Science/altitudeServo_approach_backseat_poweronly_blockisland.tl

#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission altitudeServo_approach_backseat_poweronly_blockisland {
  """
  The vehicle will transit to an initial waypoint, then navigate to
  waypoints while maintaining altitude. During the altitude following
  phase of the mission, the vehicle descends from the surface to a
  commanded depth using a spiral dive (e.g., after NeedComms).
  """

  arguments {
    MissionTimeout = 12 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 180 minute
      """
      How often to surface for commumications
      """

    TransitLat = NaN degree
      """
      Latitude of tranist waypoint. Transit is skipped if set to NaN.
      """

    TransitLon = NaN degree
      """
      Longitude of tranist waypoint. Transit is skipped if set to NaN.
      """

    TransitDepth = 10 meter
      """
      Depth of flat and level flight during the transit part of the mission.
      """

    ApproachDepthRate = 0.025 meter_per_second
      """
      Descent depth rate (Positive depth rate means going down).
      """

    Repeat = 1 count
      """
      Number of times the vehicle should try to cycle through waypoints.
      """

    Lon1 = -71.40734 degree
      """
      Longitude of waypoint 1. If nan, waypoint is skipped.
      """

    Lat1 = 40.99866 degree
      """
      Latitude of waypoint 1. If nan, waypoint is skipped.
      """

    Lon2 = -71.41768 degree
      """
      Longitude of waypoint 2. If nan, waypoint is skipped.
      """

    Lat2 = 40.95438 degree
      """
      Latitude of waypoint 2. If nan, waypoint is skipped.
      """

    Lon3 = -71.42003 degree
      """
      Longitude of waypoint 3. If nan, waypoint is skipped.
      """

    Lat3 = 40.95469 degree
      """
      Latitude of waypoint 3. If nan, waypoint is skipped.
      """

    Lon4 = -71.40968 degree
      """
      Longitude of waypoint 4. If nan, waypoint is skipped.
      """

    Lat4 = 40.99897 degree
      """
      Latitude of waypoint 4. If nan, waypoint is skipped.
      """

    Lon5 = -71.41203 degree
      """
      Longitude of waypoint 5. If nan, waypoint is skipped.
      """

    Lat5 = 40.99928 degree
      """
      Latitude of waypoint 5. If nan, waypoint is skipped.
      """

    Lon6 = -71.42237 degree
      """
      Longitude of waypoint 6. If nan, waypoint is skipped.
      """

    Lat6 = 40.955 degree
      """
      Latitude of waypoint 6. If nan, waypoint is skipped.
      """

    Lon7 = -71.42472 degree
      """
      Longitude of waypoint 7. If nan, waypoint is skipped.
      """

    Lat7 = 40.95531 degree
      """
      Latitude of waypoint 7. If nan, waypoint is skipped.
      """

    Lon8 = -71.41437 degree
      """
      Longitude of waypoint 8. If nan, waypoint is skipped.
      """

    Lat8 = 40.99959 degree
      """
      Latitude of waypoint 8. If nan, waypoint is skipped.
      """

    Lon9 = -71.41672 degree
      """
      Longitude of waypoint 9. If nan, waypoint is skipped.
      """

    Lat9 = 40.9999 degree
      """
      Latitude of waypoint 9. If nan, waypoint is skipped.
      """

    Lon10 = -71.42706 degree
      """
      Longitude of waypoint 10. If nan, waypoint is skipped.
      """

    Lat10 = 40.95562 degree
      """
      Latitude of waypoint 10. If nan, waypoint is skipped.
      """

    Lon11 = -71.42941 degree
      """
      Longitude of waypoint 11. If nan, waypoint is skipped.
      """

    Lat11 = 40.95593 degree
      """
      Latitude of waypoint 11. If nan, waypoint is skipped.
      """

    Lon12 = -71.41906 degree
      """
      Longitude of waypoint 12. If nan, waypoint is skipped.
      """

    Lat12 = 41.00021 degree
      """
      Latitude of waypoint 12. If nan, waypoint is skipped.
      """

    Lon13 = -71.42141 degree
      """
      Longitude of waypoint 13. If nan, waypoint is skipped.
      """

    Lat13 = 41.00052 degree
      """
      Latitude of waypoint 13. If nan, waypoint is skipped.
      """

    Lon14 = -71.43175 degree
      """
      Longitude of waypoint 14. If nan, waypoint is skipped.
      """

    Lat14 = 40.95624 degree
      """
      Latitude of waypoint 14. If nan, waypoint is skipped.
      """

    Lon15 = -71.4341 degree
      """
      Longitude of waypoint 15. If nan, waypoint is skipped.
      """

