mission phases, goals, details

missions/avcl/IS3460/LpvTransPacificReplenishmentMissionAVCL.xml

@@ -20,10 +20,22 @@
 		<!-- TODO Vehicle vehicleName="RescueDrone" vehicleType="UAV" -->
 		<MissionAgenda description=".">
 			<GoalList>
-				<Goal id="Goal0" title="Deploy, Launch" description="Launch robot for voyage from CONUS location on West Coast" phase="Launch" nextOnSuccess="Goal1" nextOnFailure="Goal99" nextOnException="Goal99">
-					<Reposition description="Leave dock, proceed to basin"/>
+				<Goal id="Goal0.0" title="Laboratory testing" description="Make preparations to get underway" phase="Launch" nextOnSuccess="Goal0.1" nextOnFailure="Goal0.0" nextOnException="Goal99">
+					<SpecialGoal description="Get ready... make all preparations to get underway"/>
+				</Goal>
+				<Goal id="Goal0.1" title="Preunderway checks" description="Fast cruise testing while still out of the water" phase="Launch" nextOnSuccess="Goal0.0" nextOnFailure="Goal99" nextOnException="Goal99">
+					<SpecialGoal description="Get set... test all systems in place without moving"/>
+				</Goal>
+				<Goal id="Goal0.2" title="Launch" description="Launch/lower robot into the water" phase="Launch" nextOnSuccess="Goal1" nextOnFailure="Goal99" nextOnException="Goal99">
+					<Reposition description="Get wet... put robot into the water"/>
 					<!-- TODO Risk personnel clear -->
 				</Goal>
+				<Goal id="Goal0.3" title="Postunderway checks" description="Confirm robot OK before releasing it" phase="Launch" nextOnSuccess="Goal1" nextOnFailure="Goal99" nextOnException="Goal99">
+					<SpecialGoal description="Get completely ready... Again test all systems in water prior to departure"/>
+				</Goal>
+				<Goal id="Goal0.4" title="Departure" description="Launch robot for voyage from CONUS location on West Coast" phase="Launch" nextOnSuccess="Goal1" nextOnFailure="Goal99" nextOnException="Goal99">
+					<SpecialGoal description="Go! ready to proceed on voyage."/>
+				</Goal>
 				<Goal id="Goal1" title="New Goal Name" description="provide a description" phase="Transit1" nextOnSuccess="Goal2" nextOnFailure="Goal99" nextOnException="Goal99">
 					<SpecialGoal description="TODO"/>
 				</Goal>