Science/sci2_sampling.tl

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mission sci2_sampling {
  arguments {
    # Almost every mission should start with an overall timeout and a NeedCommsTime. Drift Missions will have an acoustic timeout instead of a NeedCommsTime.

    # You probably need to change these.

    MissionTimeout = 20 hour
      """
      Maximum duration of mission
      """

    AcousticTrackingTimeout = 240 hour
      """
      If the vehicle does not receive an acoustic signal for more than this
      length of time, it will surface for communications. Set longer than
      MissionTimeout to effectively disable.
      """

    NeedCommsTimeTransit = 60 minute
      """
      On yo-yo transit to waypoint, how often to surface for commumications.
      """

    NeedCommsTimeProfileStation = 30 minute
      """
      During profile-station at each waypoint, how often to surface for
      commumications.
      """

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

    NeedCommsTimeSampling = 60 minute
      """
      Set to a very long duration to prevent surfacing during sampling. Note
      that ESP and sipper sampling times are very different.
      """

    # debug
    #     </Description><Units:minute/><Value>300</Value></DefineArg>

    SkipCommsWaypoint = true
      """
      Skip communications when reaching waypoint. Only surfaces to be prepared
      to dive to find peak chl.
      """

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

    ProfileStationAtWaypoint = false
      """
      Whether to profile-station at each waypoint.
      """

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

    MaxDurationProfileStation = 30 minute
      """
      Maximum duration of profile-station at each waypoint.
      """

    # debug
    #     </Description><Units:minute/><Value>10</Value></DefineArg>

    MaxWaitTimeNoFiring = 0.5 hour
      """
      If no firing after more than MaxWaitTimeNoFiring, terminate mission.
      Note that ESP and sipper sampling times are very different. Also
      consider wait time between samplings.
      """

    # debug
    #     </Description><Units:hour/><Value>2</Value></DefineArg>

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

    UseAcousticMessageTerminateProfileStation = false
      """
      Whether to use acoustic message to terminate profile-station.
      """

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

    SendSamplingCompleteMessage = true
      """
      Whether to send sampling-complete message to the other LRAUV.
      """

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

    SendSampleStatusData = false
      """
      Whether to senddata to acoustic modem.
      """

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

    SendSampleDataToMultipleModems = false
      """
      Whether to senddata to more than one modem.
      """

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

    ModemID1 = 1 enum
      """
      Modem ID1. Initialized to 1.
      """

    ModemID2 = 4 enum
      """
      Modem ID2. Initialized to 4.
      """

    SpeedTransit = 1.0 meter_per_second
      """
      Vehicle speed when transiting.
      """

    SpeedOfInitialDive = 1.0 meter_per_second
      """
      Vehicle speed during initial dive (for looking for the chl max). 0.0 for
      drift mode (prop off); 1.0 for spiral mode (prop on). Initialized to 1
      m/s.
      """

    SpeedOfSampling = 1.0 meter_per_second
      """
      Vehicle speed during sampling: 0.0 for drift mode (prop off); 1.0 for
      donut mode (prop on). Initialized to 1 m/s.
      """

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

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

    MinAltitude = 7 meter
      """
      Minimum altitude for the entire mission.
      """

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

    PeakDetectChl = true
      """
      Whether to enable peak chl detection on each yo-yo profile
      """

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

    TriggerThresholdChl = 2 microgram_per_liter
      """
      If non-NaN, sets threshold for triggering sampling. Chl value of 2.5
      mug/L corresponds to HS2 fluorescence reading of 0.001 on Dorado.
      """

    ShallowBoundChl = 2 meter
      """
      Shallow depth bound for chl-peak detection.
      """

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

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

    TransitYoYoMaxDepth = 20 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

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

    ProfileStationYoYoMaxDepth = 20 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    ProfileStationRadius = 30 meter
      """
      Radius to circle around the waypoint.
      """

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

    WaitTimeDepUndulationCommon = 1.0 minute
      """
      Value common to all samples unless set differently: Wait duration for
      the depth undulation to damp down.
      """

