<?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="pitch_test_mass">

<!-- The following arguments are input arguments -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:second/><Value>560</Value></DefineArg>

    <DefineArg Name="PitchCmd"><Units:degree/><Value>20.0</Value></DefineArg>

    <DefineArg Name="Speed"><Units:meter_per_second/><Value>0</Value></DefineArg>


<!-- The timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- And now the mission -->

    <Assign><Parallel/><Control:VerticalControl.kpPitchMass/><Units:count/><Value>0.01</Value></Assign>

    <Assign><Parallel/><Control:VerticalControl.kiPitchMass/><Units:reciprocal_second/><Value>0.0015</Value></Assign>

    <Assign><Parallel/><Control:VerticalControl.kdPitchMass/><Units:second/><Value>0</Value></Assign>


    <Aggregate Id="HoldPitch">

        <Sequence/>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="Speed"/></Setting>
        </Guidance:SetSpeed>

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

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
        </Guidance:Buoyancy>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.pitch/><Arg Name="PitchCmd"/></Setting>
            <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
        </Guidance:Pitch>

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Arg Name="MissionTimeout"/></Setting>
        </Guidance:Wait>

    </Aggregate>

</Mission>
