<?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="speed_step_mass">

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

    <Timeout Duration="P30M"/>

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>5</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>38</Value></Setting>
    </Guidance:DepthEnvelope>

    <Aggregate Id="GPSFIX">

        <Sequence/>

        <Guidance:GoToSurface>
            <Progression/>
        </Guidance:GoToSurface>

        <Aggregate>

            <Sequence/>

            <Preemptive>
                <True/>
            </Preemptive>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
            </Guidance:SetSpeed>

            <ReadDatum>
                <Universal:latitude_fix/>
            </ReadDatum>

            <Guidance:PrepareToDive>
                <Sequence/>
            </Guidance:PrepareToDive>

        </Aggregate>

    </Aggregate>

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

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

    <Guidance:Point>
        <Parallel/>
        <Setting><Guidance:Point.heading/><Units:degree/><Value>210</Value></Setting>
    </Guidance:Point>

    <Aggregate Id="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.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
            <Setting><Guidance:Pitch.depth/><Units:meter/><Value>30</Value></Setting>
        </Guidance:Pitch>

    </Aggregate>

    <Aggregate>

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
            <Setting><Guidance:Pitch.depth/><Units:meter/><Value>30</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_05">

            <Sequence/>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1.05</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">

            <Sequence/>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
            </Guidance:SetSpeed>

            <Guidance:Wait>
                <Sequence/>
                <Timeout Duration="P30S"></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 Id="Speed_0_25">

            <Sequence/>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.25</Value></Setting>
            </Guidance:SetSpeed>

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

        </Aggregate>

    </Aggregate>

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

</Mission>