    # debug
    #     </Description><Units:minute/><Value>5.0</Value></DefineArg>

    CartridgeTypeCommon = -6 count
      """
      Value common to all samples unless set diffently: cartridge type.
      """

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

    Lat1 = NaN degree
      """
      Latitude of waypoint 1. If NaN, sample here.
      """

    # debug
    #     </Description><Units:degree/><Value>36.809</Value></DefineArg>

    Lon1 = NaN degree
      """
      Longitude of waypoint 1. If NaN, sample here.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.822</Value></DefineArg>

    NumSamplersLocation1 = 3 count
      """
      Number of ESP cartridges or CANON samplers. Set to 0 to disable
      sampling.
      """

    # debug
    #     </Description><Units:count/><Value>1</Value></DefineArg>

    SampleAtPeakChlLocation1 = true
      """
      Whether to sample at peak-chl depth.
      """

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

    CartridgeType1Location1 = NaN count
      """
      Sample 1. Cartridge type.
      """

    CartridgeType2Location1 = NaN count
      """
      Sample 2.
      """

    CartridgeType3Location1 = NaN count
      """
      Sample 3.
      """

    CartridgeType4Location1 = NaN count
      """
      Sample 4.
      """

    CartridgeType5Location1 = NaN count
      """
      Sample 5.
      """

    CartridgeType6Location1 = NaN count
      """
      Sample 6.
      """

    CartridgeType7Location1 = NaN count
      """
      Sample 7.
      """

    CartridgeType8Location1 = NaN count
      """
      Sample 8.
      """

    CartridgeType9Location1 = NaN count
      """
      Sample 9.
      """

    CartridgeType10Location1 = NaN count
      """
      Sample 10.
      """

    DepDiffFromPeakChlLocation1 = 0 meter
      """
      Depth difference (positive: deeper; negative: shallower) from the
      peak-chl depth.
      """

    # debug
    #     </Description><Units:meter/><Value>NaN</Value></DefineArg>

    DepLocation1 = NaN meter
      """
      Pre-designated depth.
      """

    # debug
    #     </Description><Units:meter/><Value>10</Value></DefineArg>

    TempDiffFromPeakChlLocation1 = NaN kelvin
      """
      Target temperature difference from the peak-chl temperature.
      """

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

    TempLocation1 = NaN celsius
      """
      Pre-designated temperature.
      """

    # debug
    #     </Description><Units:celsius/><Value>12.5</Value></DefineArg>

    WaitTimeDepUndulation1Location1 = 5.0 minute
      """
      Sample 1. Wait duration for the depth undulation to damp down.
      """

    Lat[2..10] = NaN degree
      """
      Latitude of waypoint {$}. If NaN, skipped.
      """

    # debug
    #     </Description><Units:degree/><Value>36.82</Value></DefineArg>

    Lon[2..10] = NaN degree
      """
      Longitude of waypoint {$}. If NaN, skipped.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.83</Value></DefineArg>

    NumSamplersLocation[2..10] = 3 count
      """
      Number of ESP cartridges or CANON samplers. Set to 0 to disable
      sampling.
      """

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

    # debug

    SampleAtPeakChlLocation[2..10] = true

    CartridgeType1Location[2..10] = NaN count

    CartridgeType2Location[2..10] = NaN count

    CartridgeType3Location[2..10] = NaN count

    CartridgeType4Location[2..10] = NaN count

    CartridgeType5Location[2..10] = NaN count

    CartridgeType6Location[2..10] = NaN count

    CartridgeType7Location[2..10] = NaN count

    CartridgeType8Location[2..10] = NaN count

    CartridgeType9Location[2..10] = NaN count

    CartridgeType10Location[2..10] = NaN count

    # debug

    DepDiffFromPeakChlLocation[2..10] = 0 meter

    DepLocation[2..10] = NaN meter

    TempDiffFromPeakChlLocation[2..10] = NaN kelvin

    TempLocation[2..10] = NaN celsius

    WaitTimeDepUndulation1Location[2..10] = 5.0 minute

    # You probably do not need to change these.

    IntervalRestartLogs = 24 hour

    AscentRate = -0.05 meter_per_second
      """
      Go-up depth rate (negative depth rate means going up).
      """

