<?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="ValueDetect">

    <DefineArg Name="DetectDepth"><Units:meter/><Value>0</Value></DefineArg>

<!-- 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="NorthSouth">

        <When>
            <Elapsed><Arg Name="DetectDepth"/></Elapsed>
            <Lt><Units:second/><Value>10</Value></Lt>
            <And><Arg Name="DetectDepth"/><Gt><Units:meter/><Value>0</Value></Gt></And>
        </When>

        <Preemptive>
            <True/>
        </Preemptive>

        <Syslog>At detection, depth = <Arg Name="DetectDepth"/><Units:meter/>, temperature = <Universal:sea_water_temperature/><Units:celsius/></Syslog>

        <Call RefId="SurfaceOps"/>

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

        <Aggregate Id="SpiralDown">

            <Sequence/>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>20</Value></Setting>
            </Guidance:Point>

            <Guidance:Pitch>
                <Sequence/>
                <Setting><Guidance:Pitch.depth/><Arg Name="DetectDepth"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

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

        <Guidance:Waypoint>
            <Sequence/>
            <Timeout Duration="P1H"/>
            <Setting><Guidance:Waypoint.latitudeDelta/><Units:degree/><Value>0.0015</Value></Setting>
        </Guidance:Waypoint>

        <Guidance:Waypoint>
            <Sequence/>
            <Timeout Duration="P1H"/>
            <Setting><Guidance:Waypoint.latitudeDelta/><Units:degree/><Value>-0.003</Value></Setting>
        </Guidance:Waypoint>

        <Guidance:Waypoint>
            <Sequence/>
            <Timeout Duration="P1H"/>
            <Setting><Guidance:Waypoint.latitudeDelta/><Units:degree/><Value>0.0015</Value></Setting>
        </Guidance:Waypoint>

        <Call RefId="SurfaceOps"/>

    </Aggregate>

    <Aggregate Id="Ops">

        <Sequence/>

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

        <Trigger:ValueDetect Id="ValueDetect">
            <While>
                <Elapsed><Arg Name="DetectDepth"/></Elapsed>
                <Gt><Units:minute/><Value>45</Value></Gt>
            </While>
            <Setting><Trigger:ValueDetect.detect/><Universal:sea_water_temperature/></Setting>
            <Setting><Trigger:ValueDetect.value/><Units:celsius/><Value>10.25</Value></Setting>
            <Setting><Trigger:ValueDetect.delta/><Units:kelvin/><Value>0.1</Value></Setting>
            <OutputArg Name="DetectDepth"><Trigger:ValueDetect.depth/></OutputArg>
        </Trigger:ValueDetect>

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

    </Aggregate>

    <Call RefId="SurfaceOps"/>

</Mission>
