<?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="TestMission">

<!--
TEST_CODE_START
# Always pass: we are looking for a lack of critical failures here
passed = True
TEST_CODE_END
-->

    <Timeout Duration="P1H"/>

    <Insert Filename="RegressionTests/InsertHighPriority.xml"/>

    <Insert Filename="RegressionTests/InsertSurfaceOps.xml"/>

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

    <Aggregate Id="DiveFor10m">

        <Sequence/>

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

        <Guidance:Point Id="go10mWest">
            <Sequence/>
            <Setting><Guidance:Point.eastingsDelta/><Units:meter/><Value>-10</Value></Setting>
        </Guidance:Point>

    </Aggregate>

    <Aggregate Id="SpiralToSurface">

        <Sequence/>

        <Guidance:Point>
            <Parallel/>
            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>15</Value></Setting>
        </Guidance:Point>

        <Guidance:GoToSurface>
            <Sequence/>
        </Guidance:GoToSurface>

    </Aggregate>

    <Aggregate Id="DiveFor20m">

        <Sequence/>

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

        <Guidance:Point Id="go20mWest">
            <Sequence/>
            <Setting><Guidance:Point.eastingsDelta/><Units:meter/><Value>-20</Value></Setting>
        </Guidance:Point>

    </Aggregate>

    <Call RefId="SpiralToSurface"/>

    <Aggregate Id="DiveFor30m">

        <Sequence/>

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

        <Guidance:Point Id="go30mWest">
            <Sequence/>
            <Setting><Guidance:Point.eastingsDelta/><Units:meter/><Value>-30</Value></Setting>
        </Guidance:Point>

    </Aggregate>

    <Call RefId="SpiralToSurface"/>

    <Aggregate Id="DiveFor40m">

        <Sequence/>

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

        <Guidance:Point Id="go40mWest">
            <Sequence/>
            <Setting><Guidance:Point.eastingsDelta/><Units:meter/><Value>-40</Value></Setting>
        </Guidance:Point>

    </Aggregate>

    <Call RefId="SpiralToSurface"/>

    <Aggregate Id="DiveFor50m">

        <Sequence/>

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

        <Guidance:Point Id="go50mWest">
            <Sequence/>
            <Setting><Guidance:Point.eastingsDelta/><Units:meter/><Value>-50</Value></Setting>
        </Guidance:Point>

    </Aggregate>

    <Call RefId="SpiralToSurface"/>

    <Aggregate Id="DiveFor60m">

        <Sequence/>

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

        <Guidance:Point Id="go60mWest">
            <Sequence/>
            <Setting><Guidance:Point.eastingsDelta/><Units:meter/><Value>-60</Value></Setting>
        </Guidance:Point>

    </Aggregate>

    <Call RefId="SpiralToSurface"/>

    <Aggregate Id="DiveFor70m">

        <Sequence/>

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

        <Guidance:Point Id="go70mWest">
            <Sequence/>
            <Setting><Guidance:Point.eastingsDelta/><Units:meter/><Value>-70</Value></Setting>
        </Guidance:Point>

    </Aggregate>

    <Call RefId="SpiralToSurface"/>

    <Aggregate Id="DiveFor80m">

        <Sequence/>

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

        <Guidance:Point Id="go80mWest">
            <Sequence/>
            <Setting><Guidance:Point.eastingsDelta/><Units:meter/><Value>-80</Value></Setting>
        </Guidance:Point>

    </Aggregate>

    <Call RefId="SpiralToSurface"/>

    <Aggregate Id="DiveFor90m">

        <Sequence/>

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

        <Guidance:Point Id="go90mWest">
            <Sequence/>
            <Setting><Guidance:Point.eastingsDelta/><Units:meter/><Value>-90</Value></Setting>
        </Guidance:Point>

    </Aggregate>

    <Call RefId="SpiralToSurface"/>

    <Aggregate Id="DiveFor100m">

        <Sequence/>

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

        <Guidance:Point Id="go100mWest">
            <Sequence/>
            <Setting><Guidance:Point.eastingsDelta/><Units:meter/><Value>-100</Value></Setting>
        </Guidance:Point>

    </Aggregate>

    <Call RefId="SpiralToSurface"/>

</Mission>
