<?xml version="1.0" encoding="UTF-8"?>
<Aggregate xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
           xmlns="Tethys"
           xmlns:Units="Tethys/Units"
           xmlns:Guidance="Tethys/Guidance"
           xmlns:Universal="Tethys/Universal"
           xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                               Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                               Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                               Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="SurfaceComms">

    <DefineArg Name="SurfaceDepthRate"><Units:meter_per_second/><Value>NaN</Value></DefineArg>

    <DefineArg Name="SurfacePitch"><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="SurfaceSpeed"><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="IridiumTimeout"><Units:minute/><Value>30</Value></DefineArg>

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

    <Sequence/>

    <Guidance:GoToSurface>
        <Progression/>
        <Setting><Guidance:GoToSurface.depthRate/><Arg Name="SurfaceDepthRate"/></Setting>
        <Setting><Guidance:GoToSurface.pitch/><Arg Name="SurfacePitch"/></Setting>
        <Setting><Guidance:GoToSurface.speed/><Arg Name="SurfaceSpeed"/></Setting>
    </Guidance:GoToSurface>

    <Aggregate>

        <Sequence/>

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

        <Syslog>##UnpackSplit##</Syslog>

    </Aggregate>

    <Aggregate>

        <Sequence/>

        <Preemptive>
            <True/>
        </Preemptive>

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

        <ReadDatum>
            <Timeout Duration="IridiumTimeout"/>
            <Universal:platform_communications/>
        </ReadDatum>

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

    </Aggregate>

</Aggregate>