    Lat15 = 40.95655 degree
      """
      Latitude of waypoint 15. If nan, waypoint is skipped.
      """

    Lon16 = -71.42375 degree
      """
      Longitude of waypoint 16. If nan, waypoint is skipped.
      """

    Lat16 = 41.00083 degree
      """
      Latitude of waypoint 16. If nan, waypoint is skipped.
      """

    Lon17 = -71.4261 degree
      """
      Longitude of waypoint 17. If nan, waypoint is skipped.
      """

    Lat17 = 41.00114 degree
      """
      Latitude of waypoint 17. If nan, waypoint is skipped.
      """

    Lon18 = -71.43644 degree
      """
      Longitude of waypoint 18. If nan, waypoint is skipped.
      """

    Lat18 = 40.95686 degree
      """
      Latitude of waypoint 18. If nan, waypoint is skipped.
      """

    Lon19 = -71.43879 degree
      """
      Longitude of waypoint 19. If nan, waypoint is skipped.
      """

    Lat19 = 40.95717 degree
      """
      Latitude of waypoint 19. If nan, waypoint is skipped.
      """

    Lon20 = -71.42844 degree
      """
      Longitude of waypoint 20. If nan, waypoint is skipped.
      """

    Lat20 = 41.00145 degree
      """
      Latitude of waypoint 20. If nan, waypoint is skipped.
      """

    Lon21 = -71.43079 degree
      """
      Longitude of waypoint 21. If nan, waypoint is skipped.
      """

    Lat21 = 41.00176 degree
      """
      Latitude of waypoint 21. If nan, waypoint is skipped.
      """

    Lon22 = -71.44113 degree
      """
      Longitude of waypoint 22. If nan, waypoint is skipped.
      """

    Lat22 = 40.95748 degree
      """
      Latitude of waypoint 22. If nan, waypoint is skipped.
      """

    Lon23 = -71.44348 degree
      """
      Longitude of waypoint 23. If nan, waypoint is skipped.
      """

    Lat23 = 40.95779 degree
      """
      Latitude of waypoint 23. If nan, waypoint is skipped.
      """

    Lon24 = -71.43313 degree
      """
      Longitude of waypoint 24. If nan, waypoint is skipped.
      """

    Lat24 = 41.00207 degree
      """
      Latitude of waypoint 24. If nan, waypoint is skipped.
      """

    Lon25 = -71.43548 degree
      """
      Longitude of waypoint 25. If nan, waypoint is skipped.
      """

    Lat25 = 41.00238 degree
      """
      Latitude of waypoint 25. If nan, waypoint is skipped.
      """

    Lon26 = -71.44582 degree
      """
      Longitude of waypoint 26. If nan, waypoint is skipped.
      """

    Lat26 = 40.9581 degree
      """
      Latitude of waypoint 26. If nan, waypoint is skipped.
      """

    Lon27 = -71.44817 degree
      """
      Longitude of waypoint 27. If nan, waypoint is skipped.
      """

    Lat27 = 40.95841 degree
      """
      Latitude of waypoint 27. If nan, waypoint is skipped.
      """

    Lon28 = -71.43782 degree
      """
      Longitude of waypoint 28. If nan, waypoint is skipped.
      """

    Lat28 = 41.00269 degree
      """
      Latitude of waypoint 28. If nan, waypoint is skipped.
      """

    Lon29 = -71.44017 degree
      """
      Longitude of waypoint 29. If nan, waypoint is skipped.
      """

    Lat29 = 41.003 degree
      """
      Latitude of waypoint 29. If nan, waypoint is skipped.
      """

    Lon30 = -71.45051 degree
      """
      Longitude of waypoint 30. If nan, waypoint is skipped.
      """

    Lat30 = 40.95872 degree
      """
      Latitude of waypoint 30. If nan, waypoint is skipped.
      """

    Lon31 = -71.45286 degree
      """
      Longitude of waypoint 31. If nan, waypoint is skipped.
      """

    Lat31 = 40.95903 degree
      """
      Latitude of waypoint 31. If nan, waypoint is skipped.
      """

    Lon32 = -71.44251 degree
      """
      Longitude of waypoint 32. If nan, waypoint is skipped.
      """

    Lat32 = 41.00331 degree
      """
      Latitude of waypoint 32. If nan, waypoint is skipped.
      """

    Lon33 = -71.44486 degree
      """
      Longitude of waypoint 33. If nan, waypoint is skipped.
      """

    Lat33 = 41.00362 degree
      """
      Latitude of waypoint 33. If nan, waypoint is skipped.
      """

    Lon34 = -71.4552 degree
      """
      Longitude of waypoint 34. If nan, waypoint is skipped.
      """

    Lat34 = 40.95934 degree
      """
      Latitude of waypoint 34. If nan, waypoint is skipped.
      """

    Lon35 = -71.45755 degree
      """
      Longitude of waypoint 35. If nan, waypoint is skipped.
      """

    Lat35 = 40.95965 degree
      """
      Latitude of waypoint 35. If nan, waypoint is skipped.
      """

    Lon36 = -71.4472 degree
      """
      Longitude of waypoint 36. If nan, waypoint is skipped.
      """

    Lat36 = 41.00393 degree
      """
      Latitude of waypoint 36. If nan, waypoint is skipped.
      """

    Lon37 = -71.44955 degree
      """
      Longitude of waypoint 37. If nan, waypoint is skipped.
      """

    Lat37 = 41.00424 degree
      """
      Latitude of waypoint 37. If nan, waypoint is skipped.
      """

    Lon38 = -71.45989 degree
      """
      Longitude of waypoint 38. If nan, waypoint is skipped.
      """

    Lat38 = 40.95996 degree
      """
      Latitude of waypoint 38. If nan, waypoint is skipped.
      """

    Lon39 = -71.46224 degree
      """
      Longitude of waypoint 39. If nan, waypoint is skipped.
      """

    Lat39 = 40.96027 degree
      """
      Latitude of waypoint 39. If nan, waypoint is skipped.
      """

    Lon40 = -71.45189 degree
      """
      Longitude of waypoint 40. If nan, waypoint is skipped.
      """

    Lat40 = 41.00455 degree
      """
      Latitude of waypoint 40. If nan, waypoint is skipped.
      """

    Lon41 = -71.45424 degree
      """
      Longitude of waypoint 41. If nan, waypoint is skipped.
      """

    Lat41 = 41.00486 degree
      """
      Latitude of waypoint 41. If nan, waypoint is skipped.
      """

    Lon42 = -71.46458 degree
      """
      Longitude of waypoint 42. If nan, waypoint is skipped.
      """

    Lat42 = 40.96058 degree
      """
      Latitude of waypoint 42. If nan, waypoint is skipped.
      """

    Lon43 = -71.46693 degree
      """
      Longitude of waypoint 43. If nan, waypoint is skipped.
      """

    Lat43 = 40.96089 degree
      """
      Latitude of waypoint 43. If nan, waypoint is skipped.
      """

    Lon44 = -71.45658 degree
      """
      Longitude of waypoint 44. If nan, waypoint is skipped.
      """

    Lat44 = 41.00517 degree
      """
      Latitude of waypoint 44. If nan, waypoint is skipped.
      """

    Lon45 = -71.45893 degree
      """
      Longitude of waypoint 45. If nan, waypoint is skipped.
      """

    Lat45 = 41.00548 degree
      """
      Latitude of waypoint 45. If nan, waypoint is skipped.
      """

    Lon46 = -71.46927 degree
      """
      Longitude of waypoint 46. If nan, waypoint is skipped.
      """

    Lat46 = 40.9612 degree
      """
      Latitude of waypoint 46. If nan, waypoint is skipped.
      """

    Lon47 = -71.47162 degree
      """
      Longitude of waypoint 47. If nan, waypoint is skipped.
      """

    Lat47 = 40.96151 degree
      """
      Latitude of waypoint 47. If nan, waypoint is skipped.
      """

    Lon48 = -71.46127 degree
      """
      Longitude of waypoint 48. If nan, waypoint is skipped.
      """

    Lat48 = 41.00579 degree
      """
      Latitude of waypoint 48. If nan, waypoint is skipped.
      """

    Lon49 = -71.46362 degree
      """
      Longitude of waypoint 49. If nan, waypoint is skipped.
      """

    Lat49 = 41.0061 degree
      """
      Latitude of waypoint 49. If nan, waypoint is skipped.
      """

    Lon50 = -71.47396 degree
      """
      Longitude of waypoint 50. If nan, waypoint is skipped.
      """

    Lat50 = 40.96182 degree
      """
      Latitude of waypoint 50. If nan, waypoint is skipped.
      """

    HoldAltitude = 2.2 meter
      """
      Desired vehicle altitude to maintain.
      """

    InvalidAltitudeTimeout = NaN minute
      """
      The mission will abort if no valid altitude readings are received within
      this specified time duration. Set this variable to NaN to disable this
      timeout functionality.
      """

    AltitudeIIRFilterDecay = 0.2 none
      """
      AltitudeServo single-pole IIR filter decay value.
      Low-pass filters the AltitudeServo depth command.
      The Decay value should be btween 0 to 1, set to 0 disable filtering.
      """

