Science/front_sampling.tl

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mission front_sampling {
  """
  Detect the front and take samples at the front and on both sides of the
  front.
  """

  arguments {
    # Almost every mission should start with an overall timeout and a NeedCommsTime.

    NumSamplers = 1 count
      """
      Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0
      to disable sampling.
      """

    # debug
    #     </Description><Units:count/><Value>5</Value></DefineArg>

    StartIndex = 1 count
      """
      Start index in ESP settings. If re-running mission, can skip settings of
      already-completed samples. Default is 1 (no skipping).
      """

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

    MaxDepth = 50 meter
      """
      Maximum depth for the entire mission.
      """

    RepeatTransects = 3 count
      """
      Number of times the vehicle should try to cycle through waypoints.
      """

    NeedCommsTimeTransit = 60 minute
      """
      How often to surface for commumications
      """

    NeedCommsSampling = 3 hour
      """
      How often to surface for commumications during each sampling, in case
      something goes wrong during sampling.
      """

    MaxWaitNoFiring = 2 hour
      """
      If no firing after more than MaxWaitNoFiring, terminate mission.
      """

    MaxWaitNotAchievingDepth = 0.5 hour
      """
      Maximum wait time the vehicle cannot reach the targeted depth.
      """

    FrontAutonomousDetection = true
      """
      Whether front detection is autonomous.
      """

    # debug
    #     </Description><False/></DefineArg>

    FromStratifiedToUpwelling = true
      """
      Used only when FrontAutonomousDetection is False. The starting
      direction.
      """

    LonFrontMinDesignated = NaN degree
      """
      Used only when FrontAutonomousDetection is False. When the vehicle
      longitude falls within [LonFrontMinDesignated LonFrontMaxDesignated],
      front is detection is flagged.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.841</Value></DefineArg>

    LonFrontMaxDesignated = NaN degree
      """
      Used only when FrontAutonomousDetection is False. When the vehicle
      longitude falls within [LonFrontMinDesignated LonFrontMaxDesignated],
      front is detection is flagged.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.84</Value></DefineArg>

    Lat1 = NaN degree
      """
      Latitude of the start waypoint of the 1st transect.
      """

    # debug
    #     </Description><Units:degree/><Value>36.805</Value></DefineArg>

    Lon1 = NaN degree
      """
      Longitude of the start waypoint of the 1st transect.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.815</Value></DefineArg>

    Lat2 = NaN degree
      """
      Latitude of the end waypoint of the 1st transect.
      """

    # debug
    #     </Description><Units:degree/><Value>36.805</Value></DefineArg>

    Lon2 = NaN degree
      """
      Longitude of the end waypoint of the 1st transect.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.86</Value></DefineArg>

    LatUpwellingEnd = NaN degree
      """
      Latitude of the far end of upwelling water.
      """

    # debug
    #     </Description><Units:degree/><Value>36.805</Value></DefineArg>

    LonUpwellingEnd = NaN degree
      """
      Longitude of the far end of upwelling water.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.86</Value></DefineArg>

    DeltaLatUpwellingSide1 = NaN degree
      """
      Latitude of stratified-water side sampling location 1 = front latitude +
      DeltaLatUpwellingSide1. If NaN, this point is skipped.
      """

    # debug
    #     </Description><Units:degree/><Value>0</Value></DefineArg>

    DeltaLonUpwellingSide1 = NaN degree
      """
      Longitude of stratified-water side sampling location 1 = front longitude
      + DeltaLonUpwellingSide1. If NaN, this point is skipped.
      """

    # debug
    #     </Description><Units:degree/><Value>-0.01</Value></DefineArg>

    DeltaLatUpwellingSide2 = NaN degree
      """
      For stratified-water side sampling location 2
      """

    DeltaLonUpwellingSide2 = NaN degree
      """
      For stratified-water side sampling location 2
      """

    DeltaLatUpwellingSide3 = NaN degree
      """
      For stratified-water side sampling location 3
      """

    DeltaLonUpwellingSide3 = NaN degree
      """
      For stratified-water side sampling location 3
      """

    DeltaLatUpwellingSide4 = NaN degree
      """
      For stratified-water side sampling location 4
      """

    DeltaLonUpwellingSide4 = NaN degree
      """
      For stratified-water side sampling location 4
      """

    LatStratifiedEnd = NaN degree
      """
      Latitude of the far end of stratified water.
      """

    # debug
    #     </Description><Units:degree/><Value>36.805</Value></DefineArg>

    LonStratifiedEnd = NaN degree
      """
      Longitude of the far end of stratified water.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.815</Value></DefineArg>

    DeltaLatStratifiedSide1 = NaN degree
      """
      Latitude of stratified-water side sampling location 1 = front latitude +
      DeltaLatStratifiedSide1. If NaN, this point is skipped.
      """

    # debug
    #     </Description><Units:degree/><Value>0</Value></DefineArg>

    DeltaLonStratifiedSide1 = NaN degree
      """
      Longitude of stratified-water side sampling location 1 = front longitude
      + DeltaLonStratifiedSide1. If NaN, this point is skipped.
      """

