<?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="doestTankDemo">

    <DefineArg Name="MassDefault"><Control:VerticalControl.massDefault/></DefineArg>

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

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.minDepth/><Units:meter/><Value>0</Value></Setting>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Units:meter/><Value>15</Value></Setting>
    </Guidance:DepthEnvelope>

    <Guidance:Buoyancy>
        <Sequence/>
        <Setting><Guidance:Buoyancy.position/><Units:cubic_centimeter/><Value>500</Value></Setting>
    </Guidance:Buoyancy>

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

    <Aggregate Id="MAIN">

        <Sequence Repeat="200"/>

        <Aggregate Id="bottomDepth">

            <Sequence/>

            <Guidance:Pitch>
                <Sequence/>
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
                <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
                <Setting><Guidance:Pitch.depth/><Units:meter/><Value>3</Value></Setting>
            </Guidance:Pitch>

        </Aggregate>

        <Aggregate Id="topDepth">

            <Sequence/>

            <Guidance:Pitch>
                <Sequence/>
                <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
                <Setting><Guidance:Pitch.depth/><Units:meter/><Value>1.5</Value></Setting>
            </Guidance:Pitch>

        </Aggregate>

    </Aggregate>

</Mission>
