<?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://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Lab1Battery">

    <Timeout Duration="P20M"/>

    <Aggregate Id="SurfaceOps">

        <Sequence/>

        <ReadDatum>
            <Timeout Duration="P10S"></Timeout>
            <Universal:latitude_fix/>
        </ReadDatum>

        <Guidance:PrepareToDive>
            <Sequence/>
        </Guidance:PrepareToDive>

    </Aggregate>

    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
    </Guidance:SetSpeed>

    <Guidance:Point>
        <Parallel/>
        <Setting><Guidance:Point.heading/><Units:degree/><Value>0</Value></Setting>
    </Guidance:Point>

    <Aggregate Id="Buoyancy480">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.pitch/><Units:degree/><Value>0</Value></Setting>
            <Setting><Guidance:Pitch.depth/><Units:meter/><Value>15</Value></Setting>
        </Guidance:Pitch>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Units:cubic_centimeter/><Value>250</Value></Setting>
        </Guidance:Buoyancy>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:minute/><Value>3</Value></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="First_Battery_Move">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Units:meter/><Value>1</Value></Setting>
        </Guidance:Pitch>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>120</Value></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="Second_Battery_Move">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Units:meter/><Value>-1</Value></Setting>
        </Guidance:Pitch>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>120</Value></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="Third_Battery_Move">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Units:meter/><Value>0</Value></Setting>
        </Guidance:Pitch>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>120</Value></Setting>
        </Guidance:Wait>

    </Aggregate>

    <Aggregate Id="Buoyancy945">

        <Sequence/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.pitch/><Units:degree/><Value>0</Value></Setting>
        </Guidance:Pitch>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Units:cubic_centimeter/><Value>945</Value></Setting>
        </Guidance:Buoyancy>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>120</Value></Setting>
        </Guidance:Wait>

    </Aggregate>

</Mission>
