<?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="DiveTestMassTank">

    <Timeout Duration="P5M">
        <Syslog>mass position is<Universal:platform_mass_position/><Units:centimeter/>
        </Syslog/>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Set><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Set>
        <Set><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>10</Value></Set>
    </Guidance:DepthEnvelope>

    <Guidance:Buoyancy RunIn="Progression">
        <Set><Guidance:Buoyancy.position/><Units:cubic_centimeter/><Value>100</Value></Set>
    </Guidance:Buoyancy>

    <Stack Id="MASSMOVE">

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.massPosition/><Units:centimeter/><Value>2</Value></Set>
            <Set><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0.0</Value></Set>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Until><Universal:platform_mass_position/>
                <Ge/><Units:centimeter/><Value>1.8</Value>
            </Until>
        </Guidance:Wait>

        <Stack Id="SPEEDON">

            <Guidance:SetSpeed RunIn="Parallel">
                <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>1</Value></Set>
            </Guidance:SetSpeed>

            <Guidance:Wait RunIn="Sequence">
                <Set><Guidance:Wait.duration/><Units:second/><Value>45</Value></Set>
            </Guidance:Wait>

        </Stack>

    </Stack>

</Stack>
