# Generated by TethysLmissionDepthSampling{arguments{# You probably need to change these.NumSamplers=1count""" Total number of ESP or CANON samplers (Maximum 60 for ESP samplers. Set to a smaller number if not using all of them. Set to 0 to disable sampling). """MaxDepth=30meter""" Maximum depth for the entire mission. """MinAltitude=7meter""" Minimum altitude for the entire mission. """MinOffshore=2kilometer""" Minimum offshore distance for the entire mission. """MissionTimeout=12hour""" Maximum duration of mission """AcousticTrackingTimeout=21hour""" 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. """MaxWaitNoFiring=3hour""" If no firing after more than MaxWaitNoFiring, terminate mission. """MaxWaitNotAchievingDepth=3hour""" Maximum wait time the vehicle cannot reach the targeted depth. """RunToWaypointTimeout=3hour""" Maximum duration for trying to achieve spiral cast waypoint """RunToWaypointNeedCommsTime=30minute""" How often to surface for commumications when heading to waypoint """InitialDiveDuration=5.0minute""" On the first dive to the target depth, run at SpeedInitialDive for this duration (e.g., 1 m/s spiral to dive fast). """SpeedTransit=1.0meter_per_second""" Vehicle speed when transiting. """SpeedInitialDive=1.0meter_per_second""" Vehicle speed during initial dive. 0.0 for drift mode (prop off); 1.0 for spiral mode (prop on). Initialized to 1 m/s. """# debug# </Description><Units:meter_per_second/><Value>0</Value></DefineArg>SpeedSampling=1.0meter_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>RudderAngleSpiralOrDonut=13degree""" Rudder angle during spiral or donut. """Latitude=NaNdegree""" Latitude of waypoint to seek. If set to NaN, uses latitude at mission initialization. """# debug# </Description><Units:degree/><Value>36.810</Value></DefineArg>Longitude=NaNdegree""" Longitude of waypoint to seek. If set to NaN, uses longitude at mission initialization. """# debug# </Description><Units:degree/><Value>-121.825</Value></DefineArg>Northings=0meter""" Northward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """Eastings=0meter""" Eastward distance of the waypoint to seek. If combined with Latitude and/or Longitude, this is an offset from the specified Latitude and/or Longitude. """DepthLevelFlight=NaNmeter""" Depth of level flight during the mission. If NaN, then yo-yo flight. """TransitYoYoMinDepth=5meter""" Minimum depth while performing the YoYo behavior. Irrelevant if DepthLevelFlight is non-NaN (i.e., if level flight). """TransitYoYoMaxDepth=20meter""" Maximum depth while performing the YoYo behavior. Irrelevant if DepthLevelFlight is non-NaN (i.e., if level flight). flight. """Depth1=NaNmeter""" Depth of sample 1. If NaN, then smear sampling. """Depth2=NaNmeter""" Depth of sample 2. """Depth3=NaNmeter""" Depth of sample 3. """Depth4=NaNmeter""" Depth of sample 4. """Depth5=NaNmeter""" Depth of sample 5. """Depth6=NaNmeter""" Depth of sample 6. """Depth7=NaNmeter""" Depth of sample 7. """Depth8=NaNmeter""" Depth of sample 8. """Depth9=NaNmeter""" Depth of sample 9. """Depth10=NaNmeter""" Depth of sample 10. """Depth11=NaNmeter""" Depth of sample 11. """Depth12=NaNmeter""" Depth of sample 12. """Depth13=NaNmeter""" Depth of sample 13. """Depth14=NaNmeter""" Depth of sample 14. """Depth15=NaNmeter""" Depth of sample 15. """Depth16=NaNmeter""" Depth of sample 16. """Depth17=NaNmeter""" Depth of sample 17. """Depth18=NaNmeter""" Depth of sample 18. """Depth19=NaNmeter""" Depth of sample 19. """Depth20=NaNmeter""" Depth of sample 20. """Depth21=NaNmeter""" Depth of sample 21. """Depth22=NaNmeter""" Depth of sample 22. """Depth23=NaNmeter""" Depth of sample 23. """Depth24=NaNmeter""" Depth of sample 24. """Depth25=NaNmeter""" Depth of sample 25. """Depth26=NaNmeter""" Depth of sample 26. """Depth27=NaNmeter""" Depth of sample 27. """Depth28=NaNmeter""" Depth of sample 28. """Depth29=NaNmeter""" Depth of sample 29. """Depth30=NaNmeter""" Depth of sample 30. """Depth31=NaNmeter""" Depth of sample 31. """Depth32=NaNmeter""" Depth of sample 32. """Depth33=NaNmeter""" Depth of sample 33. """Depth34=NaNmeter""" Depth of sample 34. """Depth35=NaNmeter""" Depth of sample 35. """Depth36=NaNmeter""" Depth of sample 36. """Depth37=NaNmeter""" Depth of sample 37. """Depth38=NaNmeter""" Depth of sample 38. """Depth39=NaNmeter""" Depth of sample 39. """Depth40=NaNmeter""" Depth of sample 40. """Depth41=NaNmeter""" Depth of sample 41. """Depth42=NaNmeter""" Depth of sample 42. """Depth43=NaNmeter""" Depth of sample 43. """Depth44=NaNmeter""" Depth of sample 44. """Depth45=NaNmeter""" Depth of sample 45. """Depth46=NaNmeter""" Depth of sample 46. """Depth47=NaNmeter""" Depth of sample 47. """Depth48=NaNmeter""" Depth of sample 48. """Depth49=NaNmeter""" Depth of sample 49. """Depth50=NaNmeter""" Depth of sample 50. """Depth51=NaNmeter""" Depth of sample 51. """Depth52=NaNmeter""" Depth of sample 52. """Depth53=NaNmeter""" Depth of sample 53. """Depth54=NaNmeter""" Depth of sample 54. """Depth55=NaNmeter""" Depth of sample 55. """Depth56=NaNmeter""" Depth of sample 56. """Depth57=NaNmeter""" Depth of sample 57. """Depth58=NaNmeter""" Depth of sample 58. """Depth59=NaNmeter""" Depth of sample 59. """Depth60=NaNmeter""" Depth of sample 60. """WaitDepUndulation1=10.0minute""" Sample 1. Wait duration for the depth undulation to damp down. """WaitDepUndulation2=10.0minute""" Sample 2. """WaitDepUndulation3=10.0minute""" Sample 3. """WaitDepUndulation4=10.0minute""" Sample 4. """WaitDepUndulation5=10.0minute""" Sample 5. """WaitDepUndulation6=10.0minute""" Sample 6. """WaitDepUndulation7=10.0minute""" Sample 7. """WaitDepUndulation8=10.0minute""" Sample 8. """WaitDepUndulation9=10.0minute""" Sample 9. """WaitDepUndulation10=10.0minute""" Sample 10. """WaitDepUndulation11=10.0minute""" Sample 11. """WaitDepUndulation12=10.0minute""" Sample 12. """WaitDepUndulation13=10.0minute""" Sample 13. """WaitDepUndulation14=10.0minute""" Sample 14. """WaitDepUndulation15=10.0minute""" Sample 