Science/mapPatch.tl

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# -   prohibited.
# -
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# -   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
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mission mapPatch {
  """
  Vehicle yo-yos with patch detect enabled for oil concentration. NOTE:
  oil concentrations may vary strongly with depth! Suggested settings for
  simulaton: Config/sim/[username]/Simulator.cfg: oceanModelData =
  "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3";
  eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; //
  vel x wrto LV Config/sim/[username]/workSite.cfg: initLat =
  71.2225805280196 arcdeg; // Initial latitude initLon =
  -163.5093252100575 arcdeg; // Initial longitude
  Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool;
  WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool;
  WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial =
  "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7
  1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count;
  WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count;
  WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count;
  WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb;
  WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count;
  WetLabsSeaOWL_UV_A.darkCountsChl = 50 count;
  WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l;
  WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count;
  WetLabsSeaOWL_UV_A.darkCountsOil = 50 count;
  WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts =
  "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM";
  """

  arguments {
    # Vehicle safety parameters

    MissionTimeout = 12 hour
      """
      Timeout for the entire mission
      """

    Speed = 1 meter_per_second
      """
      Vehicle speed.
      """

    CommsAtMissionStart = true
      """
      Whether to do comms at start of mission.
      """

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

    PeakDetectChl = true
      """
      Chlorophyll patch mapping.
      """

    # debug
    #     </Description><True/></DefineArg>

    PeakDetectSalinity = false
      """
      Salinity patch mapping.
      """

    # debug
    #     </Description><True/></DefineArg>

    PeakDetectOil = false
      """
      Oil patch mapping.
      """

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

    MinAltitude = 5 meter
      """
      Minimum altitude for the entire mission.
      """

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

    MinWaterDepth = 10 meter
      """
      Minimum water depth for the entire mission.
      """

    MinOffshore = 2000 meter
      """
      Minimum offshore distance for the entire mission.
      """

    MinDistFromPolygonSides = 200 meter
      """
      If a operational safety polygon is specified and the vehicle is closer
      than this minimum distance to the polygon sides, turn back.
      """

    NeedCommsTimeInTransit = 60 minute
      """
      Maximum time between surfacings for communications during transit
      """

    NeedCommsTimePatchMapping = 60 minute
      """
      Maximum time between surfacings for communications during patch mapping.
      This is checked only on every NumRoundsBtnCrossLegSurfacings rounds of
      CrossLeg or every NumRoundsBtnInLegSurfacings InLeg.
      """

    ElapsedTimeSinceLastGPSForCheckingOutsidePolygon = 60 minute
      """
      Check whether vehicle is outside of polygon only after the elapsed time
      since last GPS is greater than this parameter.
      """

    CheckNaNTimeout = 10 minute
      """
      If the patch peak value is NaN by this time, stop mission.
      """

    TimePastOffPeakThreshold = 60 minute
      """
      Time to swim past off-peak threshold point, in order to cover low-value
      regions.
      """

    # debug
    #     </Description><Units:minute/><Value>4</Value></DefineArg>

    WaitAfterHittingWall = 3 minute
      """
      After the vehicle bounces off the boundary (defined by the shortest
      distance to polygon sides), wait this long before re-checking the
      distance.
      """

    LatPatchMappingStart = NaN degree
      """
      Latitude of patch mapping start location. If nan, transit is skipped.
      """

    # debug
    #     </Description><Units:degree/><Value>36.810</Value></DefineArg>

    LonPatchMappingStart = NaN degree
      """
      Longitude of patch mapping start location. If nan, transit is skipped.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.855</Value></DefineArg>

    Repeat = 100 count
      """
      Maximum number of legs. Set to a large number.
      """

    WpMaxDistance = 4000 meter
      """
      Maximum length of each mapping leg
      """

    WpTimeoutBase = 4000 second
      """
      Maximum duration of each mapping leg
      """

    TransitYoYoMinDepth = 2 meter
      """
      Minimum depth while performing the YoYo behavior during transit.
      """

    TransitYoYoMaxDepth = 30 meter
      """
      Maximum depth while performing the YoYo behavior during transit.
      """

    PatchMappingYoYoMinDepth = 0.3 meter
      """
      Minimum depth while performing the YoYo behavior during patch mapping.
      """

    PatchMappingYoYoMaxDepth = 10 meter
      """
      Maximum depth while performing the YoYo behavior during patch mapping.
      """

    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.
      """

    PeakShallowBnd = 0.3 meter
      """
      Shallow depth bound for detecting peak on each descent or ascent
      profile.
      """

    PeakDeepBnd = 10 meter
      """
      Deep depth bound for detecting peak on each descent or ascent profile.
      """

    BeginThresholdChl = 1.0 microgram_per_liter
      """
      If non-NaN, sets chlorophyll threshold for starting horizontal patch
      detection
      """

    BeginThresholdSalt = 33.0 practical_salinity_unit
      """
      If non-NaN, sets salinity threshold for starting horizontal patch
      detection
      """

    BeginThresholdOil = 0.1 kilogram_per_cubic_meter
      """
      If non-NaN, sets threshold for starting horizontal patch detection
      """

    Side2InwardDirection = 0 degree
      """
      Inward direction of polygon side 2.
      """

    WpBearing = 30 degree
      """
      Bearing being followed in the current leg. Set this to initialize start
      direction of patch mapping.
      """

    OffPeakFraction = 10 percent
      """
      When filtered horizontal value is this fraction of the peak, consider it
      outside the patch.
      """

    DetectionTimeout = 30 minute
      """
      Look for signal for this long. If none found within this timeout, switch
      to the next leg.
      """

    TimeWindowPeakRpt = NaN minute
      """
      If greater than zero, report a peak every such time window has elapsed.
      If NaN or zero, this variable is ignored.
      """

    LowPassWindowLen = 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.
      """