    DescentRate = 0.2 meter_per_second
      """
      Go-down depth rate (positive depth rate means going down).
      """

    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.
      """

    DurationOfInitialDive = 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).
      """

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

    RudderAngleInDonutSampling = 13 degree
      """
      Rudder angle during donut sampling.
      """

    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 =
      DepthChangeThreshAttitudeFlip + 2 meters.
      """

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

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

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

    SurfacePitch = 20 degree
      """
      Pitch to maintain while ascending
      """

    SurfaceDepthRate = NaN meter_per_second
      """
      Depth rate to maintain while ascending. Set to NaN if using pitch
      """

    BuoyDiveAccel = 0.0025 meter_per_second_squared
      """
      In buoyancy-only mode, maxBuoyDiveAccel needs to be set at least an
      order of magnitude higher than that in Control.cfg.
      """

    # You are even less likely to need to change these.

    CircleMaxError = 100 meter
      """
      If this distance away from the circle, drive straight towards (or away
      from the center). Otherwise, try to reduce distance from the ideal
      circle.
      """

    CircleTurnToPort = false
      """
      If true, vehicle turns to the left around the center point. If false,
      vehicle turns to the right.
      """

    KwpHeading = 0.010 radian_per_meter
      """
      Used to relax waypoint cross-track error constant that is adjusted for
      docking. (You can override this setting by passing an argument.)
      """
  }

  output {
    # Internal variables that you should not change

    WaypointLat = NaN degree
      """
      Latitude of cylinder center if set to a waypoint. Initialized to NaN.
      """

    WaypointLon = NaN degree
      """
      Longitude of cylinder center if set to a waypoint. Initialized to NaN.
      """

    ElapsedSinceReachingWpt = 0 hour

    OtherLRAUVNearSignalReceived = false

    TrueVar = true
      """
      A True boolean, defined as an arg because you can't directly place
      values in a call to SendData.
      """
  }

  # Missions should almost always start with a timeout and a NeedComms aggregate. Drift missions will not use NeedComms.

  timeout duration=MissionTimeout

  # Missions should almost always start with standard safety 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/AbortDrift.tl {
    redefineArg AcousticTimeout = AcousticTrackingTimeout
  }

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

  insert Insert/SampleAtPeakChlDepOrTemp.tl {
    redefineArg MaxWaitNoFiring = MaxWaitTimeNoFiring
    redefineArg MaxWaitNotAchievingDepth = MaxWaitTimeNotAchievingDepth
    redefineArg SendSampleStatusAndData = SendSampleStatusData
    redefineArg SendDataToMultipleModems = SendSampleDataToMultipleModems
    redefineArg modemId1 = ModemID1
    redefineArg modemId2 = ModemID2
    redefineArg InitialDiveDuration = DurationOfInitialDive
    redefineArg SpeedInitialDive = SpeedOfInitialDive
    redefineArg SpeedSampling = SpeedOfSampling
    redefineArg RudderAngleInitialDive = RudderAngleInInitialDive
    redefineArg RudderAngleDonutSampling = RudderAngleInDonutSampling
    redefineArg TriggerThreshChl = TriggerThresholdChl
    redefineArg ShallowbndChl = ShallowBoundChl
    redefineArg DeepbndChl = DeepBoundChl
    redefineArg CartridgeCommon = CartridgeTypeCommon
    redefineArg WaitDepUndulationCommon = WaitTimeDepUndulationCommon
    redefineArg UpRate = AscentRate
    redefineArg DownRate = DescentRate
    redefineArg RiseFromTurningDep = RiseFromTurningDepth
    redefineArg DepChangeThreshAttitudeFlip = DepthChangeThreshAttitudeFlip
    redefineArg LPWindowLength = LPWindowLength
    redefineArg MedianFilterLength = MedianFilterLength
  }

  insert id="NeedComms" Insert/NeedComms.tl

  assign in parallel Control:VerticalControl.maxBuoyDiveAccel = BuoyDiveAccel

  # Many missions will keep mass position fixed at the default. This mission allows the buoyancy volume to change to track the chlorophyll peak while drifting.

