<?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="track">

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

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

    <DefineArg Name="CenterLat"><Units:degree/><Value>0.0</Value></DefineArg>

    <DefineArg Name="CenterLon"><Units:degree/><Value>0.0</Value></DefineArg>

    <DefineArg Name="Northings1"><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="Eastings1"><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="Northings2"><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="Eastings2"><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="Northings3"><Units:meter/><Value>-2000</Value></DefineArg>

    <DefineArg Name="Eastings3"><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="Northings4"><Units:meter/><Value>0</Value></DefineArg>

    <DefineArg Name="Eastings4"><Units:meter/><Value>-2000</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Units:meter/><Value>3.0</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Units:meter/><Value>18.0</Value></DefineArg>

    <DefineArg Name="YoYoUpPitch"><Units:degree/><Value>20.0</Value></DefineArg>

    <DefineArg Name="YoYoDownPitch"><Units:degree/><Value>-20.0</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="CenterComms"><True/></DefineArg>

    <DefineArg Name="Repeat"><False/></DefineArg>

<!-- The timeout -->

    <Timeout Duration="P1440M"/>

<!-- 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>65</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Units:kilometer/><Value>2.0</Value></Setting>
        <Setting><Guidance:OffshoreEnvelope.maxOffshore/><Units:kilometer/><Value>20.0</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>
            <Universal:platform_pitch_angle/>
            <Gt><Units:degree/><Value>0</Value></Gt>
            <And><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsTime"/></Gt></And>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Units:minute/><Value>65</Value></Gt></Or>
        </When>

        <Call RefId="SurfaceComms"/>

    </Aggregate>

<!-- If we're executing here or below, lets' get science data! -->

    <Insert Filename="Insert/Science.xml">
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
        <RedefineArg Name="PeakDetectNO3Active"><True/></RedefineArg>
    </Insert>

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

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
    </Guidance:SetSpeed>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></Setting>
        <Setting><Guidance:DepthEnvelope.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
        <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:YoYo>
        <Parallel/>
        <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
        <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
    </Guidance:YoYo>

    <Guidance:Waypoint Id="Center0">
        <Sequence/>
        <Break><Arg Name="CenterLat"/>
            <Eq><Units:degree/><Value>0</Value></Eq>
            <Or><Arg Name="CenterLon"/><Eq><Units:degree/><Value>0</Value></Eq></Or>
        </Break>
        <Setting><Guidance:Waypoint.latitude/><Arg Name="CenterLat"/></Setting>
        <Setting><Guidance:Waypoint.longitude/><Arg Name="CenterLon"/></Setting>
    </Guidance:Waypoint>

    <Call RefId="SurfaceComms"/>

    <Aggregate Id="Figure4">

        <Sequence/>

        <Break><Arg Name="CenterLat"/>
            <Eq><Units:degree/><Value>0</Value></Eq>
            <Or><Arg Name="CenterLon"/><Eq><Units:degree/><Value>0</Value></Eq></Or>
        </Break>

        <Guidance:Point Id="Point1">
            <Sequence/>
            <Setting><Guidance:Point.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Point.longitude/><Arg Name="CenterLon"/></Setting>
            <Setting><Guidance:Point.northingsDelta/><Arg Name="Northings1"/></Setting>
            <Setting><Guidance:Point.eastingsDelta/><Arg Name="Eastings1"/></Setting>
        </Guidance:Point>

        <Call RefId="SurfaceComms"/>

        <Guidance:Point Id="Point2">
            <Sequence/>
            <Setting><Guidance:Point.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Point.longitude/><Arg Name="CenterLon"/></Setting>
            <Setting><Guidance:Point.northingsDelta/><Arg Name="Northings2"/></Setting>
            <Setting><Guidance:Point.eastingsDelta/><Arg Name="Eastings2"/></Setting>
        </Guidance:Point>

        <Call RefId="SurfaceComms"/>

        <Guidance:Waypoint Id="Center2">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="CenterLon"/></Setting>
        </Guidance:Waypoint>

        <Aggregate>

            <Sequence/>

            <Break><Arg Name="CenterComms"/>
                <Eq><False/></Eq>
            </Break>

