mission>