    NumOfProfilesSlidingwindow = 50 count
      """
      Length of horizontal sliding window. The highest per-yoyo peak (after
      low-pass filtering by a filter of length FilterWidthHorizontal) is
      picked out within this window.
      """

    FilterWidthHorizontal = 4 count
      """
      Width of boxcar filter used in horizontal patch detection
      """

    DepChangeThreshAttitudeFlip = 2.0 meter
      """
      Depth change threshold for determining vehicle attitude flip.
      """

    WaterFrame = true
      """
      Set WaterFrame true to drive towards waypoints in the water frame of
      reference
      """

    PatchMode = false
      """
      If true, use center of "in peak" range as the turn-around point. If
      false use maximum horizontal peak location as the turn-around point.
      """

    TurnAngleBase = 120 degree
      """
      Zigzag turn angle.
      """

    Reverse = 180 degree
      """
      Change in bearing which reverses vehicle direction
      """

    MassDefault = Control:VerticalControl.massDefault
      """
      Static setting for mass during the mission. Defaults to massDefault
      setting in the Config/Control.cfg file.
      """

    BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
      """
      Buoyancy bladder position while performing the YoYo behavior. Defaults
      to buoyancyNeutral setting in the Config/Control.cfg file.
      """
  }

  output {
    # Internal variable settings

    AngleDifference = NaN degree

    TwoPi = 360 degree
      """
      Applied to stop run-up of angles
      """

    PeakFoundNotContinuedFlightLowEnabled = true
      """
      Initialized to True.
      """

    PeakFoundNotContinuedFlightHighEnabled = true
      """
      Initialized to True.
      """

    PeakFoundContinuedFlightLowEnabled = true
      """
      Initialized to True.
      """

    PeakFoundContinuedFlightHighEnabled = true
      """
      Initialized to True.
      """

    LegNotContinuedFlightEnabled = true
      """
      Initialized to True.
      """

    LegContinuedFlightLowEnabled = true
      """
      Initialized to True.
      """

    LegContinuedFlightHighEnabled = true
      """
      Initialized to True.
      """

    PatchDetectOn = true
      """
      Mission sets this to true when looking for the patch peak. Initialized
      to True.
      """

    ZigDone = false
      """
      Mission sets this to true when the zig transect has been completed.
      Initialized to False.
      """

    LegContinuedFlight = false
      """
      Initialized to False.
      """

    MissionStartCommsCompleted = false
      """
      Initialized to False.
      """

    Turn = NaN degree
      """
      Initialized to NaN.
      """

    WpBearingAfterLastWallHit = NaN degree
      """
      Initialized to NaN.
      """

    WpTimeout = NaN second
      """
      Initialized to NaN.
      """

    SideLastHit = NaN count

    PatchPeakChl = NaN microgram_per_liter

    PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

    PatchPeakSalinity = NaN practical_salinity_unit

    PatchPeakSalinityPriorToContinuedFlight = NaN practical_salinity_unit

    PatchPeakOil = NaN kilogram_per_cubic_meter

    PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

    PatchPeakDepth = NaN meter

    PatchPeakLatitude = NaN degree

    PatchPeakLongitude = NaN degree

    PatchPeakDistance = 0 meter

    StoppedForNaNPatchPeak = false
      """
      Mission stopped because patch peak value is NaN. Initialized to False.
      """

    StoppedPolygonNotDefined = false
      """
      Mission stopped because the bounding polygon is not defined. Initialized
      to False.
      """

    StoppedForBeingOutsideOfPolygon = false
      """
      Mission stopped because the vehicle is outside of the polygon.
      Initialized to False.
      """

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

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

    ElapsedSinceEndOfTransit = 0 hour
      """
      The mission sets this variable to reset the timer.
      """
  }

  # The timeout

  timeout duration=MissionTimeout

  # And now the mission

  # Uncomment to speed up simulation
  #    <Guidance:SetSpeed>
  #        <Parallel/>
  #        <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>800</Value></Setting>
  #    </Guidance:SetSpeed>

  behavior Guidance:AltitudeEnvelope {
    run in parallel

    set minAltitude = MinAltitude
  }

  behavior Guidance:DepthEnvelope {
    run in parallel

    set maxDepth = MaxDepth
  }

  # GPS Update.  Don't go too long w/o a GPS fix.

  insert id="NeedComms" Insert/NeedComms.tl

  behavior Guidance:OffshoreEnvelope {
    run in parallel

    set minOffshore = MinOffshore
  }

  behavior Guidance:WaterDepthEnvelope {
    run in parallel

    set minWaterDepth = MinWaterDepth
  }

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = MassDefault
  }

  behavior Guidance:Buoyancy {
    run in parallel

    set position = BuoyancyNeutral
  }

  # If we're executing here or below, lets' get science data!

  insert Insert/Science.tl {
    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg PeakDetectSalinityActive = PeakDetectSalinity
    redefineArg PeakDetectOilActive = PeakDetectOil
    redefineArg TimeWindowPeakReport = TimeWindowPeakRpt
    redefineArg LowPassWindowLength = LowPassWindowLen
    redefineArg MedianFilterLen = MedianFilterLength
    redefineArg PeakShallowBound = PeakShallowBnd
    redefineArg PeakDeepBound = PeakDeepBnd
    redefineArg DepChangeThreshForAttitudeFlip = DepChangeThreshAttitudeFlip
  }

  behavior Guidance:SetSpeed {
    run in parallel

    set speed = Speed
  }

  aggregate SyslogWpMaxDistanceReached {
    run when ( called )

    aggregate SyslogWpMaxDist {
      run in sequence

      break if (
        LegContinuedFlight
        or ( not ( LegNotContinuedFlightEnabled ) )
      )

      aggregate SyslogWpMaxDistanceReachedChl {
        run in sequence

        break if (
          not (
            PeakDetectChl
            and ( PatchPeakChl >= 0.0 microgram_per_liter )
          )
        )