    # debug
    #     </Description><Units:degree/><Value>0.01</Value></DefineArg>

    DeltaLatStratifiedSide2 = NaN degree
      """
      For stratified-water side sampling location 2
      """

    # debug
    #     </Description><Units:degree/><Value>0</Value></DefineArg>

    DeltaLonStratifiedSide2 = NaN degree
      """
      For stratified-water side sampling location 2
      """

    # debug
    #     </Description><Units:degree/><Value>0.02</Value></DefineArg>

    DeltaLatStratifiedSide3 = NaN degree
      """
      For stratified-water side sampling location 3
      """

    DeltaLonStratifiedSide3 = NaN degree
      """
      For stratified-water side sampling location 3
      """

    DeltaLatStratifiedSide4 = NaN degree
      """
      For stratified-water side sampling location 4
      """

    DeltaLonStratifiedSide4 = NaN degree
      """
      For stratified-water side sampling location 4
      """

    InitialDiveDuration = 1.0 minute
      """
      On the first dive for looking for the chl max, run at SpeedInitialDive
      for this duration (e.g., 1 m/s spiral to dive fast).
      """

    SpeedTransit = 1 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    SpeedInitialDive = 1 meter_per_second
      """
      Vehicle speed during initial dive (for looking for the chl max over
      depth).
      """

    SpeedFindChlPeakAndSample = 1 meter_per_second
      """
      Vehicle speed when looking for the chl max over depth.
      """

    RudderAngleInitialDive = 9 degree
      """
      Rudder angle in initial spiral-down to leave surface. Initialized to 9
      degrees.
      """

    RudderAngleFindChlPeakAndSample = 13 degree
      """
      Rudder angle spiraling looking for the chl max over depth.
      """

    ShallowBoundChl = 3 meter
      """
      Shallow depth bound for chl-peak detection.
      """

    DeepBoundChl = 20 meter
      """
      Deep depth bound for chl-peak detection.
      """

    YoYoMinDepth = 2 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 30 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    YoYoMinAltitude = 9 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

    YoYoUpPitch = 20 degree
      """
      Vehicle up-pitch while performing the YoYo behavior.
      """

    YoYoDownPitch = -20 degree
      """
      Vehicle down-pitch while performing the YoYo behavior.
      """

    MinAltitude = 7 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MinOffshore = 2 kilometer
      """
      Minimum offshore distance for the entire mission.
      """

    WaitDepthUndulation = 10 minute
      """
      Wait duration for the depth undulation to damp down. Initialized to 10
      minutes.
      """

    CartridgeType1 = -6 count
      """
      Sample 1. Cartridge type.
      """

    CartridgeType2 = -6 count

    CartridgeType3 = -6 count

    CartridgeType4 = -6 count

    CartridgeType5 = -6 count

    CartridgeType6 = -6 count

    CartridgeType7 = -6 count

    CartridgeType8 = -6 count

    CartridgeType9 = -6 count

    CartridgeType10 = -6 count

    CartridgeType11 = -6 count

    CartridgeType12 = -6 count

    CartridgeType13 = -6 count

    CartridgeType14 = -6 count

    CartridgeType15 = -6 count

    CartridgeType16 = -6 count

    CartridgeType17 = -6 count

    CartridgeType18 = -6 count

    CartridgeType19 = -6 count

    CartridgeType20 = -6 count

    CartridgeType21 = -6 count

    CartridgeType22 = -6 count

    CartridgeType23 = -6 count

    CartridgeType24 = -6 count

    CartridgeType25 = -6 count

    CartridgeType26 = -6 count

    CartridgeType27 = -6 count

    CartridgeType28 = -6 count

    CartridgeType29 = -6 count

    CartridgeType30 = -6 count

    CartridgeType31 = -6 count

    CartridgeType32 = -6 count

    CartridgeType33 = -6 count

    CartridgeType34 = -6 count

    CartridgeType35 = -6 count

    CartridgeType36 = -6 count

    CartridgeType37 = -6 count

    CartridgeType38 = -6 count

    CartridgeType39 = -6 count

    CartridgeType40 = -6 count

    CartridgeType41 = -6 count

    CartridgeType42 = -6 count

    CartridgeType43 = -6 count

    CartridgeType44 = -6 count

    CartridgeType45 = -6 count

    CartridgeType46 = -6 count

    CartridgeType47 = -6 count

    CartridgeType48 = -6 count

    CartridgeType49 = -6 count

    CartridgeType50 = -6 count

    CartridgeType51 = -6 count

    CartridgeType52 = -6 count

    CartridgeType53 = -6 count

    CartridgeType54 = -6 count

    CartridgeType55 = -6 count

    CartridgeType56 = -6 count

    CartridgeType57 = -6 count

    CartridgeType58 = -6 count

    CartridgeType59 = -6 count

    CartridgeType60 = -6 count

    # You probably do not need to change these.

    MassDefault = Control:VerticalControl.massDefault

    BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
      """
      Buoyancy bladder position while performing the YoYo behavior. Defaults
      to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
      for active buoyancy.
      """

