<?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 ../Xml/Tethys.xsd
                           Tethys/Control ../Xml/Control.xsd
                           Tethys/Guidance ../Xml/Guidance.xsd
                           Tethys/Units ../Xml/Units.xsd
                           Tethys/Universal ../Xml/Universal.xsd"
       Id="BALLAST">

    <Timeout Duration="P75M"/>

    <Guidance:DepthEnvelope RunIn="Parallel">
        <Set><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Set>
        <Set><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>15</Value></Set>
    </Guidance:DepthEnvelope>

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

    <Stack>

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

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

        <Stack Id="Buoyancy100">

            <Guidance:Buoyancy RunIn="Parallel">
                <Set><Guidance:Buoyancy.position/><Units:cubic_centimeter/><Value>100</Value></Set>
            </Guidance:Buoyancy>

            <Guidance:Wait RunIn="Sequence">
                <Set><Guidance:Wait.duration/><Units:minute/><Value>65</Value></Set>
            </Guidance:Wait>

        </Stack>

        <Stack Id="Buoyancy945">

            <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:minute/><Value>5</Value></Set>
            </Guidance:Wait>

        </Stack>

    </Stack>

</Stack>