        syslog important "Maximum leg distance reached. Turn onto a new heading. The patch peak is "
             + PatchPeakChl~microgram_per_liter + "at " + PatchPeakLatitude~degree + ","
             + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter

        sendData service=express (
          PatchPeakChl,
          PatchPeakDepth,
          PatchPeakLatitude,
          PatchPeakLongitude
        )
      }

      aggregate SyslogWpMaxDistanceReachedSalt {
        run in sequence

        break if (
          not (
            PeakDetectSalinity
            and ( PatchPeakSalinity >= 0.0 practical_salinity_unit )
          )
        )

        syslog important "Maximum leg distance reached. Turn onto a new heading. The patch peak is "
             + PatchPeakSalinity~practical_salinity_unit + " at " + PatchPeakLatitude~degree + ","
             + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter

        sendData service=express (
          PatchPeakSalinity,
          PatchPeakDepth,
          PatchPeakLatitude,
          PatchPeakLongitude
        )
      }

      aggregate SyslogWpMaxDistanceReachedOil {
        run in sequence

        break if ( not ( PeakDetectOil ) )

        syslog important "Maximum leg distance reached. Turn onto a new heading. The patch peak is "
             + PatchPeakOil~kilogram_per_cubic_meter + " at " + PatchPeakLatitude~degree + ","
             + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + "."

        sendData service=express (
          PatchPeakOil,
          PatchPeakDepth,
          PatchPeakLatitude,
          PatchPeakLongitude
        )
      }
    }
  }

  aggregate SyslogContinuedFlightCompletedPatchValueLow {
    run when ( called )

    aggregate SyslogContinuedFlightCompletedPatchValueLowChl {
      run in sequence

      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakChl~microgram_per_liter + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than ("
           + PatchPeakChlPriorToContinuedFlight~microgram_per_liter + " * " + OffPeakFraction~percent
           + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogContinuedFlightCompletedPatchValueLowSalt {
      run in sequence

      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 practical_salinity_unit )
        )
      )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakSalinity~practical_salinity_unit + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than ("
           + PatchPeakSalinityPriorToContinuedFlight~practical_salinity_unit + " * "
           + OffPeakFraction~percent + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogContinuedFlightCompletedPatchValueLowOil {
      run in sequence

      break if ( not ( PeakDetectOil ) )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakOil~kilogram_per_cubic_meter + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than ("
           + PatchPeakOilPriorToContinuedFlight~kilogram_per_cubic_meter + " * " + OffPeakFraction~percent
           + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }
  }

  aggregate SyslogContinuedFlightCompletedPatchValueHigh {
    run when ( called )

    aggregate SyslogContinuedFlightCompletedPatchValueHighChl {
      run in sequence

      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakChl~microgram_per_liter + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than ("
           + PatchPeakChlPriorToContinuedFlight~microgram_per_liter + " * " + OffPeakFraction~percent
           + "). Maintain heading."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogContinuedFlightCompletedPatchValueHighSalt {
      run in sequence

      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 practical_salinity_unit )
        )
      )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakSalinity~practical_salinity_unit + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than ("
           + PatchPeakSalinityPriorToContinuedFlight~practical_salinity_unit + " * "
           + OffPeakFraction~percent + "). Maintain heading."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogContinuedFlightCompletedPatchValueHighOil {
      run in sequence

      break if ( not ( PeakDetectOil ) )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakOil~kilogram_per_cubic_meter + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than ("
           + PatchPeakOilPriorToContinuedFlight~kilogram_per_cubic_meter + " * " + OffPeakFraction~percent
           + "). Maintain heading."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }
  }

  aggregate SyslogPeakFoundContinuedFlightPatchValueLow {
    run when ( called )

    aggregate SyslogPeakFoundContinuedFlightPatchValueLowChl {
      run in sequence

      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakChl~microgram_per_liter + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than ("
           + PatchPeakChlPriorToContinuedFlight~microgram_per_liter + " * " + OffPeakFraction~percent
           + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogPeakFoundContinuedFlightPatchValueLowSalinity {
      run in sequence

      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 practical_salinity_unit )
        )
      )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakSalinity~practical_salinity_unit + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than ("
           + PatchPeakSalinityPriorToContinuedFlight~practical_salinity_unit + " * "
           + OffPeakFraction~percent + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogPeakFoundContinuedFlightPatchValueLowOil {
      run in sequence

      break if ( not ( PeakDetectOil ) )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakOil~kilogram_per_cubic_meter + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than ("
           + PatchPeakOilPriorToContinuedFlight~kilogram_per_cubic_meter + " * " + OffPeakFraction~percent
           + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }
  }

  aggregate SyslogPeakFoundContinuedFlightPatchValueHigh {
    run when ( called )

    aggregate SyslogPeakFoundContinuedFlightPatchValueHighChl {
      run in sequence

      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakChl~microgram_per_liter + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than ("
           + PatchPeakChlPriorToContinuedFlight~microgram_per_liter + " * " + OffPeakFraction~percent
           + "). Maintain heading."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogPeakFoundContinuedFlightPatchValueHighSalinity {
      run in sequence

      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 practical_salinity_unit )
        )
      )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakSalinity~practical_salinity_unit + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than ("
           + PatchPeakSalinityPriorToContinuedFlight~practical_salinity_unit + " * "
           + OffPeakFraction~percent + "). Maintain heading."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogPeakFoundContinuedFlightPatchValueHighOil {
      run in sequence

      break if ( not ( PeakDetectOil ) )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakOil~kilogram_per_cubic_meter + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is higher than ("
           + PatchPeakOilPriorToContinuedFlight~kilogram_per_cubic_meter + " * " + OffPeakFraction~percent
           + "). Maintain heading."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }
  }

  aggregate SyslogPeakFoundNotContinuedFlightLow {
    run when ( called )

    aggregate SyslogPeakFoundNotContinuedFlightLowChl {
      run in sequence

      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak "
           + PatchPeakChl~microgram_per_liter + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than "
           + BeginThresholdChl~microgram_per_liter + ". Turn onto a new heading."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogPeakFoundNotContinuedFlightLowSalinity {
      run in sequence