  behavior Guidance:Pitch {
    run in parallel

    set massPosition = Control:VerticalControl.massDefault
  }

  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
  }

  aggregate CheckOtherLRAUVNearSignal {
    run when (
      not ( OtherLRAUVNearSignalReceived )
      and ( elapsed ( customUri "_.near" ) < elapsed ( OtherLRAUVNearSignalReceived ) )
    )

    syslog important "Received _.near signal from the other LRAUV."

    assign in sequence OtherLRAUVNearSignalReceived = true
  }

  aggregate TransitToWaypoint {
    run when ( called )

    aggregate Transit {
      run in sequence

      assign in sequence NeedComms:DiveInterval = NeedCommsTimeTransit

      behavior Guidance:Buoyancy {
        run in parallel

        set position = Control:VerticalControl.buoyancyNeutral
      }

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SpeedTransit
      }

      behavior Guidance:DepthEnvelope {
        run in parallel

        set minDepth = TransitYoYoMinDepth
        set maxDepth = TransitYoYoMaxDepth
        set downPitch = YoYoDownPitch
        set upPitch = YoYoUpPitch
      }

      behavior Guidance:YoYo {
        run in parallel

        set downPitch = YoYoDownPitch
        set upPitch = YoYoUpPitch
      }

      behavior Guidance:Waypoint {
        run in sequence

        set latitude = WaypointLat
        set longitude = WaypointLon
      }
    }
  }

  aggregate TransitComms {
    run when ( called )

    aggregate EndOfTransitNeedComms {
      run in sequence

      break if ( SkipCommsWaypoint )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = Control:VerticalControl.buoyancyNeutral
      }

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SpeedTransit
      }

      call id="WptComms" refId="NeedComms"
    }

    aggregate EndOfTransitSurfacing {
      run in sequence

      break if ( not ( SkipCommsWaypoint ) )

      behavior Guidance:Buoyancy {
        run in parallel

        set position = Control:VerticalControl.buoyancyNeutral
      }

      behavior Guidance:SetSpeed {
        run in parallel

        set speed = SpeedTransit
      }

      behavior Guidance:GoToSurface {
        run in sequence

        set pitch = SurfacePitch
        set depthRate = SurfaceDepthRate
        set speed = SpeedTransit
      }
    }
  }

  aggregate ProfileStationWpt {
    run when ( called )

    break if (
      elapsed ( ElapsedSinceReachingWpt ) >= MaxDurationProfileStation
      or (
        UseAcousticMessageTerminateProfileStation
        and OtherLRAUVNearSignalReceived
      )
    )

    assign in sequence NeedComms:DiveInterval = NeedCommsTimeProfileStation

    behavior Guidance:Buoyancy {
      run in parallel

      set position = Control:VerticalControl.buoyancyNeutral
    }

    behavior Guidance:SetSpeed {
      run in parallel

      set speed = SpeedTransit
    }

    behavior Guidance:DepthEnvelope {
      run in parallel

      set minDepth = ProfileStationYoYoMinDepth
      set maxDepth = ProfileStationYoYoMaxDepth
      set pitch = YoYoUpPitch
    }

    behavior Guidance:AltitudeEnvelope {
      run in parallel

      set minAltitude = YoYoMinAltitude
      set pitch = YoYoUpPitch
    }

    behavior Guidance:YoYo {
      run in parallel

      set pitch = YoYoUpPitch
    }

    aggregate CircleWrapper {
      run in sequence repeat=4096

      assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading

      behavior Guidance:Circle {
        run in sequence

        set latitude = WaypointLat
        set longitude = WaypointLon
        set radius = ProfileStationRadius
        set maxError = CircleMaxError
        set turnToPort = CircleTurnToPort
      }
    }
  }

  aggregate SampleWpt {
    run when ( called )

