<?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="triangle_control_buoyancy_compare">

<!-- Wpt1 d=74m; Wpt2 d=75m; Wpt3 d=77m -->

    <DefineArg Name="Wpt1Lat"><Units:degree/><Value>36.819</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree/><Value>-121.876</Value></DefineArg>

    <DefineArg Name="Wpt2Lat"><Units:degree/><Value>36.823</Value></DefineArg>

    <DefineArg Name="Wpt2Lon"><Units:degree/><Value>-121.881</Value></DefineArg>

    <DefineArg Name="Wpt3Lat"><Units:degree/><Value>36.818</Value></DefineArg>

    <DefineArg Name="Wpt3Lon"><Units:degree/><Value>-121.886</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>

    <Timeout Duration="P420M"/>

    <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>

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

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

    <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>40</Value></Gt></And>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Units:minute/><Value>45</Value></Gt></Or>
        </When>

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

    </Aggregate>

    <Aggregate Id="WaypointOne">

        <Sequence/>

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

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

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

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

    </Aggregate>

    <Aggregate Id="ThreeLaps">

        <Sequence/>

        <Aggregate Id="TestDrive">

            <Sequence/>

            <Aggregate Id="ElevatorToWpt2">

                <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="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="MassToWpt3">

                <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="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="MassElevatorToWpt1">

                <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="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>

        <Aggregate Id="Lap2">

            <Sequence/>

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

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

        </Aggregate>

        <Aggregate Id="Lap3">

            <Sequence/>

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

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

        </Aggregate>

    </Aggregate>

<!-- End of 3 laps -->

    <Aggregate Id="NewGains1">

        <Sequence/>

        <Assign><Parallel/><Control:VerticalControl.elevDeadband/><Units:degree/><Value>0.01</Value></Assign>

        <Assign><Parallel/><Control:VerticalControl.kdPitchMass/><Units:second/><Value>0.2</Value></Assign>

        <Assign><Parallel/><Control:VerticalControl.kiDepthOff/><Units:meter_per_second/><Value>.2</Value></Assign>

        <Assign><Parallel/><Control:VerticalControl.kiPitchMass/><Units:reciprocal_second/><Value>0.002</Value></Assign>

        <Assign><Parallel/><Control:VerticalControl.kpPitchMass/><Units:count/><Value>0.1</Value></Assign>

        <Assign><Parallel/><Control:VerticalControl.massDeadband/><Units:millimeter/><Value>0.01</Value></Assign>

        <Assign><Parallel/><Control:VerticalControl.maxDiveAccel/><Units:meter_per_second_squared/><Value>0.001</Value></Assign>

        <Call Id="RUN2" RefId="ThreeLaps"/>

    </Aggregate>

</Mission>
