<?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="speed_step">

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

    <DefineArg Name="Wpt1Lat"><Units:degree/><Value>36.74</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree/><Value>-121.94</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Units:minute/><Value>120</Value></DefineArg>

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

<!-- The timeout -->

    <Timeout Duration="P250M"/>

<!-- And now the mission -->

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

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>30</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>1.0</Value></Setting>
        <Setting><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>30.0</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>
            <Elapsed><Universal:time_fix/></Elapsed>
            <Gt><Arg Name="NeedCommsTime"/></Gt>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Units:minute/><Value>130</Value></Gt></Or>
        </When>

        <Call RefId="SurfaceComms"/>

    </Aggregate>

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

    <Aggregate Id="SpeedStepsToWpt">

        <Sequence/>

        <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.depth/><Units:meter/><Value>20</Value></Setting>
            </Guidance:Pitch>

        </Aggregate>

        <Aggregate Id="SPEEDS">

            <Sequence/>

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.depth/><Units:meter/><Value>20</Value></Setting>
            </Guidance:Pitch>

            <Aggregate Id="Speed_1">

                <Sequence/>

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

                <Guidance:Wait>
                    <Sequence/>
                    <Timeout Duration="P15M"></Timeout>
                </Guidance:Wait>

            </Aggregate>

            <Aggregate Id="Speed_0_8">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.8</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Wait>
                    <Sequence/>
                    <Timeout Duration="P15M"></Timeout>
                </Guidance:Wait>

            </Aggregate>

            <Aggregate Id="Speed_0_7">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.7</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Wait>
                    <Sequence/>
                    <Timeout Duration="P15M"></Timeout>
                </Guidance:Wait>

            </Aggregate>

            <Aggregate Id="Speed_0_6">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.6</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Wait>
                    <Sequence/>
                    <Timeout Duration="P15M"></Timeout>
                </Guidance:Wait>

            </Aggregate>

            <Aggregate Id="Speed_0_5">

                <Sequence/>

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

                <Guidance:Wait>
                    <Sequence/>
                    <Timeout Duration="P15M"></Timeout>
                </Guidance:Wait>

            </Aggregate>

            <Aggregate Id="Speed_0_4">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.4</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Wait>
                    <Sequence/>
                    <Timeout Duration="P15M"></Timeout>
                </Guidance:Wait>

            </Aggregate>

            <Aggregate Id="Speed_0_3">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.3</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Wait>
                    <Sequence/>
                    <Timeout Duration="P15M"></Timeout>
                </Guidance:Wait>

            </Aggregate>

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

        </Aggregate>

<!-- End of  <Aggregate Id="SPEEDS"> -->

        <Aggregate Id="SpeedStepsTerminationWpt1">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Setting>
            </Guidance:Pitch>

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

        </Aggregate>

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

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

<!-- End of <Aggregate Id="SpeedStepsTerminationWpt1">-->

    </Aggregate>

<!-- End of <Aggregate Id="SpeedStepsToWpt1">-->

</Mission>
