<?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="control_test_straight">

<!-- Wpt1 d=75m -->

    <DefineArg Name="Wpt1Lat"><Units:degree/><Value>36.8333</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree/><Value>-121.9168</Value></DefineArg>

    <DefineArg Name="DepthShallow"><Units:meter/><Value>15</Value></DefineArg>

<!--  Number of meters below DepthShallow to step -->

    <DefineArg Name="DepthStep"><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="DepthDeep"><Units:meter/><Value>32</Value></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="BuoyancyDefault"><Control:VerticalControl.buoyancyDefault/></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="CruiseDepth"><Units:meter /><Value>25.0</Value></DefineArg>

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

    <DefineArg Name="LegTimeout"><Units:minute/><Value>21</Value></DefineArg>

    <DefineArg Name="MissionTimeout"><Units:hour/><Value>3</Value></DefineArg>

    <Timeout Duration="MissionTimeout"/>

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>10</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>37</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>3.0</Value></Setting>
    </Guidance:OffshoreEnvelope>

    <ReadData Strategy="AllDevices">
        <Universal:platform_orientation/>
    </ReadData>

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

    <Aggregate Id="TwoRuns">

        <Sequence/>

        <Aggregate Id="TestDrive">

            <Sequence/>

            <Aggregate Id="ElevatorOnly">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
                </Guidance:SetSpeed>

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

                <Guidance:Waypoint Id="Wpt1Elevator">
                    <Parallel/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
                </Guidance:Waypoint>

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

            </Aggregate>

            <Aggregate Id="MassOnly">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
                    <Setting><Guidance:Pitch.depth/><Arg Name="CruiseDepth"/></Setting>
                </Guidance:Pitch>

                <Guidance:Waypoint Id="Wpt1Mass">
                    <Parallel/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
                </Guidance:Waypoint>

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

            </Aggregate>

            <Aggregate Id="MassAndElevator">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
                </Guidance:SetSpeed>

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

                <Guidance:Waypoint Id="Wpt1Mass">
                    <Parallel/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
                </Guidance:Waypoint>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Lap2">

            <Sequence/>

            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Arg Name="BuoyancyNeutral"/></Setting>
            </Guidance:Buoyancy>

            <Call Id="LAP2" RefId="TestDrive"/>

        </Aggregate>

    </Aggregate>

<!-- End of 2 laps -->

</Mission>