    assign in sequence NeedComms:DiveInterval = NeedCommsTimeSampling

    call id="SamplingWpt" refId="SampleAtPeakChlDepOrTemp"
  }

  aggregate SendMessage {
    run when ( called )

    aggregate SendMsg {
      run in sequence

      break if ( not ( SendSamplingCompleteMessage ) )

      behavior Sensor:SendDirect {
        run in sequence

        set destType = "modem"
        set destId = ModemID1
        set destName = "_.terminateMission"
        set value = TrueVar
        set unit = "bool"
      }

      syslog important "Set _.terminateMission to " + TrueVar~bool
    }
  }

  # Automatically restart logs

  aggregate CycleLogs {
    run in parallel

    aggregate {
      run in sequence

      behavior Guidance:Wait {
        run in sequence

        set duration = IntervalRestartLogs
      }

      syslog important "Restarting logs."

      behavior Guidance:Execute {
        run in sequence

        set command = "restart logs"
      }
    }
  }

  aggregate MissionStart {
    run in sequence

    call id="MissionStartComms" refId="NeedComms"
  }

  aggregate Wpt1 {
    run in sequence

    break if (
      isNaN ( NumSamplersLocation1 )
      or ( NumSamplersLocation1 == 0 count )
    )

    assign in sequence WaypointLat = Lat1

    assign in sequence WaypointLon = Lon1

    call id="TransitToWpt" refId="TransitToWaypoint"

    call id="TransitCommsWpt" refId="TransitComms"

    assign in sequence ElapsedSinceReachingWpt = 0 hour

    assign in sequence SampleAtPeakChlDepOrTemp:NumSamplers = NumSamplersLocation1

    assign in sequence SampleAtPeakChlDepOrTemp:CntSamples = 1 count

    assign in sequence SampleAtPeakChlDepOrTemp:SampleAtPeakChl = SampleAtPeakChlLocation1

    assign in sequence SampleAtPeakChlDepOrTemp:FlagGoDown = SampleAtPeakChlLocation1

    assign in sequence SampleAtPeakChlDepOrTemp:FlagInitialDiveCompleted = false

    assign in sequence SampleAtPeakChlDepOrTemp:SampleOptionsSet = false

    assign in sequence SampleAtPeakChlDepOrTemp:SampleCountIncreased = true

    assign in sequence SampleAtPeakChlDepOrTemp:SampleCompleted = false

    assign in sequence SampleAtPeakChlDepOrTemp:FlagPeakChlDepthSet = false

    assign in sequence SampleAtPeakChlDepOrTemp:FlagPeakChlTempSet = false

    assign in sequence SampleAtPeakChlDepOrTemp:FlagTargetDepthSet = false

    assign in sequence SampleAtPeakChlDepOrTemp:FlagTempSet = false

    assign in sequence SampleAtPeakChlDepOrTemp:TempDiffFromPeakChl = TempDiffFromPeakChlLocation1

    assign in sequence SampleAtPeakChlDepOrTemp:TempDesignated = TempLocation1

    assign in sequence SampleAtPeakChlDepOrTemp:DepDiffFromPeakChl = DepDiffFromPeakChlLocation1

    assign in sequence SampleAtPeakChlDepOrTemp:DepDesignated = DepLocation1

    assign in sequence SampleAtPeakChlDepOrTemp:WaitDepUndulation1 = WaitTimeDepUndulation1Location1

    assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType1 = CartridgeType1Location1

    assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType2 = CartridgeType2Location1

    assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType3 = CartridgeType3Location1

    assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType4 = CartridgeType4Location1

    assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType5 = CartridgeType5Location1

    assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType6 = CartridgeType6Location1

    assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType7 = CartridgeType7Location1

    assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType8 = CartridgeType8Location1

    assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType9 = CartridgeType9Location1

    assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType10 = CartridgeType10Location1

