<?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_mass">

<!-- Wpt1 d=42m; Wpt2 d=95m; Wpt3 d=121m -->

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

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

    <DefineArg Name="Wpt2Lat"><Units:degree/><Value>36.811551</Value></DefineArg>

    <DefineArg Name="Wpt2Lon"><Units:degree/><Value>-121.832617</Value></DefineArg>

    <DefineArg Name="Wpt3Lat"><Units:degree/><Value>36.806609</Value></DefineArg>

    <DefineArg Name="Wpt3Lon"><Units:degree/><Value>-121.836791</Value></DefineArg>

    <DefineArg Name="Period"><Units:second/><Value>0.4</Value></DefineArg>

    <Timeout Duration="P190M"/>

    <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" />

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

<!-- 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>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.period/><Arg Name="Period"/></Setting>
    </Guidance:SetSpeed>

    <Aggregate Id="WaypointOne">

        <Sequence/>

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

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
            <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></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="TestDrive">

        <Sequence/>

        <Aggregate Id="YoyoToWpt2">

            <Sequence/>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
            </Guidance:Pitch>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>10</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: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>

<!--End of <Aggregate Id="YoyoToWpt2"> -->

        <Aggregate Id="DepthStepsToWpt3">

            <Sequence/>

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

            <Aggregate Id="Depth15">

                <Sequence/>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
                    <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Setting>
                </Guidance:Pitch>

                <Guidance:Wait>
                    <Sequence/>
                    <Timeout Duration="P5M"></Timeout>
                </Guidance:Wait>

            </Aggregate>

            <Aggregate Id="Depth25">

                <Sequence/>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
                    <Setting><Guidance:Pitch.depth/><Units:meter/><Value>25</Value></Setting>
                </Guidance:Pitch>

                <Guidance:Wait>
                    <Sequence/>
                    <Timeout Duration="P5M"></Timeout>
                </Guidance:Wait>

            </Aggregate>

            <Aggregate Id="Depth15">

                <Sequence/>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
                    <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></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>

            </Aggregate>

            <Guidance:Waypoint Id="Wpt3">
                <Parallel/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt3Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt3Lon"/></Setting>
            </Guidance:Waypoint>

            <Call Id="PHONEHOMEWPT3" RefId="SURFACECOMMS"/>

        </Aggregate>

<!--  End of <Aggregate Id="DepthStepsToWpt3"> -->

        <Aggregate Id="SpeedStepsToWpt1">

            <Sequence/>

            <Aggregate Id="SPEED_STEPS_DIVE">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Pitch>
                    <Sequence/>
                    <Setting><Guidance:Pitch.depth/><Units:meter/><Value>32</Value></Setting>
                </Guidance:Pitch>

            </Aggregate>

            <Aggregate Id="SPEEDS">

                <Sequence/>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></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="P3M"></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="P3M"></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="P4M"></Timeout>
                    </Guidance:Wait>

                </Aggregate>

                <Aggregate Id="Speed_0_50">

                    <Sequence/>

                    <Guidance:SetSpeed>
                        <Parallel/>
                        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.50</Value></Setting>
                    </Guidance:SetSpeed>

                    <Guidance:Wait>
                        <Sequence/>
                        <Timeout Duration="P5M"></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="P3M"></Timeout>
                    </Guidance:Wait>

                </Aggregate>

            </Aggregate>

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

            <Aggregate Id="SpeedStepsTerminationWpt1">

                <Sequence/>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1</Value></Setting>
                </Guidance:SetSpeed>

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

    </Aggregate>

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

    <Aggregate Id="MAIN">

        <Sequence/>

<!-- Set control params here -->

        <Aggregate Id="NewGains1">

            <Sequence/>

            <Assign><Parallel/><Control:VerticalControl.kdPitchMass/><Units:second/><Value>0.0</Value></Assign>

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

            <Assign><Parallel/><Control:VerticalControl.kiPitchMass/><Units:reciprocal_second/><Value>0.0007</Value></Assign>

            <Assign><Parallel/><Control:VerticalControl.kpDepth/><Units:radian_per_meter/><Value>.08</Value></Assign>

<!-- // Depth control:
*   kiDepthOff            = 0.10 m/s;          //Integrator shut-off    //      0.1      
*   kpDepth               = 0.08 rad/m;        //Dive loop pos'n gain  // was 0.09  0.15
   kiDepth               = 0.002 rad/s/m;     //Dive loop int. gain  // was 0.0008  
   kdDepth               = 0.0 rad-s/m;       //Dive loop deriv. gain // was 0.12

   maxDepthInt           = 20. arcdeg;        //max cmded pitch frm depth int
   maxPitchMassInt       = 30 mm;             // max cmded mass posn from pitch int
   kpPitchMass           = 0.010 n/a;         // Proportional gain  
*   kiPitchMass           = 0.0015 1/s;        // Integral gain     
*   kdPitchMass           = 0.00 s;            // Derivative gain         0.2  
 -->

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

        </Aggregate>

    </Aggregate>

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

</Mission>