15. """WaitDepUndulation16=10.0minute""" Sample 16. """WaitDepUndulation17=10.0minute""" Sample 17. """WaitDepUndulation18=10.0minute""" Sample 18. """WaitDepUndulation19=10.0minute""" Sample 19. """WaitDepUndulation20=10.0minute""" Sample 20. """WaitDepUndulation21=10.0minute""" Sample 21. """WaitDepUndulation22=10.0minute""" Sample 22. """WaitDepUndulation23=10.0minute""" Sample 23. """WaitDepUndulation24=10.0minute""" Sample 24. """WaitDepUndulation25=10.0minute""" Sample 25. """WaitDepUndulation26=10.0minute""" Sample 26. """WaitDepUndulation27=10.0minute""" Sample 27. """WaitDepUndulation28=10.0minute""" Sample 28. """WaitDepUndulation29=10.0minute""" Sample 29. """WaitDepUndulation30=10.0minute""" Sample 30. """WaitDepUndulation31=10.0minute""" Sample 31. """WaitDepUndulation32=10.0minute""" Sample 32. """WaitDepUndulation33=10.0minute""" Sample 33. """WaitDepUndulation34=10.0minute""" Sample 34. """WaitDepUndulation35=10.0minute""" Sample 35. """WaitDepUndulation36=10.0minute""" Sample 36. """WaitDepUndulation37=10.0minute""" Sample 37. """WaitDepUndulation38=10.0minute""" Sample 38. """WaitDepUndulation39=10.0minute""" Sample 39. """WaitDepUndulation40=10.0minute""" Sample 40. """WaitDepUndulation41=10.0minute""" Sample 41. """WaitDepUndulation42=10.0minute""" Sample 42. """WaitDepUndulation43=10.0minute""" Sample 43. """WaitDepUndulation44=10.0minute""" Sample 44. """WaitDepUndulation45=10.0minute""" Sample 45. """WaitDepUndulation46=10.0minute""" Sample 46. """WaitDepUndulation47=10.0minute""" Sample 47. """WaitDepUndulation48=10.0minute""" Sample 48. """WaitDepUndulation49=10.0minute""" Sample 49. """WaitDepUndulation50=10.0minute""" Sample 50. """WaitDepUndulation51=10.0minute""" Sample 51. """WaitDepUndulation52=10.0minute""" Sample 52. """WaitDepUndulation53=10.0minute""" Sample 53. """WaitDepUndulation54=10.0minute""" Sample 54. """WaitDepUndulation55=10.0minute""" Sample 55. """WaitDepUndulation56=10.0minute""" Sample 56. """WaitDepUndulation57=10.0minute""" Sample 57. """WaitDepUndulation58=10.0minute""" Sample 58. """WaitDepUndulation59=10.0minute""" Sample 59. """WaitDepUndulation60=10.0minute""" Sample 60. """ShallowBndSmear1=NaNmeter""" Shallow depth bound for smear sampling. """DeepBndSmear1=NaNmeter""" Deep depth bound for smear sampling. """ShallowBndSmear2=NaNmeter""" Sample 2. """DeepBndSmear2=NaNmeter""" Sample 2. """ShallowBndSmear3=NaNmeter""" Sample 3. """DeepBndSmear3=NaNmeter""" Sample 3. """ShallowBndSmear4=NaNmeter""" Sample 4. """DeepBndSmear4=NaNmeter""" Sample 4. """ShallowBndSmear5=NaNmeter""" Sample 5. """DeepBndSmear5=NaNmeter""" Sample 5. """ShallowBndSmear6=NaNmeter""" Sample 6. """DeepBndSmear6=NaNmeter""" Sample 6. """ShallowBndSmear7=NaNmeter""" Sample 7. """DeepBndSmear7=NaNmeter""" Sample 7. """ShallowBndSmear8=NaNmeter""" Sample 8. """DeepBndSmear8=NaNmeter""" Sample 8. """ShallowBndSmear9=NaNmeter""" Sample 9. """DeepBndSmear9=NaNmeter""" Sample 9. """ShallowBndSmear10=NaNmeter""" Sample 10. """DeepBndSmear10=NaNmeter""" Sample 10. """ShallowBndSmear11=NaNmeter""" Sample 11. """DeepBndSmear11=NaNmeter""" Sample 11. """ShallowBndSmear12=NaNmeter""" Sample 12. """DeepBndSmear12=NaNmeter""" Sample 12. """ShallowBndSmear13=NaNmeter""" Sample 13. """DeepBndSmear13=NaNmeter""" Sample 13. """ShallowBndSmear14=NaNmeter""" Sample 14. """DeepBndSmear14=NaNmeter""" Sample 14. """ShallowBndSmear15=NaNmeter""" Sample 15. """DeepBndSmear15=NaNmeter""" Sample 15. """ShallowBndSmear16=NaNmeter""" Sample 16. """DeepBndSmear16=NaNmeter""" Sample 16. """ShallowBndSmear17=NaNmeter""" Sample 17. """DeepBndSmear17=NaNmeter""" Sample 17. """ShallowBndSmear18=NaNmeter""" Sample 18. """DeepBndSmear18=NaNmeter""" Sample 18. """ShallowBndSmear19=NaNmeter""" Sample 19. """DeepBndSmear19=NaNmeter""" Sample 19. """ShallowBndSmear20=NaNmeter""" Sample 20. """DeepBndSmear20=NaNmeter""" Sample 20. """ShallowBndSmear21=NaNmeter""" Sample 21. """DeepBndSmear21=NaNmeter""" Sample 21. """ShallowBndSmear22=NaNmeter""" Sample 22. """DeepBndSmear22=NaNmeter""" Sample 22. """ShallowBndSmear23=NaNmeter""" Sample 23. """DeepBndSmear23=NaNmeter""" Sample 23. """ShallowBndSmear24=NaNmeter""" Sample 24. """DeepBndSmear24=NaNmeter""" Sample 24. """ShallowBndSmear25=NaNmeter""" Sample 25. """DeepBndSmear25=NaNmeter""" Sample 25. """ShallowBndSmear26=NaNmeter""" Sample 26. """DeepBndSmear26=NaNmeter""" Sample 26. """ShallowBndSmear27=NaNmeter""" Sample 27. """DeepBndSmear27=NaNmeter""" Sample 27. """ShallowBndSmear28=NaNmeter""" Sample 28. """DeepBndSmear28=NaNmeter""" Sample 28. """ShallowBndSmear29=NaNmeter""" Sample 29. """DeepBndSmear29=NaNmeter""" Sample 29. """ShallowBndSmear30=NaNmeter""" Sample 30. """DeepBndSmear30=NaNmeter""" Sample 30. """ShallowBndSmear31=NaNmeter""" Sample 31. """DeepBndSmear31=NaNmeter""" Sample 31. """ShallowBndSmear32=NaNmeter""" Sample 32. """DeepBndSmear32=NaNmeter""" Sample 32. """ShallowBndSmear33=NaNmeter""" Sample 33. """DeepBndSmear33=NaNmeter""" Sample 33. """ShallowBndSmear34=NaNmeter""" Sample 34. """DeepBndSmear34=NaNmeter""" Sample 34. """ShallowBndSmear35=NaNmeter""" Sample 35. """DeepBndSmear35=NaNmeter""" Sample 35. """ShallowBndSmear36=NaNmeter""" Sample 36. """DeepBndSmear36=NaNmeter""" Sample 36. """ShallowBndSmear37=NaNmeter""" Sample 37. """DeepBndSmear37=NaNmeter""" Sample 37. """ShallowBndSmear38=NaNmeter""" Sample 38. """DeepBndSmear38=NaNmeter""" Sample 38. """ShallowBndSmear39=NaNmeter""" Sample 39. """DeepBndSmear39=NaNmeter""" Sample 39. """ShallowBndSmear40=NaNmeter""" Sample 40. """DeepBndSmear40=NaNmeter""" Sample 40. """ShallowBndSmear41=NaNmeter""" Sample 41. """DeepBndSmear41=NaNmeter""" Sample 41. """ShallowBndSmear42=NaNmeter""" Sample 42. """DeepBndSmear42=NaNmeter""" Sample 42. """ShallowBndSmear43=NaNmeter""" Sample 43. """DeepBndSmear43=NaNmeter""" Sample 43. """ShallowBndSmear44=NaNmeter""" Sample 44. """DeepBndSmear44=NaNmeter""" Sample 44. """ShallowBndSmear45=NaNmeter""" Sample 45. """DeepBndSmear45=NaNmeter""" Sample 