    LPWindowLength = 20 count
      """
      Low-pass window length (based on depth sensor sampling interval 0.4
      second) for low-pass filtering.
      """

    MedianFilterLength = 5 count
      """
      Median filter length (only for chlorophyll fluorescence which tends to
      have spikes). The median-filtered signal enters the succeeding low-pass
      filter. If set to 1, then no median filtering, i.e., the raw
      fluorescence signal directly enters the low-pass filter.
      """

    RiseFromTurningDepth = 5 meter
      """
      The peak chl detected on the initial dive is reported when the vehicle
      has turned from the deepest depth (i.e., the turning depth) onto the
      ascending profile at a depth that is RiseFromDeepTurningPoint shallower
      than the turning depth. For robustness, RiseFromTurningDepth =
      DepChangeThreshAttitudeFlip + 2 meters.
      """

    DepChangeThreshAttitudeFlip = 3 meter
      """
      Depth change threshold for determining vehicle attitude flip.
      """

    # Use caution when changing these.

    UpRate = -0.05 meter_per_second
      """
      Go-up depth rate (Negative depth rate means going up).
      """

    DownRate = 0.2 meter_per_second
      """
      Go-down depth rate (Positive depth rate means going down).
      """
  }

  output {
    # These are internal variables that should not be changed.

    ElapsedSinceStartOrLastSample = 0 hour
      """
      The mission sets this variable to reset the sample timer.
      """

    ElapsedTime = 0 hour
      """
      Only for syslog.
      """

    CartridgeType = -6 count
      """
      Cartridge type. Initialized to -6.
      """

    Lat3 = NaN degree

    Lon3 = NaN degree

    Lat4 = NaN degree

    Lon4 = NaN degree

    Lat5 = NaN degree

    Lon5 = NaN degree

    Lat6 = NaN degree

    Lon6 = NaN degree

    LatitudeFront = NaN degree
      """
      Initialized to NaN.
      """

    LongitudeFront = NaN degree
      """
      Initialized to NaN.
      """

    FirstPass = true

    FrontDetectionEnabled = true
      """
      Initialized to True.
      """

    FrontCrossed = false
      """
      Initialized to False.
      """

    FlagPeakChlDepthSet = false
      """
      Flag of peak-chl depth having been set (set to true when the chl-peak
      depth has been set. Initialized to false).
      """

    FlagFirstDive = true
      """
      Flag of first dive to find the peak-chl (true only for the first dive;
      false afterwards).
      """

    FlagSamplingOngoing = false
      """
      Flag of water sampling in process (initialized to false).
      """

    PeakChlDepthSet = 10.0 meter
      """
      Peak-chl depth detected on a dive. Initialized to 10 meters.
      """

    PeakChlSet = 0.0 microgram_per_liter
      """
      Peak-chl value detected on a dive.
      """

    FlagGoUp = false
      """
      Go-up flag (set to true when going up. Initialized to false).
      """

    FlagGoDown = true
      """
      Go-down flag (set to true when going down. Initialized to True).
      """

    SyslogGoUp = false
      """
      Flag of logging "GoUp" in syslog (initialized to false).
      """

    SyslogGoDown = false
      """
      Flag of logging "GoDown" in syslog (initialized to false).
      """

    FlagInitialDiveCompleted = false
      """
      Flag of initial dive completed. Initialized to false.
      """

    DepthLogged = 0.0 meter

    ChlLogged = 0.0 microgram_per_liter

    CntSamples = 1 count
      """
      Count of water samples (initilized to 1).
      """

    SampleOptionsSet = false
      """
      Sample options (DepDiffFromPeakChl, ReportAtSurface, ReacquirePeak)
      already set. Initialized to false.
      """

    SampleCompleted = false
      """
      Sampling completed. Initialized to false.
      """

    StoppedForNoFiringForTooLong = false
      """
      Mission stopped because of no firing for too long. Initialized to false.
      """

    SampleCountIncreased = false
      """
      Sample count is increased. Initialized to False.
      """

    ReachedWpt1 = false
      """
      Sampling completed. Initialized to false.
      """

    ReachedWpt2 = false
      """
      Sampling completed. Initialized to false.
      """

    ReachedWpt3 = false
      """
      Sampling completed. Initialized to false.
      """

    ReachedWpt4 = false
      """
      Sampling completed. Initialized to false.
      """
  }

  # Missions should almost always start with a timeout

  timeout duration=MissionTimeout

  # Most missions should use the NeedComms aggregate.

  insert id="NeedComms" Insert/NeedComms.tl

  # Missions should almost always start with standard safety envelopes; most missions should not expose the parameters of these envelopes.

