<?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="tank_overnight_test">

    <Timeout Duration="P25H"/>

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>0</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>15</Value></Setting>
    </Guidance:DepthEnvelope>

    <Insert Filename="Insert/Surface.xml" Id="SURFACECOMMS" />

<!-- GPS Update 
     Once every 120 minutes -->

    <Aggregate Id="NeedComms">

        <When>
            <Elapsed><Universal:time_fix/></Elapsed>
            <Gt><Units:minute/><Value>120</Value></Gt>
        </When>

        <Call Id="NEEDCOMMS" RefId="SURFACECOMMS"/>

    </Aggregate>

    <Aggregate Id="Loop">

        <Sequence Repeat="48"/>

        <Aggregate Id="One">

            <Sequence/>

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

            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Units:cubic_centimeter/><Value>100</Value></Setting>
            </Guidance:Buoyancy>

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Units:centimeter/><Value>3</Value></Setting>
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>14</Value></Setting>
            </Guidance:Pitch>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>14</Value></Setting>
            </Guidance:Point>

            <Guidance:Wait>
                <Sequence/>
                <Timeout Duration="P10M"></Timeout>
            </Guidance:Wait>

            <Call Id="GPSFIX1" RefId="SURFACECOMMS"/>

        </Aggregate>

        <Aggregate Id="Two">

            <Sequence/>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>.5</Value></Setting>
            </Guidance:SetSpeed>

            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Units:cubic_centimeter/><Value>945</Value></Setting>
            </Guidance:Buoyancy>

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Units:centimeter/><Value>-3</Value></Setting>
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>-14</Value></Setting>
            </Guidance:Pitch>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>-14</Value></Setting>
            </Guidance:Point>

            <Guidance:Wait>
                <Sequence/>
                <Timeout Duration="P10M"></Timeout>
            </Guidance:Wait>

            <Call Id="GPSFIX2" RefId="SURFACECOMMS"/>

        </Aggregate>

    </Aggregate>

</Mission>