45. """ShallowBndSmear46=NaNmeter""" Sample 46. """DeepBndSmear46=NaNmeter""" Sample 46. """ShallowBndSmear47=NaNmeter""" Sample 47. """DeepBndSmear47=NaNmeter""" Sample 47. """ShallowBndSmear48=NaNmeter""" Sample 48. """DeepBndSmear48=NaNmeter""" Sample 48. """ShallowBndSmear49=NaNmeter""" Sample 49. """DeepBndSmear49=NaNmeter""" Sample 49. """ShallowBndSmear50=NaNmeter""" Sample 50. """DeepBndSmear50=NaNmeter""" Sample 50. """ShallowBndSmear51=NaNmeter""" Sample 51. """DeepBndSmear51=NaNmeter""" Sample 51. """ShallowBndSmear52=NaNmeter""" Sample 52. """DeepBndSmear52=NaNmeter""" Sample 52. """ShallowBndSmear53=NaNmeter""" Sample 53. """DeepBndSmear53=NaNmeter""" Sample 53. """ShallowBndSmear54=NaNmeter""" Sample 54. """DeepBndSmear54=NaNmeter""" Sample 54. """ShallowBndSmear55=NaNmeter""" Sample 55. """DeepBndSmear55=NaNmeter""" Sample 55. """ShallowBndSmear56=NaNmeter""" Sample 56. """DeepBndSmear56=NaNmeter""" Sample 56. """ShallowBndSmear57=NaNmeter""" Sample 57. """DeepBndSmear57=NaNmeter""" Sample 57. """ShallowBndSmear58=NaNmeter""" Sample 58. """DeepBndSmear58=NaNmeter""" Sample 58. """ShallowBndSmear59=NaNmeter""" Sample 59. """DeepBndSmear59=NaNmeter""" Sample 59. """ShallowBndSmear60=NaNmeter""" Sample 60. """DeepBndSmear60=NaNmeter""" Sample 60. """# Use caution when changing these.UpRate=-0.1meter_per_second""" Go-up depth rate in smear sampling mode (negative depth rate means going up). """DownRate=0.1meter_per_second""" Go-down depth rate in smear sampling mode (positive depth rate means going down). """# You probably do not need to change these.TransitYoYoUpPitch=20degree""" Vehicle up pitch while performing the YoYo behavior. """TransitYoYoDownPitch=-20degree""" Vehicle down pitch while performing the YoYo behavior. """BuoyancyNeutral=Control:VerticalControl.buoyancyNeutral""" Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy """MassDefault=Control:VerticalControl.massDefault""" Static setting for mass during the mission. Set to NaN mm for active mass position """# Internal variables that you should not changeSpeedApproachThenSample=1.0meter_per_second""" Vehicle speed when approaching the target isotherm or depth and then sampling. Initialized to 1 m/s. """DepthLogged=0.0meter""" """TempLogged=0.0celsius""" """ChlLogged=0.0microgram_per_liter""" """TransitCompleted=false""" Transit is completed (initialized to false). """TargetedDepth=NaNmeter""" Depth if pre-designated. Initialized to NaN. """WaitDepthUndulation=10.0minute""" Wait duration for the depth undulation to damp down. Initialized to 10 minutes. """ShallowBoundSmear=NaNmeter""" Shallow depth bound for smear sampling. """DeepBoundSmear=NaNmeter""" Deep depth bound for smear sampling. """SampleOptionsSet=false""" Sample options (VertDistance, ReportAtSurface, ReacquirePeak) already set. Initialized to false. """SampleCompleted=false""" Sampling completed. Initialized to false. """StoppedForNoFiringForTooLong=false""" Mission stopped because of no firing for too long. Initialized to false. """FlagSamplingOngoing=false""" Flag of water sampling in process (initialized to false). """FlagFired=false""" Flag of sample fired (initialized to false). """FlagGoUp=false""" Go-up flag (set to true when going up. Initialized to false). """FlagGoDown=false""" Go-down flag (set to true when going down. Initialized to false). """FlagInitialDiveSpeedSet=false""" Flag of initial dive speed set. Initialized to false. """EnableFiringSmear=true""" Enable firing. Initialized to true. """FromLastTimeFixToStartDive=NaNminute""" Elapsed time from last time-fix to StartDive. """FromLastTimeFixToNow=NaNminute""" Elapsed time from last time-fix to now. """FromLastTimeFixToLastFiring=NaNminute""" Elapsed time from last time-fix to last firing. """CntSamples=1count""" Count of water samples (initilized to 1). """}# Missions should almost always start with a timeout and a NeedComms aggregate. Drift missions will not use NeedComms.timeoutduration=MissionTimeoutinsertInsert/AbortDrift.xml{redefineArgAcousticTimeout=AcousticTrackingTimeout}insertInsert/Science.xml{redefineArgPeakDetectChlActive=true}insertInsert/StandardEnvelopes.xmlassigninsequenceStandardEnvelopes:MinAltitude=MinAltitudeassigninsequenceStandardEnvelopes:MaxDepth=MaxDepthassigninsequenceStandardEnvelopes:MinOffshore=MinOffshorebehaviorGuidance:Pitch{runinparallelsetGuidance:Pitch.massPosition=MassDefault}insertInsert/SampleAtDepth.xml{redefineArgMaxWaitNotReachingDepth=MaxWaitNotAchievingDepth}insertInsert/NeedComms.xmlid="NeedComms"callid="StartingMission"refId="NeedComms"aggregateESPSampling{runwhen(called)aggregateTriggerESP{runinsequenceassigninsequenceDepthLogged=Universal:depthassigninsequenceTempLogged=Universal:sea_water_temperatureassigninsequenceChlLogged=Universal:mass_concentration_of_chlorophyll_in_sea_watersyslogimportant"Trigger ESP sampling. DepthLogged, TempLogged, ChlLogged = "+DepthLogged~meter+", "+TempLogged~celsius+", "+ChlLogged~microgram_per_liter+"."readDatum{Science:ESPComponent.sampling}syslogimportant"Wait for ESP sampling to complete."readDatum{Science:ESPComponent.sample_number}}}aggregateSampleAtDepthWrapper{runwhen(called)breakif(TargetedDepth>=MaxDepth)assigninsequenceSampleAtDepth:TargetDepth=TargetedDepthassigninsequenceSampleAtDepth:SettleTime=WaitDepthUndulationcallid="SampleAtTargetDepth"refId="SampleAtDepth"syslogimportant"ESP sample No."+CntSamples~count+" completed."}aggregateSmearSamplingWrapper{runwhen(called)breakif(not(EnableFiringSmear))aggregateGoDownGoUpFire{runinsequenceaggregateGoDownInSpiralMode{runwhile(EnableFiringSmearandFlagGoDown)behaviorGuidance:Pitch{runinparallelsetGuidance:Pitch.depthRate=DownRate}}aggregateGoUpInSpiralMode{runwhile(EnableFiringSmearandFlagGoUp)behaviorGuidance:Pitch{runinparallelsetGuidance:Pitch.depthRate=UpRate}}aggregateResetFlagGoDownSetFlagGoUp{runwhen(EnableFiringSmearand(Universal:depth>=DeepBoundSmear)and(not(FlagGoUp)))assigninsequenceFlagGoDown=falseassigninsequenceFlagGoUp=truesyslogimportant"Bounce up from "+Universal:depth~meter+"."