    InitDepth = 50 meter
      """
      Initial depth. The vehicle will spiral dive to this depth when leaving
      the surface. Necessary if no altitude reading is available form the
      surface (e.g., when the bottom is out of DVL range).
      """

    InitDepthTimeout = 45 minute
      """
      Maximum time duration for the vehicle to reach the initial depth. The
      vehicle will switch over to altitude following after the timeout is
      expired.
      """

    Speed = 1 meter_per_second
      """
      Thruster speed for the entier mission.
      """

    DepthDeadband = 0.0 meter

    MinAltitude = 1.2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 205 meter
      """
      Maximum depth for the entire mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum offshore distance for the entire mission.
      """

    PowerBackseat = 1 bool
      """
      Enable the backseat for this mission
      """
  }

  output {
    DoingComms = false
      """
      Mission variable (don't change). The mission sets this to true *before*
      the vehicle surfaces for comms.
      """

    StartFromSurface = true
      """
      Mission variable (don't change). The mission sets this to true *after*
      the vehicle surfaces for comms.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Safety nets and surfacing behaviors

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  insert id="NeedComms" Insert/NeedComms.tl

  assign in sequence NeedComms:DiveInterval = MissionTimeout
  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  aggregate SurfaceComms {
    run when (
      called
      or elapsed ( Universal:time_fix ) > NeedCommsTime
    )

    assign in sequence DoingComms = true
    call refId="NeedComms"
    assign in sequence DoingComms = false
    assign in sequence StartFromSurface = true
  }

  # Set default mass and VBS positions

  behavior Guidance:Mass {
    run in parallel

    set position = Control:VerticalControl.massDefault
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = Control:VerticalControl.buoyancyNeutral
  }

  # Callable aggregates (priority matters, so these are done below important safety directives like StandardEnvelopes).

  aggregate DiveCmd {
    run when ( called )

    aggregate SpiralDive {
      """
      Spiral down from the surface to initial depth. Necessary when no
      altitude reading is available form the surface.
      """

      run while (
        StartFromSurface
        and not ( DoingComms )
      )

      break if (
        Universal:height_above_sea_floor <= HoldAltitude
      )

      aggregate dive {
        run in sequence

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }

        behavior Guidance:Point {
          run in parallel

          set rudderAngle = 13 degree
        }

        behavior Guidance:Pitch {
          run in sequence

          timeout duration=InitDepthTimeout {
            syslog important "Timed out at current depth of " + Universal:depth~meter
                 + ". Switching to altitude servo."

            assign in sequence StartFromSurface = false
          }

          set depth = InitDepth

          set depthRate = ApproachDepthRate
        }

        assign in sequence StartFromSurface = false
      }
    }

    aggregate BreakOnAltitude {
      run when (
        Universal:height_above_sea_floor <= HoldAltitude
        and ( StartFromSurface )
      )

      syslog important "Ending dive at current depth of " + Universal:depth~meter
           + " based on altitude " + Universal:height_above_sea_floor~meter + " and HoldAltitude "
           + HoldAltitude~meter + ". Switching to altitude servo."
      assign in sequence StartFromSurface = false
    }

    aggregate AltitudeServo {
      """
      Follow commanded altitude.
      """

      run while (
        not ( StartFromSurface )
        and not ( DoingComms )
      )

      aggregate dive {
        run in parallel

        assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

        behavior Guidance:SetSpeed {
          run in parallel

          set speed = Speed
        }

        behavior Guidance:AltitudeServo {
          run in parallel

          set targetAltitude = HoldAltitude

          set invalidAltitudeTimeout = InvalidAltitudeTimeout

          set iirFilterDecay = AltitudeIIRFilterDecay
        }
      }
    }
  }

  # Mission

  call id="StartingMission" refId="SurfaceComms"
  # Fire up science sensors

  insert Insert/Science.tl

  # Power up backseat
  insert Insert/BackseatDriver.tl
  assign in sequence BackseatDriver:EnableBackseat = PowerBackseat

  insert Insert/PowerOnly.tl
  assign in sequence PowerOnly:SampleLoad1 = true
  assign in sequence PowerOnly:SampleLoad2 = true
  syslog important "Powering Strobes, Cameras, and Altimeter"

  # Run

  aggregate Transit {
    """
    Transit flat and level to the starting waypoint at a fixed depth
    (skipped when transit Lat/Lon are set to NaN).
    """

    run in sequence

    break if (
      isNaN ( TransitLat )
      or isNaN ( TransitLon )
    )