            <Call RefId="SurfaceComms"/>

        </Aggregate>

        <Guidance:Point Id="Point4">
            <Sequence/>
            <Setting><Guidance:Point.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Point.longitude/><Arg Name="CenterLon"/></Setting>
            <Setting><Guidance:Point.northingsDelta/><Arg Name="Northings4"/></Setting>
            <Setting><Guidance:Point.eastingsDelta/><Arg Name="Eastings4"/></Setting>
        </Guidance:Point>

        <Call RefId="SurfaceComms"/>

        <Guidance:Point Id="Point3">
            <Sequence/>
            <Setting><Guidance:Point.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Point.longitude/><Arg Name="CenterLon"/></Setting>
            <Setting><Guidance:Point.northingsDelta/><Arg Name="Northings3"/></Setting>
            <Setting><Guidance:Point.eastingsDelta/><Arg Name="Eastings3"/></Setting>
        </Guidance:Point>

        <Call RefId="SurfaceComms"/>

        <Guidance:Waypoint Id="Center3">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="CenterLon"/></Setting>
        </Guidance:Waypoint>

        <Aggregate>

            <Sequence/>

            <Break><Arg Name="CenterComms"/>
                <Eq><False/></Eq>
            </Break>

            <Call RefId="SurfaceComms"/>

        </Aggregate>

        <Guidance:Point Id="Point1">
            <Sequence/>
            <Setting><Guidance:Point.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Point.longitude/><Arg Name="CenterLon"/></Setting>
            <Setting><Guidance:Point.northingsDelta/><Arg Name="Northings1"/></Setting>
            <Setting><Guidance:Point.eastingsDelta/><Arg Name="Eastings1"/></Setting>
        </Guidance:Point>

        <Call RefId="SurfaceComms"/>

        <Guidance:Point Id="Point4">
            <Sequence/>
            <Setting><Guidance:Point.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Point.longitude/><Arg Name="CenterLon"/></Setting>
            <Setting><Guidance:Point.northingsDelta/><Arg Name="Northings4"/></Setting>
            <Setting><Guidance:Point.eastingsDelta/><Arg Name="Eastings4"/></Setting>
        </Guidance:Point>

        <Call RefId="SurfaceComms"/>

        <Guidance:Waypoint Id="Center4">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="CenterLon"/></Setting>
        </Guidance:Waypoint>

        <Aggregate>

            <Sequence/>

            <Break><Arg Name="CenterComms"/>
                <Eq><False/></Eq>
            </Break>

            <Call RefId="SurfaceComms"/>

        </Aggregate>

        <Guidance:Point Id="Point2">
            <Sequence/>
            <Setting><Guidance:Point.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Point.longitude/><Arg Name="CenterLon"/></Setting>
            <Setting><Guidance:Point.northingsDelta/><Arg Name="Northings2"/></Setting>
            <Setting><Guidance:Point.eastingsDelta/><Arg Name="Eastings2"/></Setting>
        </Guidance:Point>

        <Call RefId="SurfaceComms"/>

        <Guidance:Point Id="Point3">
            <Sequence/>
            <Setting><Guidance:Point.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Point.longitude/><Arg Name="CenterLon"/></Setting>
            <Setting><Guidance:Point.northingsDelta/><Arg Name="Northings3"/></Setting>
            <Setting><Guidance:Point.eastingsDelta/><Arg Name="Eastings3"/></Setting>
        </Guidance:Point>

        <Call RefId="SurfaceComms"/>

        <Guidance:Waypoint Id="Center3">
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="CenterLat"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="CenterLon"/></Setting>
        </Guidance:Waypoint>

        <Aggregate>

            <Sequence/>

            <Break><Arg Name="CenterComms"/>
                <Eq><False/></Eq>
            </Break>

            <Call RefId="SurfaceComms"/>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="RepeatIf">

        <Sequence/>

        <Break><Arg Name="Repeat"/>
            <Eq><False/></Eq>
            <Or><Arg Name="CenterLat"/><Eq><Units:degree/><Value>0</Value></Eq></Or>
            <Or><Arg Name="CenterLon"/><Eq><Units:degree/><Value>0</Value></Eq></Or>
        </Break>

        <Aggregate Id="Repeat">

            <Sequence Repeat="2"/>

            <Call RefId="Figure4"/>

        </Aggregate>

    </Aggregate>

    <Aggregate>

        <Sequence/>

        <Break><Arg Name="CenterComms"/>
            <Eq><True/></Eq>
        </Break>

        <Call RefId="SurfaceComms"/>

    </Aggregate>

</Mission>
