diff --git a/lrauv_ignition_plugins/CMakeLists.txt b/lrauv_ignition_plugins/CMakeLists.txt
index f80b599f..6ab5d59a 100644
--- a/lrauv_ignition_plugins/CMakeLists.txt
+++ b/lrauv_ignition_plugins/CMakeLists.txt
@@ -254,6 +254,7 @@ if(BUILD_TESTING)
     test_hydrodynamics_equilibrium_velocity
     test_mass_shifter
     test_mission_depth_vbs
+    test_mission_pitch_and_depth_mass_vbs
     test_mission_pitch_mass
     test_mission_yoyo_circle
     test_rudder
diff --git a/lrauv_ignition_plugins/test/test_mission_pitch_and_depth_mass_vbs.cc b/lrauv_ignition_plugins/test/test_mission_pitch_and_depth_mass_vbs.cc
new file mode 100644
index 00000000..ba5e6c10
--- /dev/null
+++ b/lrauv_ignition_plugins/test/test_mission_pitch_and_depth_mass_vbs.cc
@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+/*
+ * Development of this module has been funded by the Monterey Bay Aquarium
+ * Research Institute (MBARI) and the David and Lucile Packard Foundation
+ */
+
+#include <chrono>
+#include <gtest/gtest.h>
+
+#include <ignition/common/Filesystem.hh>
+
+#include "helper/LrauvTestFixture.hh"
+
+//////////////////////////////////////////////////
+TEST_F(LrauvTestFixture, PitchDepthVBS)
+{
+  // Reduce terminal output
+  ignition::common::Console::SetVerbosity(3);
+
+  ignition::common::chdir(std::string(LRAUV_APP_PATH));
+
+  // Get initial X
+  this->fixture->Server()->Run(true, 10, false);
+  EXPECT_EQ(10, this->iterations);
+  EXPECT_EQ(10, this->tethysPoses.size());
+  EXPECT_NEAR(0.0, this->tethysPoses.back().Pos().X(), 1e-6);
+
+  // Run non blocking
+  this->fixture->Server()->Run(false, 0, false);
+
+  // Launch mission
+  std::atomic<bool> lrauvRunning{true};
+  std::thread lrauvThread([&]()
+  {
+    LrauvTestFixture::ExecLRAUV(
+        "/Missions/RegressionTests/IgnitionTests/testPitchAndDepthMassVBS.xml",
+        lrauvRunning);
+  });
+
+  int maxSleep{100};
+  int sleep{0};
+  for (; sleep < maxSleep && lrauvRunning; ++sleep)
+  {
+    igndbg << "Ran [" << this->iterations << "] iterations." << std::endl;
+    std::this_thread::sleep_for(1s);
+  }
+  EXPECT_LT(sleep, maxSleep);
+  EXPECT_FALSE(lrauvRunning);
+
+  lrauvThread.join();
+
+  ignmsg << "Logged [" << this->tethysPoses.size() << "] poses" << std::endl;
+
+  int maxIterations{28000};
+  ASSERT_LT(maxIterations, this->tethysPoses.size());
+}
\ No newline at end of file