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = Speed
    }

    behavior Guidance:Pitch {
      run in parallel

      set depth = TransitDepth
    }

    behavior Guidance:Waypoint id="TransitWpt" {
      run in sequence

      set latitude = TransitLat

      set longitude = TransitLon
    }

    call refId="SurfaceComms"
  }

  aggregate Lap {
    run in sequence repeat=Repeat

    aggregate Dive {
      run while ( not ( DoingComms ) )

      call refId="DiveCmd"
    }

    aggregate Wpt1 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat1

        set longitude = Lon1
      }
    }

    aggregate Wpt2 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat2

        set longitude = Lon2
      }
    }

    aggregate Wpt3 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat3

        set longitude = Lon3
      }
    }

    aggregate Wpt4 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat4

        set longitude = Lon4
      }
    }

    aggregate Wpt5 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat5

        set longitude = Lon5
      }
    }

    aggregate Wpt6 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat6

        set longitude = Lon6
      }
    }

    aggregate Wpt7 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat7

        set longitude = Lon7
      }
    }

    aggregate Wpt8 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat8

        set longitude = Lon8
      }
    }

    aggregate Wpt9 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat9

        set longitude = Lon9
      }
    }

    aggregate Wpt10 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat10

        set longitude = Lon10
      }
    }

    aggregate Wpt11 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat11

        set longitude = Lon11
      }
    }

    aggregate Wpt12 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat12

        set longitude = Lon12
      }
    }

    aggregate Wpt13 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat13

        set longitude = Lon13
      }
    }

    aggregate Wpt14 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat14

        set longitude = Lon14
      }
    }

    aggregate Wpt15 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat15

        set longitude = Lon15
      }
    }

    aggregate Wpt16 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat16

        set longitude = Lon16
      }
    }

    aggregate Wpt17 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat17

        set longitude = Lon17
      }
    }

    aggregate Wpt18 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat18

        set longitude = Lon18
      }
    }

    aggregate Wpt19 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat19

        set longitude = Lon19
      }
    }

    aggregate Wpt20 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat20

        set longitude = Lon20
      }
    }

    aggregate Wpt21 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat21

        set longitude = Lon21
      }
    }

    aggregate Wpt22 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat22

        set longitude = Lon22
      }
    }

    aggregate Wpt23 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat23

        set longitude = Lon23
      }
    }

    aggregate Wpt24 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat24

        set longitude = Lon24
      }
    }

    aggregate Wpt25 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat25

        set longitude = Lon25
      }
    }

    aggregate Wpt26 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat26

        set longitude = Lon26
      }
    }

    aggregate Wpt27 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat27

        set longitude = Lon27
      }
    }

    aggregate Wpt28 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat28

        set longitude = Lon28
      }
    }

    aggregate Wpt29 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat29

        set longitude = Lon29
      }
    }

    aggregate Wpt30 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat30

        set longitude = Lon30
      }
    }

    aggregate Wpt31 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat31

        set longitude = Lon31
      }
    }

    aggregate Wpt32 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat32

        set longitude = Lon32
      }
    }

    aggregate Wpt33 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat33

        set longitude = Lon33
      }
    }

    aggregate Wpt34 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat34

        set longitude = Lon34
      }
    }

    aggregate Wpt35 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat35

        set longitude = Lon35
      }
    }

    aggregate Wpt36 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat36

        set longitude = Lon36
      }
    }

    aggregate Wpt37 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat37

        set longitude = Lon37
      }
    }

    aggregate Wpt38 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat38

        set longitude = Lon38
      }
    }

    aggregate Wpt39 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat39

        set longitude = Lon39
      }
    }

    aggregate Wpt40 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat40

        set longitude = Lon40
      }
    }

    aggregate Wpt41 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat41

        set longitude = Lon41
      }
    }

    aggregate Wpt42 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat42

        set longitude = Lon42
      }
    }

    aggregate Wpt43 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat43

        set longitude = Lon43
      }
    }

    aggregate Wpt44 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat44

        set longitude = Lon44
      }
    }

    aggregate Wpt45 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat45

        set longitude = Lon45
      }
    }

    aggregate Wpt46 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat46

        set longitude = Lon46
      }
    }

    aggregate Wpt47 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat47

        set longitude = Lon47
      }
    }

    aggregate Wpt48 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat48

        set longitude = Lon48
      }
    }

    aggregate Wpt49 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat49

        set longitude = Lon49
      }
    }

    aggregate Wpt50 {
      run in sequence

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = Lat50

        set longitude = Lon50
      }
    }

    call id="PhoneHome" refId="SurfaceComms"
  }
}