<?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="Simple">

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Units:meter/><Value>5</Value></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:Point>
        <Parallel/>
<!--   <Setting><Guidance:Point.heading/><Units:degree/><Value>0</Value></Setting> -->
        <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>0.0</Value></Setting>
    </Guidance:Point>

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Units:millimeter/><Value>0</Value></Setting>
        <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>1</Value></Setting>
    </Guidance:Pitch>

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

    <Guidance:Wait>
        <Sequence/>
        <Timeout Duration="P100S"/>
    </Guidance:Wait>

</Mission>