    # If revising script, make sure call of NeedComms completes GPS fixes.

    aggregate ProfileStationWaypoint1 {
      run in sequence

      break if ( not ( ProfileStationAtWaypoint ) )

      assign in sequence SampleAtPeakChlDepOrTemp:EnableElapsedSinceStartOrLastSample = false

      call id="ProfileStation1" priorityHere=true refId="ProfileStationWpt"

      call id="ProfileStationComms1" refId="NeedComms"

      assign in sequence SampleAtPeakChlDepOrTemp:ElapsedSinceStartOrLastSample = 0 hour

      assign in sequence SampleAtPeakChlDepOrTemp:EnableElapsedSinceStartOrLastSample = true
    }

    call id="SamplingLocation1" refId="SampleWpt"

    call id="SendMessageSamplingComplete" refId="SendMessage"

    call id="NeedCommsSamplingDoneWpt1" refId="NeedComms"
  }

  macro $i = 2..10 {
    aggregate Wpt$i {
      run in sequence

      break if (
        isNaN ( NumSamplersLocation[$i] )
        or ( NumSamplersLocation[$i] == 0 count )
        or ( isNaN ( Lat[$i] ) )
        or ( isNaN ( Lon[$i] ) )
      )

      assign in sequence WaypointLat = Lat[$i]

      assign in sequence WaypointLon = Lon[$i]

      call id="TransitToWpt" refId="TransitToWaypoint"

      call id="TransitCommsWpt" refId="TransitComms"

      assign in sequence ElapsedSinceReachingWpt = 0 hour

      assign in sequence SampleAtPeakChlDepOrTemp:NumSamplers = NumSamplersLocation[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:CntSamples = 1 count

      assign in sequence SampleAtPeakChlDepOrTemp:SampleAtPeakChl = SampleAtPeakChlLocation[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:FlagGoDown = SampleAtPeakChlLocation[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:FlagInitialDiveCompleted = false

      assign in sequence SampleAtPeakChlDepOrTemp:SampleOptionsSet = false

      assign in sequence SampleAtPeakChlDepOrTemp:SampleCountIncreased = true

      assign in sequence SampleAtPeakChlDepOrTemp:SampleCompleted = false

      assign in sequence SampleAtPeakChlDepOrTemp:FlagPeakChlDepthSet = false

      assign in sequence SampleAtPeakChlDepOrTemp:FlagPeakChlTempSet = false

      assign in sequence SampleAtPeakChlDepOrTemp:FlagTargetDepthSet = false

      assign in sequence SampleAtPeakChlDepOrTemp:FlagTempSet = false

      assign in sequence SampleAtPeakChlDepOrTemp:TempDiffFromPeakChl = TempDiffFromPeakChlLocation[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:TempDesignated = TempLocation[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:DepDiffFromPeakChl = DepDiffFromPeakChlLocation[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:DepDesignated = DepLocation[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:WaitDepUndulation1 = WaitTimeDepUndulation1Location[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType1 = CartridgeType1Location[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType2 = CartridgeType2Location[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType3 = CartridgeType3Location[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType4 = CartridgeType4Location[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType5 = CartridgeType5Location[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType6 = CartridgeType6Location[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType7 = CartridgeType7Location[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType8 = CartridgeType8Location[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType9 = CartridgeType9Location[$i]

      assign in sequence SampleAtPeakChlDepOrTemp:CartridgeType10 = CartridgeType10Location[$i]

      aggregate ProfileStationWaypoint$i {
        run in sequence

        break if ( not ( ProfileStationAtWaypoint ) )

        assign in sequence SampleAtPeakChlDepOrTemp:EnableElapsedSinceStartOrLastSample = false

        call id="ProfileStation$i" priorityHere=true refId="ProfileStationWpt"

        call id="ProfileStationComms$i" refId="NeedComms"

        assign in sequence SampleAtPeakChlDepOrTemp:ElapsedSinceStartOrLastSample = 0 hour

        assign in sequence SampleAtPeakChlDepOrTemp:EnableElapsedSinceStartOrLastSample = true
      }

      call id="SamplingLocation[$i]" refId="SampleWpt"

      call id="SendMessageSamplingComplete$i" refId="SendMessage"

      call id="NeedCommsSamplingDoneWpt$i" refId="NeedComms"
    }
  }
}