<?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="TestMission">

<!--
TEST_CODE_START
passed = True
TEST_CODE_END
-->

    <Timeout Duration="P1H"/>

    <Insert Filename="TestMissions/InsertHighPriority.xml"/>

    <Insert Filename="TestMissions/InsertSurfaceOps.xml"/>

    <Stack Id="TestStack">

        <Guidance:DepthEnvelope RunIn="Parallel">
            <Set><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>5</Value></Set>
            <Set><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>30</Value></Set>
        </Guidance:DepthEnvelope>

        <Guidance:YoYo RunIn="Parallel"/>

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

        <Guidance:Waypoint Id="Waypoint" RunIn="Sequence">
            <Set><Guidance:Waypoint.latitude/><Units:degree/><Value>36.75</Value></Set>
            <Set><Guidance:Waypoint.longitude/><Units:degree/><Value>-121.88</Value></Set>
        </Guidance:Waypoint>

    </Stack>

</Stack>
