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

<!--
TEST_CODE_START

(lats, lons) = slate.read("latitude", "longitude")
waypoints = [ Location(36.737845, -121.88200, "degree"), \
              Location(36.73900, -121.88200, "degree"), \
              Location(36.73900, -121.88350, "degree") ]
# see if we reach those waypoints
j = 0
for i in range(len(lats)):
  loc = Location(float(lats[i].data), float(lons[i].data), "degree")
  if loc.isWithinDistance(waypoints[j], 100):
    j = j + 1
    if j >= len(waypoints):
      passed = True
      break

TEST_CODE_END
    -->

    <Timeout Duration="P3H"/>

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

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

    <Aggregate Id="TestAggregate">

        <Sequence/>

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

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

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Units:degree/><Value>36.737845</Value></Setting>
            <Setting><Guidance:Waypoint.longitude/><Units:degree/><Value>-121.882</Value></Setting>
        </Guidance:Waypoint>

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Units:degree/><Value>36.739</Value></Setting>
            <Setting><Guidance:Waypoint.longitude/><Units:degree/><Value>-121.882</Value></Setting>
        </Guidance:Waypoint>

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Units:degree/><Value>36.739</Value></Setting>
            <Setting><Guidance:Waypoint.longitude/><Units:degree/><Value>-121.8835</Value></Setting>
        </Guidance:Waypoint>

    </Aggregate>

</Mission>