      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 practical_salinity_unit )
        )
      )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak "
           + PatchPeakSalinity~practical_salinity_unit + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than "
           + BeginThresholdSalt~practical_salinity_unit + ". Turn onto a new heading."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogPeakFoundNotContinuedFlightLowOil {
      run in sequence

      break if ( not ( PeakDetectOil ) )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak "
           + PatchPeakOil~kilogram_per_cubic_meter + " (at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + ") is lower than "
           + BeginThresholdOil~kilogram_per_cubic_meter + ". Turn onto a new heading."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }
  }

  aggregate SyslogPeakFoundNotContinuedFlightHigh {
    run when ( called )

    aggregate SyslogPeakFoundNotContinuedFlightHighChl {
      run in sequence

      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak is "
           + PatchPeakChl~microgram_per_liter + " at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter
           + ". Will continue flight for " + TimePastOffPeakThreshold~minute + "."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogPeakFoundNotContinuedFlightHighSalinity {
      run in sequence

      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 practical_salinity_unit )
        )
      )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak is "
           + PatchPeakSalinity~practical_salinity_unit + " at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter
           + ". Will continue flight for " + TimePastOffPeakThreshold~minute + "."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }

    aggregate SyslogPeakFoundNotContinuedFlightHighOil {
      run in sequence

      break if ( not ( PeakDetectOil ) )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak is "
           + PatchPeakOil~kilogram_per_cubic_meter + " at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter
           + ". Will continue flight for " + TimePastOffPeakThreshold~minute + "."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )
    }
  }

  aggregate SyslogHittingWall {
    run when ( called )

    aggregate SyslogHittingWallChl {
      run in sequence

      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "Latitude = " + Universal:latitude~degree + ", longitude = "
           + Universal:longitude~degree + ". Shortest distance "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides~meter
           + " to side " + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance~count
           + ": less than MinDistFromPolygonSides " + MinDistFromPolygonSides~meter
           + " and vehicle is inside polygon, or larger than MinDistFromPolygonSides "
           + MinDistFromPolygonSides~meter
           + " but vehicle outside of polygon on a fresh GPS fix. The patch peak is "
           + PatchPeakChl~microgram_per_liter + "at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + "."
    }

    aggregate SyslogHittingWallSalinity {
      run in sequence

      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 practical_salinity_unit )
        )
      )

      syslog important "Latitude = " + Universal:latitude~degree + ", longitude = "
           + Universal:longitude~degree + ". Shortest distance "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides~meter
           + " to side " + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance~count
           + ": less than MinDistFromPolygonSides " + MinDistFromPolygonSides~meter
           + " and vehicle is inside polygon, or larger than MinDistFromPolygonSides "
           + MinDistFromPolygonSides~meter
           + " but vehicle outside of polygon on a fresh GPS fix. The patch peak is "
           + PatchPeakSalinity~practical_salinity_unit + "at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + "."
    }

    aggregate SyslogHittingWallOil {
      run in sequence

      break if ( not ( PeakDetectOil ) )

      syslog important "Latitude = " + Universal:latitude~degree + ", longitude = "
           + Universal:longitude~degree + ". Shortest distance "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides~meter
           + " to side " + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance~count
           + ": less than MinDistFromPolygonSides " + MinDistFromPolygonSides~meter
           + " and vehicle is inside polygon, or larger than MinDistFromPolygonSides "
           + MinDistFromPolygonSides~meter
           + " but vehicle outside of polygon on a fresh GPS fix. The patch peak is "
           + PatchPeakOil~kilogram_per_cubic_meter + "at " + PatchPeakLatitude~degree + ","
           + PatchPeakLongitude~degree + ", distance = " + PatchPeakDistance~meter + "."
    }
  }

  aggregate Wait {
    run when ( called )

    syslog important "Continue flight for " + TimePastOffPeakThreshold~minute
         + " before the next leg."

    behavior Guidance:Wait {
      run in sequence

      set duration = TimePastOffPeakThreshold
    }
  }

  aggregate MissionStartComms {
    run when (
      CommsAtMissionStart
      and ( not ( MissionStartCommsCompleted ) )
    )

    call id="MissionStartComms" refId="NeedComms"

    assign in sequence MissionStartCommsCompleted = true
  }

  aggregate MissionStartSettings {
    run in sequence

    assign in sequence ElapsedSinceStart = 0 hour

    assign in sequence ElapsedSinceLastTurn = 0 hour

    assign in sequence Turn = TurnAngleBase

    assign in sequence WpTimeout = WpTimeoutBase
  }

  aggregate TransitToPatchMappingStartLocation {
    run in sequence

    break if (
      isNaN ( LatPatchMappingStart )
      or ( isNaN ( LonPatchMappingStart ) )
    )

    assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransit

    behavior Guidance:DepthEnvelope {
      run in parallel

      set minDepth = TransitYoYoMinDepth
      set maxDepth = TransitYoYoMaxDepth
    }

    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
    }

    behavior Guidance:YoYo {
      run in parallel

      set downPitch = YoYoDownPitch
      set upPitch = YoYoUpPitch
    }

    behavior Guidance:Waypoint {
      run in sequence

      set latitude = LatPatchMappingStart
      set longitude = LonPatchMappingStart
    }

    assign in sequence ElapsedSinceEndOfTransit = 0 hour
  }

  aggregate PolygonNotDefined {
    run when (
      not ( Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup )
    )

    break if ( StoppedPolygonNotDefined )

    syslog important "Bounding polygon is not defined. Stopping mission."

