<?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="mass_elevator_energy_75m">

    <DefineArg Name="ApproachDepth"><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Units:meter/><Value>3.0</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Units:meter/><Value>45.0</Value></DefineArg>

    <DefineArg Name="YoYoPitch"><Units:degree/><Value>20.0</Value></DefineArg>

    <DefineArg Name="NumberOfLaps"><Units:count/><Value>1</Value></DefineArg>

<!-- Wpt1 d=75m; Wpt2 d=75m; Wpt3 d=75m; so on -->

    <DefineArg Name="Wpt1Lat"><Units:degree/><Value>36.8154</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree/><Value>-121.869</Value></DefineArg>

    <DefineArg Name="Wpt2Lat"><Units:degree/><Value>36.824</Value></DefineArg>

    <DefineArg Name="Wpt2Lon"><Units:degree/><Value>-121.8971</Value></DefineArg>

    <DefineArg Name="Wpt3Lat"><Units:degree/><Value>36.8331</Value></DefineArg>

    <DefineArg Name="Wpt3Lon"><Units:degree/><Value>-121.912</Value></DefineArg>

    <DefineArg Name="Wpt4Lat"><Units:degree/><Value>36.842</Value></DefineArg>

    <DefineArg Name="Wpt4Lon"><Units:degree/><Value>-121.9278</Value></DefineArg>

    <DefineArg Name="Wpt5Lat"><Units:degree/><Value>36.8593</Value></DefineArg>

    <DefineArg Name="Wpt5Lon"><Units:degree/><Value>-121.9436</Value></DefineArg>

    <DefineArg Name="Wpt6Lat"><Units:degree/><Value>36.8684</Value></DefineArg>

    <DefineArg Name="Wpt6Lon"><Units:degree/><Value>-121.9572</Value></DefineArg>

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

<!-- The following arguments are output arguments -->

    <Timeout Duration="P1620M"/>

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>7</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>55</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>1.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

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

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

    <Aggregate Id="NeedComms">

        <When>
            <Universal:platform_pitch_angle/>
            <Gt><Units:degree/><Value>0</Value></Gt>
            <And><Elapsed><Universal:time_fix/></Elapsed><Gt><Units:minute/><Value>60</Value></Gt></And>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Units:minute/><Value>65</Value></Gt></Or>
        </When>

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

    </Aggregate>

<!-- If we're executing here or below, lets' get science data! -->

    <Insert Filename="Insert/Science.xml">
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

    <Aggregate Id="Lap">

        <Sequence Repeat="NumberOfLaps"/>

        <Aggregate Id="WaypointOne">

            <Sequence/>

<!-- Go to Wpt1 and start from there -->

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

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

            <Guidance:Waypoint Id="Wpt1">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT1" RefId="SURFACECOMMS"/>

        </Aggregate>

        <Aggregate Id="YoYoWpt2">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
            </Guidance:Pitch>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Waypoint Id="Wpt2">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT2" RefId="SURFACECOMMS"/>

        </Aggregate>

        <Aggregate Id="YoYoWpt3">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
            </Guidance:Pitch>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Waypoint Id="Wpt3">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt3Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt3Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT3" RefId="SURFACECOMMS"/>

        </Aggregate>

        <Aggregate Id="YoYoWpt4">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
            </Guidance:Pitch>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Waypoint Id="Wpt4">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt4Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt4Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT4" RefId="SURFACECOMMS"/>

        </Aggregate>

        <Aggregate Id="YoYoWpt5">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
            </Guidance:Pitch>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Waypoint Id="Wpt5">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt5Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt5Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT5" RefId="SURFACECOMMS"/>

        </Aggregate>

        <Aggregate Id="YoYoWpt6">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
            </Guidance:Pitch>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Waypoint Id="Wpt6">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt6Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt6Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT6" RefId="SURFACECOMMS"/>

        </Aggregate>

<!-- ********** HEADING BACK   ************* -->

        <Aggregate Id="YoYoWpt5">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
            </Guidance:Pitch>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Waypoint Id="Wpt5">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt5Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt5Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT5" RefId="SURFACECOMMS"/>

        </Aggregate>

        <Aggregate Id="YoYoWpt4">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
            </Guidance:Pitch>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Waypoint Id="Wpt4">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt4Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt4Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT4" RefId="SURFACECOMMS"/>

        </Aggregate>

        <Aggregate Id="YoYoWpt3">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
            </Guidance:Pitch>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Waypoint Id="Wpt4">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt3Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt3Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT3" RefId="SURFACECOMMS"/>

        </Aggregate>

        <Aggregate Id="YoYoWpt2">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
            </Guidance:Pitch>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Waypoint Id="Wpt2">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT2" RefId="SURFACECOMMS"/>

        </Aggregate>

        <Aggregate Id="YoYoWpt1">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
            </Guidance:Pitch>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.pitch/><Arg Name="YoYoPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Waypoint Id="Wpt1">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT1" RefId="SURFACECOMMS"/>

        </Aggregate>

    </Aggregate>

</Mission>