  behavior Sample:AbortSample {
    run in parallel
  }

  insert Insert/StandardEnvelopes.tl

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/SampleAtDepth.tl {
    redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth
  }

  insert Insert/Science.tl {
    redefineArg PeakDetectChlActive = true
    redefineArg LowPassWindowLength = LPWindowLength
    redefineArg MedianFilterLen = MedianFilterLength
    redefineArg PeakShallowBound = ShallowBoundChl
    redefineArg PeakDeepBound = DeepBoundChl
    redefineArg DepChangeThreshForAttitudeFlip = DepChangeThreshAttitudeFlip
  }

  # Many missions will keep mass position and buoyancy volume fixed at defaults.

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = MassDefault
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

  behavior Guidance:DepthEnvelope {
    """
    Another depth envelope for the YoYo behavior. This envelope should
    fall within the limits of the standard safety envelopes in
    Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
    angles for depth-terminated YoYos.
    """

    run in parallel

    set minDepth = YoYoMinDepth
    set maxDepth = YoYoMaxDepth
    set upPitch = YoYoUpPitch
    set downPitch = YoYoDownPitch
  }

  behavior Guidance:AltitudeEnvelope {
    """
    Another altitude envelope for the YoYo behavior. This envelope
    should fall within the limits of the standard safety envelopes in
    Insert/StandardEnvelopes.tl in order to avoid commanding high pitch
    angles for bottom-terminated YoYos.
    """

    run in parallel

    set minAltitude = YoYoMinAltitude
    set pitch = YoYoUpPitch
  }

  behavior Guidance:YoYo {
    run in parallel

    set upPitch = YoYoUpPitch
    set downPitch = YoYoDownPitch
  }

  aggregate SetSampleOptions {
    run when ( called )

    aggregate SetOptionsOfSample1 {
      run when (
        CntSamples + StartIndex - 1 count == 1 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType1

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample2 {
      run when (
        CntSamples + StartIndex - 1 count == 2 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType2

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample3 {
      run when (
        CntSamples + StartIndex - 1 count == 3 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType3

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample4 {
      run when (
        CntSamples + StartIndex - 1 count == 4 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType4

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample5 {
      run when (
        CntSamples + StartIndex - 1 count == 5 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType5

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample6 {
      run when (
        CntSamples + StartIndex - 1 count == 6 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType6

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample7 {
      run when (
        CntSamples + StartIndex - 1 count == 7 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType7

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample8 {
      run when (
        CntSamples + StartIndex - 1 count == 8 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType8

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample9 {
      run when (
        CntSamples + StartIndex - 1 count == 9 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType9

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample10 {
      run when (
        CntSamples + StartIndex - 1 count == 10 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType10

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample11 {
      run when (
        CntSamples + StartIndex - 1 count == 11 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType11

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample12 {
      run when (
        CntSamples + StartIndex - 1 count == 12 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType12

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample13 {
      run when (
        CntSamples + StartIndex - 1 count == 13 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType13

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample14 {
      run when (
        CntSamples + StartIndex - 1 count == 14 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType14

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample15 {
      run when (
        CntSamples + StartIndex - 1 count == 15 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType15

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample16 {
      run when (
        CntSamples + StartIndex - 1 count == 16 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType16

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample17 {
      run when (
        CntSamples + StartIndex - 1 count == 17 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType17

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample18 {
      run when (
        CntSamples + StartIndex - 1 count == 18 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType18

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample19 {
      run when (
        CntSamples + StartIndex - 1 count == 19 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType19

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample20 {
      run when (
        CntSamples + StartIndex - 1 count == 20 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType20

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample21 {
      run when (
        CntSamples + StartIndex - 1 count == 21 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType21

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample22 {
      run when (
        CntSamples + StartIndex - 1 count == 22 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType22

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample23 {
      run when (
        CntSamples + StartIndex - 1 count == 23 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType23

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample24 {
      run when (
        CntSamples + StartIndex - 1 count == 24 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType24

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample25 {
      run when (
        CntSamples + StartIndex - 1 count == 25 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType25

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample26 {
      run when (
        CntSamples + StartIndex - 1 count == 26 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType26

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample27 {
      run when (
        CntSamples + StartIndex - 1 count == 27 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType27

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample28 {
      run when (
        CntSamples + StartIndex - 1 count == 28 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType28

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample29 {
      run when (
        CntSamples + StartIndex - 1 count == 29 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType29

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample30 {
      run when (
        CntSamples + StartIndex - 1 count == 30 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType30

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample31 {
      run when (
        CntSamples + StartIndex - 1 count == 31 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType31

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample32 {
      run when (
        CntSamples + StartIndex - 1 count == 32 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType32

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample33 {
      run when (
        CntSamples + StartIndex - 1 count == 33 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType33

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample34 {
      run when (
        CntSamples + StartIndex - 1 count == 34 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType34

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample35 {
      run when (
        CntSamples + StartIndex - 1 count == 35 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType35

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample36 {
      run when (
        CntSamples + StartIndex - 1 count == 36 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType36