    behavior Guidance:Execute {
      run in sequence

      set command = "stop"
    }

    assign in sequence StoppedPolygonNotDefined = true
  }

  aggregate PatchPeakIsNaN {
    run when (
      elapsed ( ElapsedSinceStart ) > CheckNaNTimeout
      and (
        isNaN ( LatPatchMappingStart )
        or ( isNaN ( LonPatchMappingStart ) )
      )
      or (
        elapsed ( ElapsedSinceEndOfTransit ) > CheckNaNTimeout
        and (
          not (
            isNaN ( LatPatchMappingStart )
            or ( isNaN ( LonPatchMappingStart ) )
          )
        )
      )
    )

    break if (
      PeakDetectChl
      and ( PatchPeakChl >= 0.0 microgram_per_liter )
      or (
        PeakDetectSalinity
        and ( PatchPeakSalinity >= 0.0 practical_salinity_unit )
      )
      or (
        PeakDetectOil
        and (
          PatchPeakOil >= 0.0 kilogram_per_cubic_meter
          or ( PatchPeakOil < 0.0 kilogram_per_cubic_meter )
        )
      )
      or StoppedForNaNPatchPeak
    )

    syslog important "Patch peak value is NaN. Stopping mission."

    behavior Guidance:Execute {
      run in sequence

      set command = "stop"
    }

    assign in sequence StoppedForNaNPatchPeak = true
  }

  aggregate PatchMapping {
    run in sequence repeat=Repeat

    assign in sequence PeakFoundNotContinuedFlightLowEnabled = true

    assign in sequence PeakFoundNotContinuedFlightHighEnabled = true

    assign in sequence PeakFoundContinuedFlightLowEnabled = true

    assign in sequence PeakFoundContinuedFlightHighEnabled = true

    assign in sequence LegNotContinuedFlightEnabled = true

    assign in sequence LegContinuedFlightLowEnabled = true

    assign in sequence LegContinuedFlightHighEnabled = true

    assign in sequence ZigDone = false

    assign in sequence PatchDetectOn = true

    behavior Guidance:DepthEnvelope {
      run in parallel

      set minDepth = PatchMappingYoYoMinDepth
      set maxDepth = PatchMappingYoYoMaxDepth
    }

    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
    }

    behavior Guidance:YoYo {
      run in parallel

      set downPitch = YoYoDownPitch
      set upPitch = YoYoUpPitch
    }

    assign in sequence NeedComms:DiveInterval = NeedCommsTimePatchMapping

    aggregate OutsideOfPolygon {
      run in parallel

      break if (
        Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon
        or ( elapsed ( Universal:time_fix ) <= ElapsedTimeSinceLastGPSForCheckingOutsidePolygon )
        or StoppedForBeingOutsideOfPolygon
      )

      syslog important "Latitude = " + Universal:latitude~degree + ", longitude = "
           + Universal:longitude~degree + ". The vehicle is outside of the polygon. Stopping mission."

      behavior Guidance:Execute {
        run in sequence

        set command = "stop"
      }

      assign in sequence StoppedForBeingOutsideOfPolygon = true
    }

    aggregate HitWallTerminateZigSide0 {
      run when (
        elapsed ( ElapsedSinceLastTurn ) > WaitAfterHittingWall
        and (
          Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides
          or ( not ( Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon ) )
        )
        and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 0 count )
      )

      break if ( ZigDone )

      aggregate HitSide0Turn {
        run in sequence

        break if (
          AngleDifference > 0 degree
          and ( AngleDifference < 90 degree )
          or (
            AngleDifference > 270 degree
            and ( AngleDifference < 360 degree )
          )
        )

        assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance

        call id="SyslogHittingWallZigSide0" refId="SyslogHittingWall"

        assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

        assign in sequence ElapsedSinceLastTurn = 0 hour

        assign in sequence WpBearingAfterLastWallHit = WpBearing

        assign in sequence Turn = Turn - Turn - Turn

        assign in sequence WpTimeout = WpTimeoutBase

        assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

        assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN practical_salinity_unit

        assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

        assign in sequence LegContinuedFlight = false

        assign in sequence ZigDone = true
      }

      aggregate HitSide0DoNotTurn {
        run in sequence

        break if (
          not (
            AngleDifference > 0 degree
            and ( AngleDifference < 90 degree )
            or (
              AngleDifference > 270 degree
              and ( AngleDifference < 360 degree )
            )
          )
        )

        assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance

        call id="SyslogHittingWallZigSide0" refId="SyslogHittingWall"

        assign in sequence ElapsedSinceLastTurn = 0 hour

        assign in sequence WpBearingAfterLastWallHit = WpBearing

        assign in sequence WpTimeout = WpTimeoutBase

        assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

        assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN practical_salinity_unit

        assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

        assign in sequence LegContinuedFlight = false

        assign in sequence ZigDone = true
      }
    }

    aggregate HitWallTerminateZigSide2 {
      run when (
        elapsed ( ElapsedSinceLastTurn ) > WaitAfterHittingWall
        and (
          Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides
          or ( not ( Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon ) )
        )
        and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 2 count )
      )

      break if ( ZigDone )

      assign in sequence AngleDifference = ( WpBearing + TwoPi - Side2InwardDirection ) % TwoPi

      aggregate HitSide2Turn {
        run in sequence

        break if (
          AngleDifference > 0 degree
          and ( AngleDifference < 90 degree )
          or (
            AngleDifference > 270 degree
            and ( AngleDifference < 360 degree )
          )
        )

        assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance

        assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

        assign in sequence ElapsedSinceLastTurn = 0 hour

        assign in sequence WpBearingAfterLastWallHit = WpBearing

        assign in sequence Turn = Turn - Turn - Turn

        call id="SyslogHittingWallZigSide2" refId="SyslogHittingWall"