}aggregateResetFlagGoUpSetFlagGoDown{runwhen(EnableFiringSmearand(Universal:depth<=ShallowBoundSmear)and(not(FlagGoDown)))assigninsequenceFlagGoUp=falseassigninsequenceFlagGoDown=truesyslogimportant"Bounce down from "+Universal:depth~meter+"."}aggregateFiring{runwhen(EnableFiringSmearandFlagGoDownand(Universal:depth>=ShallowBoundSmear)or(EnableFiringSmearandFlagGoUpand(Universal:depth<=DeepBoundSmear)))callid="Sampling"refId="ESPSampling"syslogimportant" ESP sample No."+CntSamples~count+" completed."assigninsequenceEnableFiringSmear=false}}}aggregateTransit{runinsequencetimeoutduration=RunToWaypointTimeout{syslogimportant"Timed out trying to reach the waypoint. Stopping mission."behaviorGuidance:Execute{runinsequencesetGuidance:Execute.command="stop"}}assigninsequenceNeedComms:DiveInterval=RunToWaypointNeedCommsTimeassigninsequenceNeedComms:SurfaceSpeed=SpeedTransitbehaviorGuidance:SetSpeed{runinparallelsetGuidance:SetSpeed.speed=SpeedTransit}behaviorGuidance:Buoyancy{runinparallelsetGuidance:Buoyancy.position=BuoyancyNeutral}aggregateYoyoToWaypoint{runinsequencebreakif(not(isNaN(DepthLevelFlight)))behaviorGuidance:DepthEnvelope{runinparallelsetGuidance:DepthEnvelope.minDepth=TransitYoYoMinDepthsetGuidance:DepthEnvelope.maxDepth=TransitYoYoMaxDepthsetGuidance:DepthEnvelope.downPitch=TransitYoYoDownPitchsetGuidance:DepthEnvelope.upPitch=TransitYoYoUpPitch}behaviorGuidance:YoYo{runinparallelsetGuidance:YoYo.downPitch=TransitYoYoDownPitchsetGuidance:YoYo.upPitch=TransitYoYoUpPitch}behaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=LatitudesetGuidance:Waypoint.longitude=LongitudesetGuidance:Waypoint.northingsDelta=NorthingssetGuidance:Waypoint.eastingsDelta=Eastings}}aggregateLevelFlightToWaypoint{runinsequencebreakif(isNaN(DepthLevelFlight))behaviorGuidance:Pitch{runinparallelsetGuidance:Pitch.depth=DepthLevelFlight}behaviorGuidance:Waypoint{runinsequencesetGuidance:Waypoint.latitude=LatitudesetGuidance:Waypoint.longitude=LongitudesetGuidance:Waypoint.northingsDelta=NorthingssetGuidance:Waypoint.eastingsDelta=Eastings}}callid="DoneTransit"refId="NeedComms"assigninsequenceTransitCompleted=trueassigninsequenceFlagGoDown=truesyslogimportant"Transit and NeedComms completed. Go down from "+Universal:depth~meter+"."assigninsequenceFromLastTimeFixToStartDive=elapsed(Universal:time_fix)# debug# <Syslog Severity="Important">FromLastTimeFixToStartDive = <Arg Name="FromLastTimeFixToStartDive"/><Units:minute/></Syslog>assigninsequenceSpeedApproachThenSample=SpeedInitialDive}assigninsequenceNeedComms:DiveInterval=MissionTimeoutaggregateTakeSamples{runinsequencebreakif(not(TransitCompleted)or(CntSamples==(NumSamplers+1count)))aggregateSetSpeedInitialDive{runinsequencerunwhen(CntSamples==1countand(not(FlagInitialDiveSpeedSet)))assigninsequenceSpeedApproachThenSample=SpeedInitialDivebehaviorGuidance:Wait{runinsequencesetGuidance:Wait.duration=InitialDiveDuration}assigninsequenceSpeedApproachThenSample=SpeedSamplingassigninsequenceFlagInitialDiveSpeedSet=true}aggregateSetNeutralBuoyancyNonZeroRudderInSpiralOrDonutMode{runinparallelrunwhile(SpeedApproachThenSample>0.0meter_per_second)behaviorGuidance:SetSpeed{runinparallelsetGuidance:SetSpeed.speed=SpeedApproachThenSample}behaviorGuidance:Buoyancy{runinparallelsetGuidance:Buoyancy.position=BuoyancyNeutral}behaviorGuidance:Point{runinparallelsetGuidance:Point.rudderAngle=RudderAngleSpiralOrDonut}}aggregateSetZeroRudderInDriftMode{runinparallelrunwhile(not(SpeedApproachThenSample>0.0meter_per_second))behaviorGuidance:SetSpeed{runinparallelsetGuidance:SetSpeed.speed=SpeedApproachThenSample}behaviorGuidance:Point{runinparallelsetGuidance:Point.rudderAngle=0.0degree}}aggregateNoFiringForTooLong{runwhen(elapsed(Universal:time_fix)>(FromLastTimeFixToStartDive+MaxWaitNoFiring)and(not(FlagSamplingOngoing))and(CntSamples==1count)and(not(FlagFired))and(not(StoppedForNoFiringForTooLong))or(elapsed(Universal:time_fix)>(FromLastTimeFixToLastFiring+MaxWaitNoFiring)and(not(FlagSamplingOngoing))and(CntSamples>=2count)and(not(StoppedForNoFiringForTooLong))))assigninsequenceFromLastTimeFixToNow=elapsed(Universal:time_fix)syslogimportant"No firing for too long. Stopping mission. FromLastTimeFixToNow, FromLastTimeFixToLastFiring = "+FromLastTimeFixToNow~minute+", "+FromLastTimeFixToLastFiring~minutebehaviorGuidance:Execute{runinsequencesetGuidance:Execute.command="stop"}assigninsequenceStoppedForNoFiringForTooLong=true}aggregateSetOptionsOfSample1{runwhen(not(SampleOptionsSet)and(CntSamples==1count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth1assigninsequenceWaitDepthUndulation=WaitDepUndulation1assigninsequenceShallowBoundSmear=ShallowBndSmear1assigninsequenceDeepBoundSmear=DeepBndSmear1assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample2{runwhen(not(SampleOptionsSet)and(CntSamples==2count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth2assigninsequenceWaitDepthUndulation=WaitDepUndulation2assigninsequenceShallowBoundSmear=ShallowBndSmear2assigninsequenceDeepBoundSmear=DeepBndSmear2assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample3{runwhen(not(SampleOptionsSet)and(CntSamples==3count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth3assigninsequenceWaitDepthUndulation=WaitDepUndulation3assigninsequenceShallowBoundSmear=ShallowBndSmear3assigninsequenceDeepBoundSmear=DeepBndSmear3assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample4{runwhen(not(SampleOptionsSet)and(CntSamples==4count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth4assigninsequenceWaitDepthUndulation=WaitDepUndulation4assigninsequenceShallowBoundSmear=ShallowBndSmear4assigninsequenceDeepBoundSmear=DeepBndSmear4assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample5{runwhen(not(SampleOptionsSet)and(CntSamples==5count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth5assigninsequenceWaitDepthUndulation=WaitDepUndulation5assigninsequenceShallowBoundSmear=ShallowBndSmear5assigninsequenceDeepBoundSmear=