<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control" 
       xmlns:Derivation="Tethys/Derivation" 
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.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="thermocline_2">

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

    <DefineArg Name="UpPitch"><Units:degree/><Value>15.0</Value></DefineArg>

    <DefineArg Name="DownPitch"><Units:degree/><Value>-15.0</Value></DefineArg>

    <DefineArg Name="ApproachDepth"><Units:meter/><Value>5.0</Value></DefineArg>

    <DefineArg Name="Wpt1Lat"><Units:degree/><Value>36.80486</Value></DefineArg>

    <DefineArg Name="Wpt1Lon"><Units:degree/><Value>-121.81075</Value></DefineArg>

    <DefineArg Name="Wpt2Lat"><Units:degree/><Value>36.806153</Value></DefineArg>

    <DefineArg Name="Wpt2Lon"><Units:degree/><Value>-121.818970</Value></DefineArg>

    <DefineArg Name="Wpt3Lat"><Units:degree/><Value>36.80732</Value></DefineArg>

    <DefineArg Name="Wpt3Lon"><Units:degree/><Value>-121.827194</Value></DefineArg>

    <Timeout Duration="P120M"/>

    <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>0.75</Value></Setting>
    </Guidance:OffshoreEnvelope>

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

    <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>45</Value></Gt></And>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Units:minute/><Value>50</Value></Gt></Or>
        </When>

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

    </Aggregate>

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

    <Aggregate Id="Waypoint2KM">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.depth/><Arg Name="ApproachDepth"/></Setting>
        </Guidance:Pitch>

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

        <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 Id="RunTestOutA">

        <Sequence/>

        <Timeout Duration="P30M"/>

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

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

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>3</Value></Setting>
        </Guidance:DepthEnvelope>

        <Aggregate Id="INITIAL_DIVE">

            <Sequence/>

            <Break>
                <Universal:depth/>
                <Gt><Units:meter/><Value>8</Value></Gt>
            </Break>

            <Syslog>Initial Dive at <Universal:depth/><Units:meter/></Syslog>

            <Guidance:Waypoint Id="Wpt2">
                <Parallel/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Setting>
            </Guidance:Waypoint>

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

        <Aggregate Id="InitialYoYo">

            <Sequence/>

            <Break>
                <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                <Lt><Units:second/><Value>1</Value></Lt>
            </Break>

            <Guidance:Waypoint Id="Wpt2">
                <Parallel/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Setting>
            </Guidance:Waypoint>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.upPitch/><Arg Name="UpPitch"/></Setting>
                <Setting><Guidance:YoYo.downPitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:YoYo>

        </Aggregate>

        <Aggregate Id="GradientYoYo">

            <Sequence/>

            <Aggregate Id="Notify">

                <When>
                    <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                    <Lt><Units:second/><Value>0.4</Value></Lt>
                </When>

                <Syslog>Depth=<Universal:depth/><Units:meter/>, Thermocline Depth = <Derivation:TempGradientCalculator.thermoclineDepth/><Units:meter/>, Target depth = <Derivation:TempGradientCalculator.targetDepth/><Units:meter/></Syslog>

            </Aggregate>

            <Guidance:Pitch Id="PitchDown">
                <While>
                    <Universal:depth/>
                    <Lt><Derivation:TempGradientCalculator.targetDepth/></Lt>
                </While>
                <Setting><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:Pitch>

            <Guidance:Pitch Id="PitchUp">
                <While>
                    <Universal:depth/>
                    <Gt><Derivation:TempGradientCalculator.targetDepth/></Gt>
                </While>
                <Setting><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></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>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RunTestOutB">

        <Sequence/>

        <Timeout Duration="P30M"/>

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

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

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>3</Value></Setting>
        </Guidance:DepthEnvelope>

        <Aggregate Id="INITIAL_UP">

            <Sequence/>

            <Break>
                <Universal:depth/>
                <Lt><Units:meter/><Value>3</Value></Lt>
            </Break>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

        <Aggregate Id="INITIAL_DIVE">

            <Sequence/>

            <Break>
                <Universal:depth/>
                <Gt><Units:meter/><Value>8</Value></Gt>
            </Break>

            <Syslog>Initial Dive at <Universal:depth/><Units:meter/></Syslog>

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

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

        <Aggregate Id="InitialYoYo">

            <Sequence/>

            <Break>
                <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                <Lt><Units:second/><Value>1</Value></Lt>
            </Break>

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

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.upPitch/><Arg Name="UpPitch"/></Setting>
                <Setting><Guidance:YoYo.downPitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:YoYo>

        </Aggregate>

        <Aggregate Id="GradientYoYo">

            <Sequence/>

            <Aggregate Id="Notify">

                <When>
                    <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                    <Lt><Units:second/><Value>0.4</Value></Lt>
                </When>

                <Syslog>Depth=<Universal:depth/><Units:meter/>, Thermocline Depth = <Derivation:TempGradientCalculator.thermoclineDepth/><Units:meter/>, Target depth = <Derivation:TempGradientCalculator.targetDepth/><Units:meter/></Syslog>

            </Aggregate>

            <Guidance:Pitch Id="PitchDown">
                <While>
                    <Universal:depth/>
                    <Lt><Derivation:TempGradientCalculator.targetDepth/></Lt>
                </While>
                <Setting><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:Pitch>