        assign in sequence WpTimeout = WpTimeoutBase

        assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

        assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN practical_salinity_unit

        assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

        assign in sequence LegContinuedFlight = false

        assign in sequence ZigDone = true
      }

      aggregate HitSide2DoNotTurn {
        run in sequence

        break if (
          not (
            AngleDifference > 0 degree
            and ( AngleDifference < 90 degree )
            or (
              AngleDifference > 270 degree
              and ( AngleDifference < 360 degree )
            )
          )
        )

        assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance

        call id="SyslogHittingWallZigSide2" refId="SyslogHittingWall"

        assign in sequence ElapsedSinceLastTurn = 0 hour

        assign in sequence WpBearingAfterLastWallHit = WpBearing

        assign in sequence WpTimeout = WpTimeoutBase

        assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

        assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN practical_salinity_unit

        assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

        assign in sequence LegContinuedFlight = false

        assign in sequence ZigDone = true
      }
    }

    aggregate HitWallTerminateZigSide1 {
      run when (
        elapsed ( ElapsedSinceLastTurn ) > WaitAfterHittingWall
        and (
          Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides
          or ( not ( Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon ) )
        )
        and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 1 count )
      )

      break if ( ZigDone )

      aggregate HitSide1Reverse {
        run in sequence

        break if (
          AngleDifference > 0 degree
          and ( AngleDifference < 90 degree )
          or (
            AngleDifference > 270 degree
            and ( AngleDifference < 360 degree )
          )
        )

        assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance

        call id="SyslogHittingWallZigSide1" refId="SyslogHittingWall"

        assign in sequence WpBearing = ( WpBearing + Reverse ) % TwoPi

        assign in sequence ElapsedSinceLastTurn = 0 hour

        assign in sequence WpBearingAfterLastWallHit = WpBearing

        assign in sequence WpTimeout = WpTimeoutBase

        assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

        assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN practical_salinity_unit

        assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

        assign in sequence LegContinuedFlight = false

        assign in sequence ZigDone = true
      }

      aggregate HitSide1DoNotReverse {
        run in sequence

        break if (
          not (
            AngleDifference > 0 degree
            and ( AngleDifference < 90 degree )
            or (
              AngleDifference > 270 degree
              and ( AngleDifference < 360 degree )
            )
          )
        )

        assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance

        call id="SyslogHittingWallZigSide1" refId="SyslogHittingWall"

        assign in sequence ElapsedSinceLastTurn = 0 hour

        assign in sequence WpBearingAfterLastWallHit = WpBearing

        assign in sequence WpTimeout = WpTimeoutBase

        assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

        assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN practical_salinity_unit

        assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

        assign in sequence LegContinuedFlight = false

        assign in sequence ZigDone = true
      }
    }

    aggregate HitWallTerminateZigSide3 {
      run when (
        elapsed ( ElapsedSinceLastTurn ) > WaitAfterHittingWall
        and (
          Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides
          or ( not ( Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon ) )
        )
        and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 3 count )
      )

      break if ( ZigDone )

      aggregate HitSide3Reverse {
        run in sequence

        break if (
          AngleDifference > 0 degree
          and ( AngleDifference < 90 degree )
          or (
            AngleDifference > 270 degree
            and ( AngleDifference < 360 degree )
          )
        )

        assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance

        call id="SyslogHittingWallZigSide3" refId="SyslogHittingWall"

        assign in sequence WpBearing = ( WpBearing + Reverse ) % TwoPi

        assign in sequence ElapsedSinceLastTurn = 0 hour

        assign in sequence WpBearingAfterLastWallHit = WpBearing

        assign in sequence WpTimeout = WpTimeoutBase

        assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

        assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN practical_salinity_unit

        assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

        assign in sequence LegContinuedFlight = false

        assign in sequence ZigDone = true
      }

      aggregate HitSide3DoNotReverse {
        run in sequence

        break if (
          not (
            AngleDifference > 0 degree
            and ( AngleDifference < 90 degree )
            or (
              AngleDifference > 270 degree
              and ( AngleDifference < 360 degree )
            )
          )
        )

        assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance

        call id="SyslogHittingWallZigSide3" refId="SyslogHittingWall"

        assign in sequence ElapsedSinceLastTurn = 0 hour

        assign in sequence WpBearingAfterLastWallHit = WpBearing

        assign in sequence WpTimeout = WpTimeoutBase

        assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

        assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN practical_salinity_unit

        assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

        assign in sequence LegContinuedFlight = false

        assign in sequence ZigDone = true
      }
    }

    aggregate ChlPatchDetectionZig {
      run when ( PeakDetectChl )

      break if ( ZigDone )

      behavior Trigger:PeakDetectHorizontal id="PatchTrackTrigger" {
        run in sequence

        break if ( ZigDone )

        set patchTracking = true
        set detectFrom = Science:PeakChl
        set depthFrom = Science:PeakChlDepth
        set latitudeFrom = Science:PeakChlLatitude
        set longitudeFrom = Science:PeakChlLongitude
        set beginThreshold = BeginThresholdChl
        set offPeakFraction = OffPeakFraction
        set filterWidth = FilterWidthHorizontal
        set numProfilesSlidingwindow = NumOfProfilesSlidingwindow
        set detectTimeout = DetectionTimeout
        set centerPeak = PatchMode
        outputArg PatchPeakChl = peakDetect
        outputArg PatchPeakDepth = peakDepth
        outputArg PatchPeakLatitude = peakLatitude
        outputArg PatchPeakLongitude = peakLongitude
        outputArg PatchPeakDistance = peakDistance
      }

      aggregate PeakFoundTerminateZig {
        run in sequence

        break if ( ZigDone )

        aggregate NotInContinuedFlight {
          run in sequence

          break if ( LegContinuedFlight )