DeepBndSmear5assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample6{runwhen(not(SampleOptionsSet)and(CntSamples==6count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth6assigninsequenceWaitDepthUndulation=WaitDepUndulation6assigninsequenceShallowBoundSmear=ShallowBndSmear6assigninsequenceDeepBoundSmear=DeepBndSmear6assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample7{runwhen(not(SampleOptionsSet)and(CntSamples==7count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth7assigninsequenceWaitDepthUndulation=WaitDepUndulation7assigninsequenceShallowBoundSmear=ShallowBndSmear7assigninsequenceDeepBoundSmear=DeepBndSmear7assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample8{runwhen(not(SampleOptionsSet)and(CntSamples==8count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth8assigninsequenceWaitDepthUndulation=WaitDepUndulation8assigninsequenceShallowBoundSmear=ShallowBndSmear8assigninsequenceDeepBoundSmear=DeepBndSmear8assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample9{runwhen(not(SampleOptionsSet)and(CntSamples==9count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth9assigninsequenceWaitDepthUndulation=WaitDepUndulation9assigninsequenceShallowBoundSmear=ShallowBndSmear9assigninsequenceDeepBoundSmear=DeepBndSmear9assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample10{runwhen(not(SampleOptionsSet)and(CntSamples==10count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth10assigninsequenceWaitDepthUndulation=WaitDepUndulation10assigninsequenceShallowBoundSmear=ShallowBndSmear10assigninsequenceDeepBoundSmear=DeepBndSmear10assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample11{runwhen(not(SampleOptionsSet)and(CntSamples==11count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth11assigninsequenceWaitDepthUndulation=WaitDepUndulation11assigninsequenceShallowBoundSmear=ShallowBndSmear11assigninsequenceDeepBoundSmear=DeepBndSmear11assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample12{runwhen(not(SampleOptionsSet)and(CntSamples==12count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth12assigninsequenceWaitDepthUndulation=WaitDepUndulation12assigninsequenceShallowBoundSmear=ShallowBndSmear12assigninsequenceDeepBoundSmear=DeepBndSmear12assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample13{runwhen(not(SampleOptionsSet)and(CntSamples==13count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth13assigninsequenceWaitDepthUndulation=WaitDepUndulation13assigninsequenceShallowBoundSmear=ShallowBndSmear13assigninsequenceDeepBoundSmear=DeepBndSmear13assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample14{runwhen(not(SampleOptionsSet)and(CntSamples==14count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth14assigninsequenceWaitDepthUndulation=WaitDepUndulation14assigninsequenceShallowBoundSmear=ShallowBndSmear14assigninsequenceDeepBoundSmear=DeepBndSmear14assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample15{runwhen(not(SampleOptionsSet)and(CntSamples==15count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth15assigninsequenceWaitDepthUndulation=WaitDepUndulation15assigninsequenceShallowBoundSmear=ShallowBndSmear15assigninsequenceDeepBoundSmear=DeepBndSmear15assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample16{runwhen(not(SampleOptionsSet)and(CntSamples==16count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth16assigninsequenceWaitDepthUndulation=WaitDepUndulation16assigninsequenceShallowBoundSmear=ShallowBndSmear16assigninsequenceDeepBoundSmear=DeepBndSmear16assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample17{runwhen(not(SampleOptionsSet)and(CntSamples==17count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth17assigninsequenceWaitDepthUndulation=WaitDepUndulation17assigninsequenceShallowBoundSmear=ShallowBndSmear17assigninsequenceDeepBoundSmear=DeepBndSmear17assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample18{runwhen(not(SampleOptionsSet)and(CntSamples==18count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth18assigninsequenceWaitDepthUndulation=WaitDepUndulation18assigninsequenceShallowBoundSmear=ShallowBndSmear18assigninsequenceDeepBoundSmear=DeepBndSmear18assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample19{runwhen(not(SampleOptionsSet)and(CntSamples==19count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth19assigninsequenceWaitDepthUndulation=WaitDepUndulation19assigninsequenceShallowBoundSmear=ShallowBndSmear19assigninsequenceDeepBoundSmear=DeepBndSmear19assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample20{runwhen(not(SampleOptionsSet)and(CntSamples==20count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth20assigninsequenceWaitDepthUndulation=WaitDepUndulation20assigninsequenceShallowBoundSmear=ShallowBndSmear20assigninsequenceDeepBoundSmear=DeepBndSmear20assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample21{runwhen(not(SampleOptionsSet)and(CntSamples==21count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth21assigninsequenceWaitDepthUndulation=WaitDepUndulation21assigninsequenceShallowBoundSmear=ShallowBndSmear21assigninsequenceDeepBoundSmear=DeepBndSmear21assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample22{runwhen(not(SampleOptionsSet)and(CntSamples==22count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth22assigninsequenceWaitDepthUndulation=WaitDepUndulation22assigninsequenceShallowBoundSmear=ShallowBndSmear22assigninsequenceDeepBoundSmear=DeepBndSmear22assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample23{runwhen(not(SampleOptionsSet)and(CntSamples==23count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth23assigninsequenceWaitDepthUndulation=WaitDepUndulation23assigninsequenceShallowBoundSmear=ShallowBndSmear23assigninsequenceDeepBoundSmear=DeepBndSmear23assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample24{runwhen(not(SampleOptionsSet)and(CntSamples==24count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth24assigninsequenceWaitDepthUndulation=WaitDepUndulation24assigninsequenceShallowBoundSmear=ShallowBndSmear24assigninsequenceDeepBoundSmear=DeepBndSmear24assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample25{runwhen(not(SampleOptionsSet)and(CntSamples==25count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth25assigninsequenceWaitDepthUndulation=WaitDepUndulation25assigninsequenceShallowBoundSmear=ShallowBndSmear25assigninsequenceDeepBoundSmear=DeepBndSmear25assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample26{runwhen(not(SampleOptionsSet)and(CntSamples==26count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth26assigninsequenceWaitDepthUndulation=WaitDepUndulation26assigninsequenceShallowBoundSmear=ShallowBndSmear26assigninsequenceDeepBoundSmear=DeepBndSmear26assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample27{runwhen(not(SampleOptionsSet)and(CntSamples==27count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth27assigninsequenceWaitDepthUndulation=WaitDepUndulation27assigninsequenceShallowBoundSmear=ShallowBndSmear27assigninsequenceDeepBoundSmear=DeepBndSmear27assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample28{runwhen(not(SampleOptionsSet)and(CntSamples==28count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth28assigninsequenceWaitDepthUndulation=WaitDepUndulation28assigninsequenceShallowBoundSmear=ShallowBndSmear28assigninsequenceDeepBoundSmear=DeepBndSmear28assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample29{runwhen(not(SampleOptionsSet)and(CntSamples==29count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth29assigninsequenceWaitDepthUndulation=WaitDepUndulation29assigninsequenceShallowBoundSmear=ShallowBndSmear29assigninsequenceDeepBoundSmear=DeepBndSmear29assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample30{runwhen(not(SampleOptionsSet)and(CntSamples==30count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth30assigninsequenceWaitDepthUndulation=WaitDepUndulation30assigninsequenceShallowBoundSmear=ShallowBndSmear30assigninsequenceDeepBoundSmear=DeepBndSmear30assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample31{runwhen(not(SampleOptionsSet)and(CntSamples==31count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth31assigninsequenceWaitDepthUndulation=WaitDepUndulation31assigninsequenceShallowBoundSmear=ShallowBndSmear31assigninsequenceDeepBoundSmear=DeepBndSmear31assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample32{runwhen(not(SampleOptionsSet)and(CntSamples==32count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth32assigninsequenceWaitDepthUndulation=WaitDepUndulation32assigninsequenceShallowBoundSmear=ShallowBndSmear32assigninsequenceDeepBoundSmear=DeepBndSmear32assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample33{runwhen(not(SampleOptionsSet)and(CntSamples==33count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth33assigninsequenceWaitDepthUndulation=WaitDepUndulation33assigninsequenceShallowBoundSmear=ShallowBndSmear33assigninsequenceDeepBoundSmear=DeepBndSmear33assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample34{runwhen(not(SampleOptionsSet)and(CntSamples==34count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth34assigninsequenceWaitDepthUndulation=WaitDepUndulation34assigninsequenceShallowBoundSmear=ShallowBndSmear34assigninsequenceDeepBoundSmear=DeepBndSmear34assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample35{runwhen(not(SampleOptionsSet)and(CntSamples==35count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth35assigninsequenceWaitDepthUndulation=WaitDepUndulation35assigninsequenceShallowBoundSmear=ShallowBndSmear35assigninsequenceDeepBoundSmear=DeepBndSmear35assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample36{runwhen(not(SampleOptionsSet)and(CntSamples==36count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth36assigninsequenceWaitDepthUndulation=WaitDepUndulation36assigninsequenceShallowBoundSmear=ShallowBndSmear36assigninsequenceDeepBoundSmear=DeepBndSmear36assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample37{runwhen(not(SampleOptionsSet)and(CntSamples==37count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth37assigninsequenceWaitDepthUndulation=WaitDepUndulation37assigninsequenceShallowBoundSmear=ShallowBndSmear37assigninsequenceDeepBoundSmear=DeepBndSmear37assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample38{runwhen(not(SampleOptionsSet)and(CntSamples==38count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth38assigninsequenceWaitDepthUndulation=WaitDepUndulation38assigninsequenceShallowBoundSmear=ShallowBndSmear38assigninsequenceDeepBoundSmear=DeepBndSmear38assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample39{runwhen(not(SampleOptionsSet)and(CntSamples==39count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth39assigninsequenceWaitDepthUndulation=WaitDepUndulation39assigninsequenceShallowBoundSmear=ShallowBndSmear39assigninsequenceDeepBoundSmear=DeepBndSmear39assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample40{runwhen(not(SampleOptionsSet)and(CntSamples==40count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth40assigninsequenceWaitDepthUndulation=WaitDepUndulation40assigninsequenceShallowBoundSmear=ShallowBndSmear40assigninsequenceDeepBoundSmear=DeepBndSmear40assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample41{runwhen(not(SampleOptionsSet)and(CntSamples==41count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth41assigninsequenceWaitDepthUndulation=WaitDepUndulation41assigninsequenceShallowBoundSmear=ShallowBndSmear41assigninsequenceDeepBoundSmear=DeepBndSmear41assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample42{runwhen(not(SampleOptionsSet)and(CntSamples==42count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth42assigninsequenceWaitDepthUndulation=WaitDepUndulation42assigninsequenceShallowBoundSmear=ShallowBndSmear42assigninsequenceDeepBoundSmear=DeepBndSmear42assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample43{runwhen(not(SampleOptionsSet)and(CntSamples==43count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth43assigninsequenceWaitDepthUndulation=WaitDepUndulation43assigninsequenceShallowBoundSmear=ShallowBndSmear43assigninsequenceDeepBoundSmear=DeepBndSmear43assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample44{runwhen(not(SampleOptionsSet)and(CntSamples==44count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth44assigninsequenceWaitDepthUndulation=WaitDepUndulation44assigninsequenceShallowBoundSmear=ShallowBndSmear44assigninsequenceDeepBoundSmear=DeepBndSmear44assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample45{runwhen(not(SampleOptionsSet)and(CntSamples==45count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth45assigninsequenceWaitDepthUndulation=WaitDepUndulation45assigninsequenceShallowBoundSmear=ShallowBndSmear45assigninsequenceDeepBoundSmear=DeepBndSmear45assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample46{runwhen(not(SampleOptionsSet)and(CntSamples==46count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth46assigninsequenceWaitDepthUndulation=WaitDepUndulation46assigninsequenceShallowBoundSmear=ShallowBndSmear46assigninsequenceDeepBoundSmear=DeepBndSmear46assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample47{runwhen(not(SampleOptionsSet)and(CntSamples==47count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth47assigninsequenceWaitDepthUndulation=WaitDepUndulation47assigninsequenceShallowBoundSmear=ShallowBndSmear47assigninsequenceDeepBoundSmear=DeepBndSmear47assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample48{runwhen(not(SampleOptionsSet)and(CntSamples==48count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth48assigninsequenceWaitDepthUndulation=WaitDepUndulation48assigninsequenceShallowBoundSmear=ShallowBndSmear48assigninsequenceDeepBoundSmear=DeepBndSmear48assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample49{runwhen(not(SampleOptionsSet)and(CntSamples==49count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth49assigninsequenceWaitDepthUndulation=WaitDepUndulation49assigninsequenceShallowBoundSmear=ShallowBndSmear49assigninsequenceDeepBoundSmear=DeepBndSmear49assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample50{runwhen(not(SampleOptionsSet)and(CntSamples==50count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth50assigninsequenceWaitDepthUndulation=WaitDepUndulation50assigninsequenceShallowBoundSmear=ShallowBndSmear50assigninsequenceDeepBoundSmear=DeepBndSmear50assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample51{runwhen(not(SampleOptionsSet)and(CntSamples==51count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth51assigninsequenceWaitDepthUndulation=WaitDepUndulation51assigninsequenceShallowBoundSmear=ShallowBndSmear51assigninsequenceDeepBoundSmear=DeepBndSmear51assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample52{runwhen(not(SampleOptionsSet)and(CntSamples==52count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth52assigninsequenceWaitDepthUndulation=WaitDepUndulation52assigninsequenceShallowBoundSmear=ShallowBndSmear52assigninsequenceDeepBoundSmear=DeepBndSmear52assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample53{runwhen(not(SampleOptionsSet)and(CntSamples==53count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth53assigninsequenceWaitDepthUndulation=WaitDepUndulation53assigninsequenceShallowBoundSmear=ShallowBndSmear53assigninsequenceDeepBoundSmear=DeepBndSmear53assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample54{runwhen(not(SampleOptionsSet)and(CntSamples==54count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth54assigninsequenceWaitDepthUndulation=WaitDepUndulation54assigninsequenceShallowBoundSmear=ShallowBndSmear54assigninsequenceDeepBoundSmear=DeepBndSmear54assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample55{runwhen(not(SampleOptionsSet)and(CntSamples==55count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth55assigninsequenceWaitDepthUndulation=WaitDepUndulation55assigninsequenceShallowBoundSmear=ShallowBndSmear55assigninsequenceDeepBoundSmear=DeepBndSmear55assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample56{runwhen(not(SampleOptionsSet)and(CntSamples==56count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth56assigninsequenceWaitDepthUndulation=WaitDepUndulation56assigninsequenceShallowBoundSmear=ShallowBndSmear56assigninsequenceDeepBoundSmear=DeepBndSmear56assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample57{runwhen(not(SampleOptionsSet)and(CntSamples==57count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth57assigninsequenceWaitDepthUndulation=WaitDepUndulation57assigninsequenceShallowBoundSmear=ShallowBndSmear57assigninsequenceDeepBoundSmear=DeepBndSmear57assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample58{runwhen(not(SampleOptionsSet)and(CntSamples==58count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth58assigninsequenceWaitDepthUndulation=WaitDepUndulation58assigninsequenceShallowBoundSmear=ShallowBndSmear58assigninsequenceDeepBoundSmear=DeepBndSmear58assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample59{runwhen(not(SampleOptionsSet)and(CntSamples==59count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth59assigninsequenceWaitDepthUndulation=WaitDepUndulation59assigninsequenceShallowBoundSmear=ShallowBndSmear59assigninsequenceDeepBoundSmear=DeepBndSmear59assigninsequenceSampleOptionsSet=true}aggregateSetOptionsOfSample60{runwhen(not(SampleOptionsSet)and(CntSamples==60count)and(CntSamples<=NumSamplers)and(not(FlagSamplingOngoing)))assigninsequenceTargetedDepth=Depth60assigninsequenceWaitDepthUndulation=WaitDepUndulation60assigninsequenceShallowBoundSmear=ShallowBndSmear60assigninsequenceDeepBoundSmear=DeepBndSmear60assigninsequenceSampleOptionsSet=true}aggregateSampleAtConstantDepth{runwhen(TransitCompletedand(not(isNaN(TargetedDepth)))and(not(FlagSamplingOngoing))and(CntSamples<=NumSamplers)andSampleOptionsSetand(not(SampleCompleted)))syslogimportant"Taking sample No."