<?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="openhouseBenchDemo">

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

    <Guidance:Buoyancy RunIn="Progression">
        <Setting><Guidance:Buoyancy.position/><Units:cubic_centimeter/><Value>945</Value></Setting>
    </Guidance:Buoyancy>

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

        <Aggregate Id="positiveActuation">

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

            <Guidance:Pitch RunIn="Parallel">
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>13</Value></Setting>
                <Setting><Guidance:Pitch.depth/><Units:meter/><Value>0</Value></Setting>
            </Guidance:Pitch>

            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P10S"></Timeout>
            </Guidance:Wait>

        </Aggregate>

        <Aggregate Id="negativeActuation">

            <Guidance:SetSpeed RunIn="Parallel">
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.5</Value></Setting>
            </Guidance:SetSpeed>

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

            <Guidance:Point RunIn="Parallel">
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>-13</Value></Setting>
            </Guidance:Point>

            <Guidance:Wait RunIn="Sequence">
                <Timeout Duration="P10S"></Timeout>
            </Guidance:Wait>

        </Aggregate>

    </Aggregate>

</Mission>