          aggregate PeakFoundNotContinuedFlightLow {
            run in sequence

            break if (
              PatchPeakChl > BeginThresholdChl
              or ( not ( PeakFoundNotContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightHighEnabled = false

            call id="PeakFoundNotContinuedFlightLow" refId="SyslogPeakFoundNotContinuedFlightLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundNotContinuedFlightHigh {
            run in sequence

            break if (
              PatchPeakChl <= BeginThresholdChl
              or ( not ( PeakFoundNotContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightLowEnabled = false

            call id="PeakFoundNotContinuedFlightHigh" refId="SyslogPeakFoundNotContinuedFlightHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence PatchPeakChlPriorToContinuedFlight = PatchPeakChl

            assign in sequence WpTimeout = TimePastOffPeakThreshold

            assign in sequence LegContinuedFlight = true

            assign in sequence ZigDone = true
          }
        }

        aggregate InContinuedFlight {
          run in sequence

          break if ( not ( LegContinuedFlight ) )

          aggregate PeakFoundContinuedFlightPatchValueLow {
            run in sequence

            break if (
              PatchPeakChl > ( PatchPeakChlPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightHighEnabled = false

            call id="PeakFoundContinuedFlightLow" refId="SyslogPeakFoundContinuedFlightPatchValueLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundContinuedFlightPatchValueHigh {
            run in sequence

            break if (
              PatchPeakChl <= ( PatchPeakChlPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightLowEnabled = false

            call id="PeakFoundContinuedFlightHigh" refId="SyslogPeakFoundContinuedFlightPatchValueHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }
        }
      }
    }

    aggregate SalinityPatchDetectionZig {
      run when ( PeakDetectSalinity )

      break if ( ZigDone )

      behavior Trigger:PeakDetectHorizontal id="PatchTrackTrigger" {
        run in sequence

        break if ( ZigDone )

        set patchTracking = true
        set detectFrom = Science:PeakSalt
        set depthFrom = Science:PeakSaltDepth
        set latitudeFrom = Science:PeakSaltLatitude
        set longitudeFrom = Science:PeakSaltLongitude
        set beginThreshold = BeginThresholdSalt
        set offPeakFraction = OffPeakFraction
        set filterWidth = FilterWidthHorizontal
        set numProfilesSlidingwindow = NumOfProfilesSlidingwindow
        set detectTimeout = DetectionTimeout
        set centerPeak = PatchMode
        outputArg PatchPeakSalinity = peakDetect
        outputArg PatchPeakDepth = peakDepth
        outputArg PatchPeakLatitude = peakLatitude
        outputArg PatchPeakLongitude = peakLongitude
        outputArg PatchPeakDistance = peakDistance
      }

      aggregate PeakFoundTerminateZig {
        run in sequence

        break if ( ZigDone )

        aggregate NotInContinuedFlight {
          run in sequence

          break if ( LegContinuedFlight )

          aggregate PeakFoundNotContinuedFlightLow {
            run in sequence

            break if (
              PatchPeakSalinity > BeginThresholdSalt
              or ( not ( PeakFoundNotContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightHighEnabled = false

            call id="PeakFoundNotContinuedFlightLow" refId="SyslogPeakFoundNotContinuedFlightLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundNotContinuedFlightHigh {
            run in sequence

            break if (
              PatchPeakSalinity <= BeginThresholdSalt
              or ( not ( PeakFoundNotContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightLowEnabled = false

            call id="PeakFoundNotContinuedFlightHigh" refId="SyslogPeakFoundNotContinuedFlightHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence PatchPeakSalinityPriorToContinuedFlight = PatchPeakSalinity

            assign in sequence WpTimeout = TimePastOffPeakThreshold

            assign in sequence LegContinuedFlight = true

            assign in sequence ZigDone = true
          }
        }

        aggregate InContinuedFlight {
          run in sequence

          break if ( not ( LegContinuedFlight ) )

          aggregate PeakFoundContinuedFlightPatchValueLow {
            run in sequence

            break if (
              PatchPeakSalinity > ( PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightHighEnabled = false

            call id="PeakFoundContinuedFlightLow" refId="SyslogPeakFoundContinuedFlightPatchValueLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundContinuedFlightPatchValueHigh {
            run in sequence

            break if (
              PatchPeakSalinity <= ( PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightLowEnabled = false

            call id="PeakFoundContinuedFlightHigh" refId="SyslogPeakFoundContinuedFlightPatchValueHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }
        }
      }
    }

    aggregate OilPatchDetectionZig {
      run when ( PeakDetectOil )

      break if ( ZigDone )

      behavior Trigger:PeakDetectHorizontal id="PatchTrackTrigger" {
        run in sequence

        break if ( ZigDone )

        set patchTracking = true
        set detectFrom = Science:PeakOil
        set depthFrom = Science:PeakOilDepth
        set latitudeFrom = Science:PeakOilLatitude
        set longitudeFrom = Science:PeakOilLongitude
        set beginThreshold = BeginThresholdOil
        set offPeakFraction = OffPeakFraction
        set filterWidth = FilterWidthHorizontal
        set numProfilesSlidingwindow = NumOfProfilesSlidingwindow
        set detectTimeout = DetectionTimeout
        set centerPeak = PatchMode
        outputArg PatchPeakOil = peakDetect
        outputArg PatchPeakDepth = peakDepth
        outputArg PatchPeakLatitude = peakLatitude
        outputArg PatchPeakLongitude = peakLongitude
        outputArg PatchPeakDistance = peakDistance
      }

      aggregate PeakFoundTerminateZig {
        run in sequence

        break if ( ZigDone )

        aggregate NotInContinuedFlight {
          run in sequence

          break if ( LegContinuedFlight )

