﻿<?xml version='1.0' encoding='UTF-8'?>
<Stack 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://aosn.mbari.org/tethys/Xml/Tethys.xsd                            Tethys/Control http://aosn.mbari.org/tethys/Xml/Control.xsd                            Tethys/Guidance http://aosn.mbari.org/tethys/Xml/Guidance.xsd                            Tethys/Units http://aosn.mbari.org/tethys/Xml/Units.xsd                            Tethys/Universal http://aosn.mbari.org/tethys/Xml/Universal.xsd" Id="VB_Test">
  <Timeout Duration="P75M"/>
  <Guidance:DepthEnvelope RunIn="Parallel">
    <Set>
      <Guidance:DepthEnvelope.minDepth/>
      <Units:meter/>
      <Value>0</Value>
    </Set>
    <Set>
      <Guidance:DepthEnvelope.maxDepth/>
      <Units:meter/>
      <Value>15</Value>
    </Set>
  </Guidance:DepthEnvelope>
  <Insert Filename="Missions/Science.xml"/>
  <Stack>
    <Guidance:SetSpeed RunIn="Parallel">
      <Set>
        <Guidance:SetSpeed.speed/>
        <Units:meter_per_second/>
        <Value>0</Value>
      </Set>
    </Guidance:SetSpeed>
    <Guidance:Pitch RunIn="Parallel">
      <Set>
        <Guidance:Pitch.massPosition/>
        <Units:meter/>
        <Value>0</Value>
      </Set>
      <Set>
        <Guidance:Pitch.depth/>
        <Units:meter/>
        <Value>15</Value>
      </Set>
    </Guidance:Pitch>
    <Stack Id="Buoyancy100" Repeat="10" >
      <Guidance:Buoyancy RunIn="Parallel">
        <Set>
          <Guidance:Buoyancy.position/>
          <Units:cubic_centimeter/>
          <Value>100</Value>
        </Set>
      </Guidance:Buoyancy>
      <Guidance:Wait RunIn="Sequence">
        <Set>
          <Guidance:Wait.duration/>
          <Units:minute/>
          <Value>1</Value>
        </Set>
      </Guidance:Wait>
    </Stack>
    <Stack Id="Buoyancy500">
      <Guidance:Buoyancy RunIn="Parallel">
        <Set>
          <Guidance:Buoyancy.position/>
          <Units:cubic_centimeter/>
          <Value>500</Value>
        </Set>
      </Guidance:Buoyancy>
      <Guidance:Wait RunIn="Sequence">
        <Set>
          <Guidance:Wait.duration/>
          <Units:minute/>
          <Value>5</Value>
        </Set>
      </Guidance:Wait>
    </Stack>
  </Stack>
</Stack>
