<?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="Lab1Battery">

    <Timeout Duration="P20M"/>

    <Stack Id="SurfaceOps" >

        <Guidance:ReadSensor RunIn="Sequence">
            <Timeout Duration="P10S"></Timeout>
            <SetUri><Guidance:ReadSensor.uri/><Universal:latitude_fix/></SetUri>
        </Guidance:ReadSensor>

        <Guidance:PrepareToDive RunIn="Sequence"/>

    </Stack>

    <Guidance:SetSpeed RunIn="Parallel">
        <Set><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Set>
    </Guidance:SetSpeed>

    <Guidance:Point RunIn="Parallel">
        <Set><Guidance:Point.heading/><Units:degree/><Value>0</Value></Set>
    </Guidance:Point>

    <Stack Id="Buoyancy480">

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.pitch/><Units:degree/><Value>0</Value></Set>
            <Set><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Set>
        </Guidance:Pitch>

        <Guidance:Buoyancy RunIn="Parallel">
            <Set><Guidance:Buoyancy.position/><Units:cubic_centimeter/><Value>250</Value></Set>
        </Guidance:Buoyancy>

        <Guidance:Wait RunIn="Sequence">
            <Set><Guidance:Wait.duration/><Units:minute/><Value>3</Value></Set>
        </Guidance:Wait>

    </Stack>

    <Stack Id="First Battery Move">

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.massPosition/><Units:meter/><Value>1</Value></Set>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Set><Guidance:Wait.duration/><Units:second/><Value>120</Value></Set>
        </Guidance:Wait>

    </Stack>

    <Stack Id="Second Battery Move">

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.massPosition/><Units:meter/><Value>-1</Value></Set>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Set><Guidance:Wait.duration/><Units:second/><Value>120</Value></Set>
        </Guidance:Wait>

    </Stack>

    <Stack Id="Third Battery Move">

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.massPosition/><Units:meter/><Value>0</Value></Set>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Set><Guidance:Wait.duration/><Units:second/><Value>120</Value></Set>
        </Guidance:Wait>

    </Stack>

    <Stack Id="Buoyancy945">

        <Guidance:Pitch RunIn="Parallel">
            <Set><Guidance:Pitch.pitch/><Units:degree/><Value>0</Value></Set>
        </Guidance:Pitch>

        <Guidance:Buoyancy RunIn="Parallel">
            <Set><Guidance:Buoyancy.position/><Units:cubic_centimeter/><Value>945</Value></Set>
        </Guidance:Buoyancy>

        <Guidance:Wait RunIn="Sequence">
            <Set><Guidance:Wait.duration/><Units:second/><Value>120</Value></Set>
        </Guidance:Wait>

    </Stack>

</Stack>
