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Insert/SurfaceGPS.tl

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aggregate SurfaceGPS {
  arguments {
    HalfTimeout = 30 second
      """
      Timeout for each attempt to read Universal:latitude_fix from GPS (two
      attempts are made, hence the name HalfTimeout).
      """

    SurfacePitch = 20 degree

    SurfaceSpeed = 1 meter_per_second
  }

  run in sequence

  behavior Guidance:GoToSurface {
    run in progression

    set pitch = SurfacePitch
    set speed = SurfaceSpeed
  }

  aggregate GetFix {
    run in sequence repeat=2

    readDatum {
      timeout duration=HalfTimeout

      Universal:latitude_fix
    }
  }
}