<?xml version="1.0" encoding="UTF-8"?>
<schema targetNamespace="Tethys/Simulator"
    elementFormDefault="qualified"
    xmlns="http://www.w3.org/2001/XMLSchema"
    xmlns:Simulator="Tethys/Simulator"
    xmlns:Tethys="Tethys">

    <import namespace="Tethys" schemaLocation="Tethys.xsd"/>
    <element name="ExternalSim.latitudeSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.longitudeSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.rateUSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.rateVSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.rateWSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.ratePSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.rateQSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.rateRSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.propThrustSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.propTorqueSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.netBuoySim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.forceXSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.forceYSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.forceZSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.posXSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.posYSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.posZSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.rollSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.pitchSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.headingSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.posXDotSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.posYDotSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.posZDotSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.utmZoneSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.northernHemiSim" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.ahrsNoiseAmplitude" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="ExternalSim.depthNoiseAmplitude" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="InternalSim.platform_orientation" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="InternalSim.platform_pitch_angle" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="InternalSim.platform_roll_angle" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="InternalSim.depth" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="InternalSim.latitude" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="InternalSim.longitude" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="InternalSim.platform_propeller_rotation_rate" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="InternalSim.platform_elevator_angle" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="InternalSim.platform_rudder_angle" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="InternalSim.platform_mass_position" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="NavigationSim.latitude" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="NavigationSim.longitude" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>
    <element name="NavigationSim.platform_speed_wrt_sea_water" substitutionGroup="Tethys:Uri" type="Tethys:UriType"/>

</schema>