<?xml version="1.0" encoding="UTF-8"?>
<Mission 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="buoyancyTankDepth">

    <DefineArg Name="Depth"><Units:meter/><Value>5.0</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Units:meter/><Value>0.5</Value></DefineArg>

    <DefineArg Name="Duration"><Units:minute/><Value>15.0</Value></DefineArg>

    <Insert Filename="Insert/Science.xml"/>

    <Guidance:VerticalControlConfig RunIn="Parallel">
        <Setting><Guidance:VerticalControlConfig.depthDeadband/><Arg Name="DepthDeadband"/></Setting>
    </Guidance:VerticalControlConfig>

    <Aggregate Id="AtDepth">

        <Guidance:Pitch RunIn="Parallel">
            <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
        </Guidance:Pitch>

        <Guidance:Wait RunIn="Sequence">
            <Setting><Guidance:Wait.duration/><Arg Name="Duration"/></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Guidance:Pitch RunIn="Sequence">
        <Setting><Guidance:Pitch.depth/><Units:meter/><Value>0.01</Value></Setting>
    </Guidance:Pitch>

</Mission>