            <Guidance:Pitch Id="PitchUp">
                <While>
                    <Universal:depth/>
                    <Gt><Derivation:TempGradientCalculator.targetDepth/></Gt>
                </While>
                <Setting><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></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>

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

    </Aggregate>

    <Aggregate Id="RunTestBackA">

        <Sequence/>

        <Timeout Duration="P40M"/>

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

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

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>3</Value></Setting>
        </Guidance:DepthEnvelope>

        <Aggregate Id="INITIAL_DIVE">

            <Sequence/>

            <Break>
                <Universal:depth/>
                <Gt><Units:meter/><Value>8</Value></Gt>
            </Break>

            <Syslog>Initial Dive at <Universal:depth/><Units:meter/></Syslog>

            <Guidance:Waypoint Id="Wpt2RETURN">
                <Parallel/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Setting>
            </Guidance:Waypoint>

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

        <Aggregate Id="InitialYoYo">

            <Sequence/>

            <Break>
                <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                <Lt><Units:second/><Value>1</Value></Lt>
            </Break>

            <Guidance:Waypoint Id="Wpt2RETURN">
                <Parallel/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Setting>
            </Guidance:Waypoint>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.upPitch/><Arg Name="UpPitch"/></Setting>
                <Setting><Guidance:YoYo.downPitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:YoYo>

        </Aggregate>

        <Aggregate Id="GradientYoYo">

            <Sequence/>

            <Aggregate Id="Notify">

                <When>
                    <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                    <Lt><Units:second/><Value>0.4</Value></Lt>
                </When>

                <Syslog>Depth=<Universal:depth/><Units:meter/>, Thermocline Depth = <Derivation:TempGradientCalculator.thermoclineDepth/><Units:meter/>, Target depth = <Derivation:TempGradientCalculator.targetDepth/><Units:meter/></Syslog>

            </Aggregate>

            <Guidance:Pitch Id="PitchDown">
                <While>
                    <Universal:depth/>
                    <Lt><Derivation:TempGradientCalculator.targetDepth/></Lt>
                </While>
                <Setting><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:Pitch>

            <Guidance:Pitch Id="PitchUp">
                <While>
                    <Universal:depth/>
                    <Gt><Derivation:TempGradientCalculator.targetDepth/></Gt>
                </While>
                <Setting><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></Setting>
            </Guidance:Pitch>

            <Guidance:Waypoint Id="Wpt2RETURN">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt2Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt2Lon"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RunTestBackB">

        <Sequence/>

        <Timeout Duration="P40M"/>

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

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

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>3</Value></Setting>
        </Guidance:DepthEnvelope>

        <Aggregate Id="INITIAL_UP">

            <Sequence/>

            <Break>
                <Universal:depth/>
                <Lt><Units:meter/><Value>3</Value></Lt>
            </Break>

            <Guidance:Waypoint Id="Wpt1RETURN">
                <Parallel/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
            </Guidance:Waypoint>

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

        <Aggregate Id="INITIAL_DIVE">

            <Sequence/>

            <Break>
                <Universal:depth/>
                <Gt><Units:meter/><Value>8</Value></Gt>
            </Break>

            <Syslog>Initial Dive at <Universal:depth/><Units:meter/></Syslog>

            <Guidance:Waypoint Id="Wpt1RETURN">
                <Parallel/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
            </Guidance:Waypoint>

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:Pitch>

        </Aggregate>

        <Aggregate Id="InitialYoYo">

            <Sequence/>

            <Break>
                <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                <Lt><Units:second/><Value>1</Value></Lt>
            </Break>

            <Guidance:Waypoint Id="Wpt1RETURN">
                <Parallel/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
            </Guidance:Waypoint>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.upPitch/><Arg Name="UpPitch"/></Setting>
                <Setting><Guidance:YoYo.downPitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:YoYo>

        </Aggregate>

        <Aggregate Id="GradientYoYo">

            <Sequence/>

            <Aggregate Id="Notify">

                <When>
                    <Elapsed><Derivation:TempGradientCalculator.targetDepth/></Elapsed>
                    <Lt><Units:second/><Value>0.4</Value></Lt>
                </When>

                <Syslog>Depth=<Universal:depth/><Units:meter/>, Thermocline Depth = <Derivation:TempGradientCalculator.thermoclineDepth/><Units:meter/>, Target depth = <Derivation:TempGradientCalculator.targetDepth/><Units:meter/></Syslog>

            </Aggregate>

            <Guidance:Pitch Id="PitchDown">
                <While>
                    <Universal:depth/>
                    <Lt><Derivation:TempGradientCalculator.targetDepth/></Lt>
                </While>
                <Setting><Guidance:Pitch.pitch/><Arg Name="DownPitch"/></Setting>
            </Guidance:Pitch>

            <Guidance:Pitch Id="PitchUp">
                <While>
                    <Universal:depth/>
                    <Gt><Derivation:TempGradientCalculator.targetDepth/></Gt>
                </While>
                <Setting><Guidance:Pitch.pitch/><Arg Name="UpPitch"/></Setting>
            </Guidance:Pitch>

            <Guidance:Waypoint Id="Wpt1RETURN">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Wpt1Lat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Wpt1Lon"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

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

    </Aggregate>

    <Syslog>Done</Syslog>

</Mission>
