<?xml version="1.0" encoding="UTF-8"?>
<Aggregate 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="SurfaceCommsShort">

    <DefineArg Name="FloatTime"><Units:second/><Value>180</Value></DefineArg>

    <DefineArg Name="Timeout"><Units:hour/><Value>1</Value></DefineArg>

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

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

    <When>
        <Called/>
    </When>

    <Timeout Duration="Timeout"/>

    <Guidance:GoToSurface>
        <Progression/>
        <Setting><Guidance:GoToSurface.pitch/><Arg Name="Pitch"/></Setting>
        <Setting><Guidance:GoToSurface.speed/><Arg Name="Speed"/></Setting>
    </Guidance:GoToSurface>

<!-- Below is what SurfaceFast (turbulence_daphne.xml) originally had, 
     but that didn't actually do comms...
         
    <Guidance:Wait>
        <Sequence/>
        <Setting><Guidance:Wait.duration/><Arg Name="FloatTime"/></Setting>
    </Guidance:Wait>

-->

    <Aggregate Id="CheckIn">

        <Sequence/>

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

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

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

    </Aggregate>

</Aggregate>
