<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
    xmlns:Estimation="Tethys/Estimation"
    xmlns:Units="Tethys/Units"
    xmlns:Guidance="Tethys/Guidance"
    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
    Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
    Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
    Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
    Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd"
    Id="CurrentEstimator">

    <Description>
        Just a demo to test current estimation.
    </Description>

<!-- Define mission arguments -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum length of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Estimation:CurrentEstimator>
        <Parallel/>
    </Estimation:CurrentEstimator>

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

    <Guidance:Point>
        <Parallel/>
        <Setting><Guidance:Point.heading/><Units:degree/><Value>270</Value></Setting>
    </Guidance:Point>

</Mission>
