<?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_tuning_elevator">

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

    <DefineArg Name="Wpt1Lat"><Units:degree/><Value>36.80732</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree/><Value>-121.827194</Value></DefineArg>

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

    <Timeout Duration="P300M"/>

    <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>37</Value></Setting>
    </Guidance:DepthEnvelope>

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

<!-- GPS Update 
     Once every 30 minutes if we're pitched up, or 35 if we're down -->

    <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>30</Value></Gt></And>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Units:minute/><Value>35</Value></Gt></Or>
        </When>

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

    </Aggregate>

    <Insert Filename="Insert/Science.xml"/>

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

    <Aggregate Id="TestDrive">

        <Sequence/>

        <Aggregate Id="home_waypoint">

            <Sequence/>

<!-- First go to waypoint and start from there -->

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
                <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Setting>
            </Guidance:Pitch>

            <Guidance:Waypoint Id="WaypointW1">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="WPT1" RefId="SURFACECOMMS"/>

        </Aggregate>

        <Aggregate Id="YOYO">

            <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/><Units:meter/><Value>5</Value></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>25</Value></Setting>
                <Setting><Guidance:DepthEnvelope.downPitch/><Units:degree/><Value>-20</Value></Setting>
                <Setting><Guidance:DepthEnvelope.upPitch/><Units:degree/><Value>20</Value></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.downPitch/><Units:degree/><Value>-20</Value></Setting>
                <Setting><Guidance:YoYo.upPitch/><Units:degree/><Value>20</Value></Setting>
            </Guidance:YoYo>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Units:degree/><Value>315</Value></Setting>
            </Guidance:Point>

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

        </Aggregate>

        <Aggregate Id="DEPTH_STEPS">

            <Sequence/>

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

            <Aggregate Id="DEPTH15">

                <Sequence/>

                <Guidance:Pitch>
                    <Sequence/>
                    <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
                    <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Setting>
                </Guidance:Pitch>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
                    <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Setting>
                </Guidance:Pitch>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.heading/><Units:degree/><Value>135</Value></Setting>
                </Guidance:Point>

                <Guidance:Wait>
                    <Sequence/>
                    <Timeout Duration="P3M"></Timeout>
                </Guidance:Wait>

            </Aggregate>

            <Aggregate Id="DEPTH25">

                <Sequence/>

                <Guidance:Pitch>
                    <Sequence/>
                    <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
                    <Setting><Guidance:Pitch.depth/><Units:meter/><Value>25</Value></Setting>
                </Guidance:Pitch>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
                    <Setting><Guidance:Pitch.depth/><Units:meter/><Value>25</Value></Setting>
                </Guidance:Pitch>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.heading/><Units:degree/><Value>135</Value></Setting>
                </Guidance:Point>

                <Guidance:Wait>
                    <Sequence/>
                    <Timeout Duration="P3M"></Timeout>
                </Guidance:Wait>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="SPEED_STEPS">

            <Sequence/>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.heading/><Units:degree/><Value>315</Value></Setting>
            </Guidance:Point>

            <Aggregate Id="SPEED_STEPS_DIVE">

                <Sequence/>

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

                <Guidance:Pitch>
                    <Sequence/>
                    <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
                    <Setting><Guidance:Pitch.depth/><Units:meter/><Value>32</Value></Setting>
                </Guidance:Pitch>

            </Aggregate>

            <Aggregate Id="SPEEDS">

                <Sequence/>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
                    <Setting><Guidance:Pitch.depth/><Units:meter/><Value>32</Value></Setting>
                </Guidance:Pitch>

                <Aggregate Id="Speed_1_15">

                    <Sequence/>

                    <Guidance:SetSpeed>
                        <Parallel/>
                        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.15</Value></Setting>
                    </Guidance:SetSpeed>

                    <Guidance:Wait>
                        <Sequence/>
                        <Timeout Duration="P2M"></Timeout>
                    </Guidance:Wait>

                </Aggregate>

                <Aggregate Id="Speed_1_00">

                    <Sequence/>

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

                    <Guidance:Wait>
                        <Sequence/>
                        <Timeout Duration="P2M"></Timeout>
                    </Guidance:Wait>

                </Aggregate>

                <Aggregate Id="Speed_0_75">

                    <Sequence/>

                    <Guidance:SetSpeed>
                        <Parallel/>
                        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.75</Value></Setting>
                    </Guidance:SetSpeed>

                    <Guidance:Wait>
                        <Sequence/>
                        <Timeout Duration="P2M"></Timeout>
                    </Guidance:Wait>

                </Aggregate>

                <Aggregate Id="Speed_0_50">

                    <Sequence/>

                    <Guidance:SetSpeed>
                        <Parallel/>
                        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.5</Value></Setting>
                    </Guidance:SetSpeed>

                    <Guidance:Wait>
                        <Sequence/>
                        <Timeout Duration="P2M"></Timeout>
                    </Guidance:Wait>

                </Aggregate>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="MAIN">

        <Sequence/>

<!-- Set control params here -->

        <Aggregate Id="NewGains1">

            <Sequence/>

            <Assign><Parallel/><Control:VerticalControl.maxDepthInt/><Units:degree/><Value>14.0</Value></Assign>