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample37 {
      run when (
        CntSamples + StartIndex - 1 count == 37 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType37

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample38 {
      run when (
        CntSamples + StartIndex - 1 count == 38 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType38

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample39 {
      run when (
        CntSamples + StartIndex - 1 count == 39 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType39

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample40 {
      run when (
        CntSamples + StartIndex - 1 count == 40 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType40

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample41 {
      run when (
        CntSamples + StartIndex - 1 count == 41 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType41

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample42 {
      run when (
        CntSamples + StartIndex - 1 count == 42 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType42

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample43 {
      run when (
        CntSamples + StartIndex - 1 count == 43 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType43

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample44 {
      run when (
        CntSamples + StartIndex - 1 count == 44 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType44

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample45 {
      run when (
        CntSamples + StartIndex - 1 count == 45 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType45

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample46 {
      run when (
        CntSamples + StartIndex - 1 count == 46 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType46

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample47 {
      run when (
        CntSamples + StartIndex - 1 count == 47 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType47

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample48 {
      run when (
        CntSamples + StartIndex - 1 count == 48 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType48

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample49 {
      run when (
        CntSamples + StartIndex - 1 count == 49 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType49

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample50 {
      run when (
        CntSamples + StartIndex - 1 count == 50 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType50

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample51 {
      run when (
        CntSamples + StartIndex - 1 count == 51 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType51

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample52 {
      run when (
        CntSamples + StartIndex - 1 count == 52 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType52

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample53 {
      run when (
        CntSamples + StartIndex - 1 count == 53 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType53

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample54 {
      run when (
        CntSamples + StartIndex - 1 count == 54 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType54

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample55 {
      run when (
        CntSamples + StartIndex - 1 count == 55 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType55

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample56 {
      run when (
        CntSamples + StartIndex - 1 count == 56 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType56

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample57 {
      run when (
        CntSamples + StartIndex - 1 count == 57 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType57

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample58 {
      run when (
        CntSamples + StartIndex - 1 count == 58 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType58

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample59 {
      run when (
        CntSamples + StartIndex - 1 count == 59 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType59

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample60 {
      run when (
        CntSamples + StartIndex - 1 count == 60 count
        and ( not ( SampleOptionsSet ) )
      )

      assign in sequence CartridgeType = CartridgeType60

      assign in sequence SampleOptionsSet = true
    }
  }

  aggregate FindPeakChlVerticalAndSample {
    run when ( called )

    break if (
      SampleCountIncreased
      or ( CntSamples > NumSamplers )
    )

    aggregate SetSpeedRudderAngleInitialDive {
      run when ( not ( FlagInitialDiveCompleted ) )

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SpeedInitialDive
      }

      behavior Guidance:Point {
        run in parallel

        set rudderAngle = RudderAngleInitialDive
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = InitialDiveDuration
      }

      assign in sequence FlagInitialDiveCompleted = true
    }

    aggregate FindPeakTakeSample {
      run in sequence

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SpeedFindChlPeakAndSample
      }

      behavior Guidance:Point {
        run in parallel

        set rudderAngle = RudderAngleFindChlPeakAndSample
      }

      aggregate NoFiringForTooLong {
        run when (
          elapsed ( ElapsedSinceStartOrLastSample ) > MaxWaitNoFiring
          and ( not ( FlagSamplingOngoing ) )
          and ( not ( StoppedForNoFiringForTooLong ) )
        )

        assign in sequence ElapsedTime = elapsed ( ElapsedSinceStartOrLastSample )

        syslog important "No firing for too long. Stopping mission. ElapsedTime, MaxWaitNoFiring = "
             + ElapsedTime~minute + ", " + MaxWaitNoFiring~minute

        behavior Guidance:Execute {
          run in sequence

          set command = "stop"
        }

        assign in sequence StoppedForNoFiringForTooLong = true
      }

      aggregate SetDepthRateGoDown {
        run while ( FlagGoDown )

        behavior Guidance:Pitch {
          run in parallel

          set depthRate = DownRate
        }
      }

      aggregate SetDepthRateGoUp {
        run while ( FlagGoUp )

        behavior Guidance:Pitch {
          run in parallel

          set depthRate = UpRate
        }
      }

      aggregate LogGoDown {
        run when (
          FlagGoDown
          and ( not ( SyslogGoDown ) )
        )

        assign in sequence DepthLogged = Universal:depth

        syslog important "Go down from " + DepthLogged~meter

        assign in sequence SyslogGoDown = true
      }

      aggregate SetFlagGoUp {
        run when (
          FlagFirstDive
          and ( Universal:depth > DeepBoundChl )
          and ( not ( FlagGoUp ) )
        )

        assign in sequence FlagGoUp = true

        assign in sequence FlagGoDown = false

        assign in sequence SyslogGoDown = false
      }

      aggregate LogGoUp {
        run when (
          FlagGoUp
          and ( not ( SyslogGoUp ) )
        )

        assign in sequence DepthLogged = Universal:depth

        syslog important "Go up from " + DepthLogged~meter

        assign in sequence SyslogGoUp = true
      }

      aggregate SetChlPeakDepth {
        run when (
          not ( FlagPeakChlDepthSet )
          and FlagGoUp
          and ( Universal:depth < ( DeepBoundChl - RiseFromTurningDepth ) )
          and ( Science:PeakChlDepth > ShallowBoundChl )
        )

        assign in sequence PeakChlDepthSet = Science:PeakChlDepth

        assign in sequence PeakChlSet = Science:PeakChl

        assign in sequence FlagFirstDive = false

        assign in sequence DepthLogged = Universal:depth

        assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water

        assign in sequence FlagGoUp = false

        assign in sequence FlagGoDown = false

        assign in sequence SyslogGoUp = false

        assign in sequence SyslogGoDown = false

        syslog important "Set peak-chl depth. DepthLogged, ChlLogged, PeakChlDepthSet, PeakChlSet = "
             + DepthLogged~meter + ", " + ChlLogged~microgram_per_liter + ", " + PeakChlDepthSet~meter + ", "
             + PeakChlSet~microgram_per_liter

        assign in sequence FlagPeakChlDepthSet = true
      }

      aggregate SetCartridgeType {
        run when (
          FlagPeakChlDepthSet
          and ( not ( FlagGoUp ) )
          and ( not ( FlagGoDown ) )
          and ( not ( FlagSamplingOngoing ) )
          and ( CntSamples <= NumSamplers )
          and ( not ( SampleOptionsSet ) )
          and ( not ( SampleCompleted ) )
        )

        call id="SampleOptions" refId="SetSampleOptions"
      }

      aggregate FiringOnDepth {
        run when (
          FlagPeakChlDepthSet
          and ( not ( FlagGoUp ) )
          and ( not ( FlagGoDown ) )
          and ( not ( FlagSamplingOngoing ) )
          and ( CntSamples <= NumSamplers )
          and SampleOptionsSet
          and ( not ( SampleCompleted ) )
        )

        assign in sequence SampleAtDepth:TargetDepth = PeakChlDepthSet

        assign in sequence SampleAtDepth:SettleTime = WaitDepthUndulation

        assign in sequence FlagSamplingOngoing = true

        assign in sequence SampleCountIncreased = false

        syslog important "Taking sample No." + CntSamples~count + ". Latitude, longitude = "
             + Universal:latitude~degree + ", " + Universal:longitude~degree + ". Target depth = "
             + PeakChlDepthSet~meter + "."

        syslog important "Requesting ESP cartridge type:" + CartridgeType~count

        aggregate TriggerOnDepth {
          run in sequence

          break if ( isNaN ( CartridgeType ) )

          assign in sequence SampleAtDepth:ESPCartridgeType = CartridgeType

          call id="Sampling" refId="SampleAtDepth"

          assign in sequence ElapsedSinceStartOrLastSample = 0 hour

          syslog important "Sample No." + CntSamples~count + " completed."

          assign in sequence FlagSamplingOngoing = false

          assign in sequence SampleCompleted = true

          assign in sequence FlagPeakChlDepthSet = false
        }
      }

      aggregate IncreaseSampleCount {
        run when (
          SampleCompleted
          and ( not ( SampleCountIncreased ) )
        )

        assign in sequence CntSamples = CntSamples + 1 count

        assign in sequence SampleCompleted = false

        assign in sequence SampleCountIncreased = true
      }
    }
  }

  aggregate WaypointSampling {
    run when ( called )

    call id="Wpt1NeedComms" refId="NeedComms"

    assign in sequence SampleOptionsSet = false

    assign in sequence SampleCountIncreased = false

    assign in sequence FlagPeakChlDepthSet = false

    assign in sequence FlagGoDown = true

    assign in sequence FlagFirstDive = true

    assign in sequence ElapsedSinceStartOrLastSample = 0 hour

    assign in sequence NeedComms:DiveInterval = NeedCommsSampling

    call id="SampleAtWaypoint" refId="FindPeakChlVerticalAndSample"

    assign in sequence NeedComms:DiveInterval = NeedCommsTimeTransit
  }

  aggregate SettingsCrossFront {
    run when ( called )

    assign in sequence FrontDetectionEnabled = false

    assign in sequence SampleOptionsSet = false

    assign in sequence SampleCountIncreased = false

    assign in sequence FlagPeakChlDepthSet = false

    assign in sequence FlagGoDown = true

    assign in sequence FlagFirstDive = true

    assign in sequence FirstPass = false

    assign in sequence FrontCrossed = true

    assign in sequence ReachedWpt1 = false

    assign in sequence ReachedWpt2 = false

    assign in sequence ReachedWpt3 = false

    assign in sequence ReachedWpt4 = false
  }

  call id="StartingMission" refId="NeedComms"

  aggregate BackAndForth {
    run in sequence repeat=RepeatTransects

    break if ( CntSamples > NumSamplers )

    assign in sequence FrontCrossed = false

    aggregate Waypoints {
      run in sequence

      break if ( FrontCrossed )

      assign in sequence NeedComms:DiveInterval = NeedCommsTimeTransit

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SpeedTransit
      }

      aggregate SampleFrontFirstPass {
        run in sequence

        break if ( not ( FirstPass ) )

