<?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="doestBenchDemo">

    <Timeout Duration="P600M">
        <Guidance:StopMission RunIn="Sequence"/>
    </Timeout>

    <Stack Id="MAIN" Repeat="700">

        <Stack Id="positiveActuation">

            <Guidance:Pitch RunIn="Parallel">
                <Set><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>13</Value></Set>
                <Set><Guidance:Pitch.massPosition/><Units:centimeter/><Value>3.5</Value></Set>
                <Set><Guidance:Pitch.depth/><Units:meter/><Value>0</Value></Set>
            </Guidance:Pitch>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P55S"></Timeout>
            </Guidance:Wait>

        </Stack>

        <Stack Id="negativeActuation">

            <Guidance:Pitch RunIn="Parallel">
                <Set><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>-13</Value></Set>
                <Set><Guidance:Pitch.massPosition/><Units:centimeter/><Value>-3.5</Value></Set>
                <Set><Guidance:Pitch.depth/><Units:meter/><Value>0</Value></Set>
            </Guidance:Pitch>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P55S"></Timeout>
            </Guidance:Wait>

        </Stack>

    </Stack>

</Stack>