            <Assign><Parallel/><Control:VerticalControl.kiDepthOff/><Units:radian_per_meter/><Value>.1</Value></Assign>

            <Assign><Parallel/><Control:VerticalControl.kiPitchElevator/><Units:reciprocal_second/><Value>.008</Value></Assign>

            <Assign><Parallel/><Control:VerticalControl.kpDepth/><Units:radian_per_meter/><Value>.2</Value></Assign>

            <Assign><Parallel/><Control:VerticalControl.kpPitchElevator/><Units:second/><Value>.10</Value></Assign>

            <Assign><Parallel/><Control:VerticalControl.kdPitchElevator/><Units:second/><Value>.10</Value></Assign>

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

            <Call Id="LAP1" RefId="TestDrive"/>

        </Aggregate>

<!-- Set control params here -->

        <Aggregate Id="NewGains2">

            <Sequence/>

            <Assign><Parallel/><Control:VerticalControl.maxDepthInt/><Units:degree/><Value>14.0</Value></Assign>

            <Assign><Parallel/><Control:VerticalControl.kiDepthOff/><Units:radian_per_meter/><Value>.1</Value></Assign>

            <Assign><Parallel/><Control:VerticalControl.kiPitchElevator/><Units:reciprocal_second/><Value>.01</Value></Assign>

            <Assign><Parallel/><Control:VerticalControl.kpDepth/><Units:radian_per_meter/><Value>.2</Value></Assign>

            <Assign><Parallel/><Control:VerticalControl.kpPitchElevator/><Units:second/><Value>.05</Value></Assign>

            <Assign><Parallel/><Control:VerticalControl.kdPitchElevator/><Units:second/><Value>1.0</Value></Assign>

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

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

        </Aggregate>

        <Aggregate Id="return_home">

            <Sequence/>

<!-- First go to waypoint and start from there -->

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
                <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Setting>
            </Guidance:Pitch>

            <Guidance:Waypoint Id="WaypointW1">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="WPT1" RefId="SURFACECOMMS"/>

        </Aggregate>

<!-- Set control params here -->

<!--
        <Aggregate Id="kpPE75kdP15">
            <Sequence/>

            <Guidance:VerticalControlConfig>
                <Parallel/>
                <Setting><Guidance:VerticalControlConfig.kpPitchElevator/><Units:none/><Value>0.75</Value></Setting>
                <Setting><Guidance:VerticalControlConfig.maxDepthInt/><Units:degree/><Value>14.0</Value></Setting>
                <Setting><Guidance:VerticalControlConfig.kiPitchElevator/><Units:reciprocal_second/><Value>.008</Value></Setting>
                <Setting><Guidance:VerticalControlConfig.kdPitchElevator/><Units:second/><Value>.15</Value></Setting>
            </Guidance:VerticalControlConfig>

            <Call Id="GPSFIX3" RefId="SURFACECOMMS"/>

            <Call Id="LAP3" RefId="TestDrive"/>

        </Aggregate>
-->

<!-- Set control params here -->

<!--

        <Aggregate Id="kpPE75kpD14">

            <Sequence/>

            <Guidance:VerticalControlConfig>
                <Parallel/>
                <Setting><Guidance:VerticalControlConfig.kpPitchElevator/><Units:none/><Value>0.75</Value></Setting>
                <Setting><Guidance:VerticalControlConfig.maxDepthInt/><Units:degree/><Value>14.0</Value></Setting>
                <Setting><Guidance:VerticalControlConfig.kiPitchElevator/><Units:reciprocal_second/><Value>.008</Value></Setting>
                <Setting><Guidance:VerticalControlConfig.kpDepth/><Units:radian_per_meter/><Value>.14</Value></Setting>
            </Guidance:VerticalControlConfig>

            <Call Id="GPSFIX4" RefId="SURFACECOMMS"/>

            <Call Id="LAP4" RefId="TestDrive"/>

        </Aggregate>
-->

<!-- Set control params here -->

<!--

        <Aggregate Id="kpPE75kpD20">

            <Sequence/>

            <Guidance:VerticalControlConfig>
                <Parallel/>
                <Setting><Guidance:VerticalControlConfig.kpPitchElevator/><Units:none/><Value>0.75</Value></Setting>
                <Setting><Guidance:VerticalControlConfig.maxDepthInt/><Units:degree/><Value>14.0</Value></Setting>
                <Setting><Guidance:VerticalControlConfig.kiPitchElevator/><Units:reciprocal_second/><Value>.008</Value></Setting>
                <Setting><Guidance:VerticalControlConfig.kpDepth/><Units:radian_per_meter/><Value>.2</Value></Setting>
                <Setting><Guidance:VerticalControlConfig.kiDepthOff/><Units:radian_per_meter/><Value>.1</Value></Setting>
            </Guidance:VerticalControlConfig>

            <Call Id="GPSFIX5" RefId="SURFACECOMMS"/>

            <Call Id="LAP5" RefId="TestDrive"/>

        </Aggregate>
-->

    </Aggregate>

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

</Mission>