        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 SampleFrontNotFirstPass {
        run in sequence

        break if ( FirstPass )

        aggregate Wpt1 {
          run when (
            ( Lat1 >= 0 degree
              or ( Lat1 < 0 degree )
            )
            and (
              Lon1 >= 0 degree
              or ( Lon1 < 0 degree )
            )
          )

          break if ( ReachedWpt1 )

          behavior Guidance:Waypoint {
            run in sequence

            set latitude = Lat1
            set longitude = Lon1
          }

          call id="SamplingWpt1" refId="WaypointSampling"

          assign in sequence ReachedWpt1 = true
        }

        aggregate Wpt2 {
          run when (
            ( Lat2 >= 0 degree
              or ( Lat2 < 0 degree )
            )
            and (
              Lon2 >= 0 degree
              or ( Lon2 < 0 degree )
            )
          )

          break if (
            not ( ReachedWpt1 )
            or ReachedWpt2
          )

          behavior Guidance:Waypoint {
            run in sequence

            set latitude = Lat2
            set longitude = Lon2
          }

          call id="SamplingWpt2" refId="WaypointSampling"

          assign in sequence ReachedWpt2 = true
        }

        aggregate Wpt3 {
          run when (
            ( Lat3 >= 0 degree
              or ( Lat3 < 0 degree )
            )
            and (
              Lon3 >= 0 degree
              or ( Lon3 < 0 degree )
            )
          )

          break if (
            not ( ReachedWpt2 )
            or ReachedWpt3
          )

          behavior Guidance:Waypoint {
            run in sequence

            set latitude = Lat3
            set longitude = Lon3
          }

          call id="SamplingWpt3" refId="WaypointSampling"

          assign in sequence ReachedWpt3 = true
        }

        aggregate Wpt4 {
          run when (
            ( Lat4 >= 0 degree
              or ( Lat4 < 0 degree )
            )
            and (
              Lon4 >= 0 degree
              or ( Lon4 < 0 degree )
            )
          )

          break if (
            not ( ReachedWpt3 )
            or ReachedWpt4
          )

          behavior Guidance:Waypoint {
            run in sequence

            set latitude = Lat4
            set longitude = Lon4
          }

          call id="SamplingWpt4" refId="WaypointSampling"

          assign in sequence ReachedWpt4 = true
        }

        aggregate Wpt5 {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

            set latitude = Lat5
            set longitude = Lon5
          }

          assign in sequence FrontDetectionEnabled = true
        }

        aggregate Wpt6 {
          run in sequence

          behavior Guidance:Waypoint {
            run in sequence

            set latitude = Lat6
            set longitude = Lon6
          }
        }
      }
    }
  }

  aggregate CrossFrontFromStratifiedToUpwelling {
    run when (
      FrontAutonomousDetection
      and Estimation:StratificationFrontDetector.loadAtStartup
      and Estimation:StratificationFrontDetector.front
      and Estimation:StratificationFrontDetector.stratified
      and FrontDetectionEnabled
      and ( not ( FrontCrossed ) )
      or (
        not ( FrontAutonomousDetection )
        and FromStratifiedToUpwelling
        and ( Universal:longitude >= LonFrontMinDesignated )
        and ( Universal:longitude <= LonFrontMaxDesignated )
        and FrontDetectionEnabled
        and ( not ( FrontCrossed ) )
      )
    )

    call id="CrossFrontNeedComms" refId="NeedComms"