          aggregate PeakFoundNotContinuedFlightLow {
            run in sequence

            break if (
              PatchPeakOil > BeginThresholdOil
              or ( not ( PeakFoundNotContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightHighEnabled = false

            call id="PeakFoundNotContinuedFlightLow" refId="SyslogPeakFoundNotContinuedFlightLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundNotContinuedFlightHigh {
            run in sequence

            break if (
              PatchPeakOil <= BeginThresholdOil
              or ( not ( PeakFoundNotContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightLowEnabled = false

            call id="PeakFoundNotContinuedFlightHigh" refId="SyslogPeakFoundNotContinuedFlightHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence PatchPeakOilPriorToContinuedFlight = PatchPeakOil

            assign in sequence WpTimeout = TimePastOffPeakThreshold

            assign in sequence LegContinuedFlight = true

            assign in sequence ZigDone = true
          }
        }

        aggregate InContinuedFlight {
          run in sequence

          break if ( not ( LegContinuedFlight ) )

          aggregate PeakFoundContinuedFlightPatchValueLow {
            run in sequence

            break if (
              PatchPeakOil > ( PatchPeakOilPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightHighEnabled = false

            call id="PeakFoundContinuedFlightLow" refId="SyslogPeakFoundContinuedFlightPatchValueLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundContinuedFlightPatchValueHigh {
            run in sequence

            break if (
              PatchPeakOil <= ( PatchPeakOilPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightLowEnabled = false

            call id="PeakFoundContinuedFlightHigh" refId="SyslogPeakFoundContinuedFlightPatchValueHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }
        }
      }
    }

    aggregate Zig {
      """
      Completes transect's maximum distance.
      """

      run in sequence

      break if ( ZigDone )

      aggregate LegContinuedFlight {
        run in sequence

        break if (
          not ( LegContinuedFlight )
          or (
            not (
              LegContinuedFlightLowEnabled
              or LegContinuedFlightHighEnabled
            )
          )
        )

        assign in sequence PatchDetectOn = true

        syslog important "WpBearing = " + WpBearing~degree + ", Turn = " + Turn~degree

        aggregate ZigCompleteMaxDist {
          run in sequence

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

            break if ( ZigDone )
            timeout duration=WpTimeout

            set distanceDelta = WpMaxDistance
            set distanceDeltaBearing = WpBearing
            set waterFrame = WaterFrame
          }
        }

        aggregate LegContinuedFlightPatchValueLow {
          run in sequence

          break if (
            not ( LegContinuedFlight )
            or (
              LegContinuedFlight
              and (
                PeakDetectChl
                and ( PatchPeakChl > ( PatchPeakChlPriorToContinuedFlight * OffPeakFraction ) )
                or (
                  PeakDetectSalinity
                  and ( PatchPeakSalinity > ( PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction ) )
                )
                or (
                  PeakDetectOil
                  and ( PatchPeakOil > ( PatchPeakOilPriorToContinuedFlight * OffPeakFraction ) )
                )
              )
            )
            or ( not ( LegContinuedFlightLowEnabled ) )
          )

          assign in sequence LegNotContinuedFlightEnabled = false

          assign in sequence LegContinuedFlightHighEnabled = false

          call id="ContinuedFlightCompletedPatchValueLow" refId="SyslogContinuedFlightCompletedPatchValueLow"

          assign in sequence PatchDetectOn = false

          assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

          assign in sequence ElapsedSinceLastTurn = 0 hour

          assign in sequence Turn = Turn - Turn - Turn

          assign in sequence WpTimeout = WpTimeoutBase

          assign in sequence LegContinuedFlight = false

          assign in sequence ZigDone = true
        }

        aggregate LegContinuedFlightPatchValueHigh {
          run in sequence

          break if (
            not ( LegContinuedFlight )
            or (
              LegContinuedFlight
              and (
                PeakDetectChl
                and ( PatchPeakChl <= ( PatchPeakChlPriorToContinuedFlight * OffPeakFraction ) )
                or (
                  PeakDetectSalinity
                  and ( PatchPeakSalinity <= ( PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction ) )
                )
                or (
                  PeakDetectOil
                  and ( PatchPeakOil <= ( PatchPeakOilPriorToContinuedFlight * OffPeakFraction ) )
                )
              )
            )
            or ( not ( LegContinuedFlightHighEnabled ) )
          )

          assign in sequence LegNotContinuedFlightEnabled = false

          assign in sequence LegContinuedFlightLowEnabled = false

          call id="ContinuedFlightCompletedPatchValueHigh" refId="SyslogContinuedFlightCompletedPatchValueHigh"

          assign in sequence PatchDetectOn = false

          assign in sequence WpTimeout = WpTimeoutBase

          assign in sequence LegContinuedFlight = false

          assign in sequence ZigDone = true
        }
      }

      aggregate LegNotContinuedFlight {
        run in sequence

        break if (
          LegContinuedFlight
          or ( not ( LegNotContinuedFlightEnabled ) )
        )

        assign in sequence LegContinuedFlightLowEnabled = false

        assign in sequence LegContinuedFlightHighEnabled = false

        assign in sequence PatchDetectOn = true

        syslog important "WpBearing = " + WpBearing~degree + ", Turn = " + Turn~degree

        aggregate ZigCompleteMaxDist {
          run in sequence

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

            break if ( ZigDone )
            timeout duration=WpTimeout

            set distanceDelta = WpMaxDistance
            set distanceDeltaBearing = WpBearing
            set waterFrame = WaterFrame
          }
        }

        call id="MaxLegDistReached" refId="SyslogWpMaxDistanceReached"

        assign in sequence PatchDetectOn = false

        assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

        assign in sequence ElapsedSinceLastTurn = 0 hour

        assign in sequence Turn = Turn - Turn - Turn

        assign in sequence WpTimeout = WpTimeoutBase

        assign in sequence ZigDone = true
      }
    }
  }
}