    assign in sequence LatitudeFront = Universal:latitude

    assign in sequence LongitudeFront = Universal:longitude

    assign in sequence Lat1 = LatitudeFront + DeltaLatUpwellingSide1

    assign in sequence Lon1 = LongitudeFront + DeltaLonUpwellingSide1

    assign in sequence Lat2 = LatitudeFront + DeltaLatUpwellingSide2

    assign in sequence Lon2 = LongitudeFront + DeltaLonUpwellingSide2

    assign in sequence Lat3 = LatitudeFront + DeltaLatUpwellingSide3

    assign in sequence Lon3 = LongitudeFront + DeltaLonUpwellingSide3

    assign in sequence Lat4 = LatitudeFront + DeltaLatUpwellingSide4

    assign in sequence Lon4 = LongitudeFront + DeltaLonUpwellingSide4

    # Reach the endpoint in upwelling water

    assign in sequence Lat5 = LatUpwellingEnd

    assign in sequence Lon5 = LonUpwellingEnd

    # Turn around to stratified water

    assign in sequence Lat6 = LatStratifiedEnd

    assign in sequence Lon6 = LonStratifiedEnd

    syslog important "Crossed the front from stratified to upwelling. VTHI = "
         + Derivation:VerticalHomogeneityIndexCalculator.vertical_temperature_homogeneity_index~celsius
         + ". VSHI = "
         + Derivation:VerticalHomogeneityIndexCalculator.vertical_salinity_homogeneity_index~psu
         + ". Front latitude, longitude = " + LatitudeFront~degree + ", " + LongitudeFront~degree
         + ". Lat1, Lon1 = " + Lat1~degree + ", " + Lon1~degree + ". Lat2, Lon2 = " + Lat2~degree + ", "
         + Lon2~degree + ". Lat3, Lon3 = " + Lat3~degree + ", " + Lon3~degree + ". Lat4, Lon4 = "
         + Lat4~degree + ", " + Lon4~degree + ". Lat5, Lon5 = " + Lat5~degree + ", " + Lon5~degree
         + ". Lat6, Lon6 = " + Lat6~degree + ", " + Lon6~degree + ". Sample count = " + CntSamples~count
         + "."

    call id="SettingsCrossFrontFromUpwellingToStratified" refId="SettingsCrossFront"

    assign in sequence ElapsedSinceStartOrLastSample = 0 hour

    assign in sequence NeedComms:DiveInterval = NeedCommsSampling

    call id="SampleAtFrontFromUpwellingToStratified" refId="FindPeakChlVerticalAndSample"

    assign in sequence NeedComms:DiveInterval = NeedCommsTimeTransit

    assign in sequence FromStratifiedToUpwelling = false
  }

  aggregate CrossFrontFromUpwellingToStratified {
    run when (
      FrontAutonomousDetection
      and Estimation:StratificationFrontDetector.loadAtStartup
      and Estimation:StratificationFrontDetector.front
      and Estimation:StratificationFrontDetector.homogeneous
      and FrontDetectionEnabled
      and ( not ( FrontCrossed ) )
      or (
        not ( FrontAutonomousDetection )
        and ( not ( FromStratifiedToUpwelling ) )
        and ( Universal:longitude >= LonFrontMinDesignated )
        and ( Universal:longitude <= LonFrontMaxDesignated )
        and FrontDetectionEnabled
        and ( not ( FrontCrossed ) )
      )
    )

    call id="CrossFrontNeedComms" refId="NeedComms"

    assign in sequence LatitudeFront = Universal:latitude

    assign in sequence LongitudeFront = Universal:longitude

    assign in sequence Lat1 = LatitudeFront + DeltaLatStratifiedSide1

    assign in sequence Lon1 = LongitudeFront + DeltaLonStratifiedSide1

    assign in sequence Lat2 = LatitudeFront + DeltaLatStratifiedSide2

    assign in sequence Lon2 = LongitudeFront + DeltaLonStratifiedSide2

    assign in sequence Lat3 = LatitudeFront + DeltaLatStratifiedSide3

    assign in sequence Lon3 = LongitudeFront + DeltaLonStratifiedSide3

    assign in sequence Lat4 = LatitudeFront + DeltaLatStratifiedSide4

    assign in sequence Lon4 = LongitudeFront + DeltaLonStratifiedSide4

    # Reach the endpoint in stratified water

    assign in sequence Lat5 = LatStratifiedEnd

    assign in sequence Lon5 = LonStratifiedEnd

    # Turn around to upwelling water

    assign in sequence Lat6 = LatUpwellingEnd

    assign in sequence Lon6 = LonUpwellingEnd

    syslog important "Crossed the front from upwelling to stratified. VTHI = "
         + Derivation:VerticalHomogeneityIndexCalculator.vertical_temperature_homogeneity_index~celsius
         + ". VSHI = "
         + Derivation:VerticalHomogeneityIndexCalculator.vertical_salinity_homogeneity_index~psu
         + ". Front latitude, longitude = " + LatitudeFront~degree + ", " + LongitudeFront~degree
         + ". Lat1, Lon1 = " + Lat1~degree + ", " + Lon1~degree + ". Lat2, Lon2 = " + Lat2~degree + ", "
         + Lon2~degree + ". Lat3, Lon3 = " + Lat3~degree + ", " + Lon3~degree + ". Lat4, Lon4 = "
         + Lat4~degree + ", " + Lon4~degree + ". Lat5, Lon5 = " + Lat5~degree + ", " + Lon5~degree
         + ". Lat6, Lon6 = " + Lat6~degree + ", " + Lon6~degree + ". Sample count = " + CntSamples~count

    call id="SettingsCrossFrontFromUpwellingToStratified" refId="SettingsCrossFront"

    assign in sequence ElapsedSinceStartOrLastSample = 0 hour

    assign in sequence NeedComms:DiveInterval = NeedCommsSampling

    call id="SampleAtFrontFromUpwellingToStratified" refId="FindPeakChlVerticalAndSample"

    assign in sequence NeedComms:DiveInterval = NeedCommsTimeTransit

    assign in sequence FromStratifiedToUpwelling = true
  }
}