+CntSamples~count+" at "+TargetedDepth~meter+"."assigninsequenceFlagSamplingOngoing=truecallid="TakeSampleAtTargetDepth"refId="SampleAtDepthWrapper"assigninsequenceFlagSamplingOngoing=falseassigninsequenceSampleCompleted=trueassigninsequenceSampleOptionsSet=false}aggregateSmearSampling{runwhen(TransitCompletedand(not(isNaN(ShallowBoundSmear)))and(not(isNaN(DeepBoundSmear)))and(not(FlagSamplingOngoing))and(CntSamples<=NumSamplers)andSampleOptionsSetand(not(SampleCompleted)))syslogimportant"Taking sample No."+CntSamples~count+" smeared between "+ShallowBoundSmear~meter+" and "+DeepBoundSmear~meter+"."assigninsequenceEnableFiringSmear=trueassigninsequenceFlagSamplingOngoing=trueassigninsequenceFlagFired=trueassigninsequenceFromLastTimeFixToLastFiring=elapsed(Universal:time_fix)# debug# <Syslog Severity="Important">FromLastTimeFixToLastFiring = <Arg Name="FromLastTimeFixToLastFi ring"/><Units:minute/></Syslog>callid="TakeSmearSample"refId="SmearSamplingWrapper"assigninsequenceFlagSamplingOngoing=falseassigninsequenceSampleCompleted=trueassigninsequenceSampleOptionsSet=false}aggregateIncrementSampleCounter{runwhen(SampleCompleted)assigninsequenceCntSamples=CntSamples+1countassigninsequenceSampleCompleted=false}}}
<?xml version="1.0" encoding="UTF-8"?><!-- Generated by TethysL --><Missionxmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"xmlns="Tethys"xmlns:Units="Tethys/Units"xmlns:Control="Tethys/Control"xmlns:Science="Tethys/Science"xmlns:Guidance="Tethys/Guidance"xmlns:Universal="Tethys/Universal"xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"Id="DepthSampling"><!-- You probably need to change these. --><DefineArgName="NumSamplers"><Description>
Total number of ESP or CANON samplers (Maximum 60 for ESP samplers. Set
to a smaller number if not using all of them. Set to 0 to disable
sampling).
</Description><Units:count/><Value>1</Value></DefineArg><DefineArgName="MaxDepth"><Description>
Maximum depth for the entire mission.
</Description><Units:meter/><Value>30</Value></DefineArg><DefineArgName="MinAltitude"><Description>
Minimum altitude for the entire mission.
</Description><Units:meter/><Value>7</Value></DefineArg><DefineArgName="MinOffshore"><Description>
Minimum offshore distance for the entire mission.
</Description><Units:kilometer/><Value>2</Value></DefineArg><DefineArgName="MissionTimeout"><Description>
Maximum duration of mission
</Description><Units:hour/><Value>12</Value></DefineArg><DefineArgName="AcousticTrackingTimeout"><Description>
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.
</Description><Units:hour/><Value>21</Value></DefineArg><DefineArgName="MaxWaitNoFiring"><Description>
If no firing after more than MaxWaitNoFiring, terminate mission.
</Description><Units:hour/><Value>3</Value></DefineArg><DefineArgName="MaxWaitNotAchievingDepth"><Description>
Maximum wait time the vehicle cannot reach the targeted depth.
</Description><Units:hour/><Value>3</Value></DefineArg><DefineArgName="RunToWaypointTimeout"><Description>
Maximum duration for trying to achieve spiral cast waypoint
</Description><Units:hour/><Value>3</Value></DefineArg><DefineArgName="RunToWaypointNeedCommsTime"><Description>
How often to surface for commumications when heading to waypoint
</Description><Units:minute/><Value>30</Value></DefineArg><DefineArgName="InitialDiveDuration"><Description>
On the first dive to the target depth, run at SpeedInitialDive for this
duration (e.g., 1 m/s spiral to dive fast).
</Description><Units:minute/><Value>5.0</Value></DefineArg><DefineArgName="SpeedTransit"><Description>
Vehicle speed when transiting.
</Description><Units:meter_per_second/><Value>1.0</Value></DefineArg><DefineArgName="SpeedInitialDive"><Description>
Vehicle speed during initial dive. 0.0 for drift mode (prop off); 1.0
for spiral mode (prop on). Initialized to 1 m/s.
</Description><Units:meter_per_second/><Value>1.0</Value></DefineArg><!--debug </Description><Units:meter_per_second/><Value>0</Value></DefineArg>--><DefineArgName="SpeedSampling"><Description>
Vehicle speed during sampling: 0.0 for drift mode (prop off); 1.0 for
donut mode (prop on). Initialized to 1 m/s.
</Description><Units:meter_per_second/><Value>1.0</Value></DefineArg><!--debug </Description><Units:meter_per_second/><Value>0</Value></DefineArg>--><DefineArgName="RudderAngleSpiralOrDonut"><Description>
Rudder angle during spiral or donut.
</Description><Units:degree/><Value>13</Value></DefineArg><DefineArgName="Latitude"><Description>
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
</Description><Units:degree/><Value>NaN</Value></DefineArg><!--debug </Description><Units:degree/><Value>36.810</Value></DefineArg>--><DefineArgName="Longitude"><Description>
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
</Description><Units:degree/><Value>NaN</Value></DefineArg><!--debug </Description><Units:degree/><Value>-121.825</Value></DefineArg>--><DefineArgName="Northings"><Description>
Northward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
</Description><Units:meter/><Value>0</Value></DefineArg><DefineArgName="Eastings"><Description>
Eastward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
</Description><Units:meter/><Value>0</Value></DefineArg><DefineArgName="DepthLevelFlight"><Description>
Depth of level flight during the mission. If NaN, then yo-yo flight.
<!--debug </Description><Units:meter/><Value>10</Value></DefineArg>--></Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="TransitYoYoMinDepth"><Description>
Minimum depth while performing the YoYo behavior. Irrelevant if
DepthLevelFlight is non-NaN (i.e., if level flight).
</Description><Units:meter/><Value>5</Value></DefineArg><DefineArgName="TransitYoYoMaxDepth"><Description>
Maximum depth while performing the YoYo behavior. Irrelevant if
DepthLevelFlight is non-NaN (i.e., if level flight). flight.
</Description><Units:meter/><Value>20</Value></DefineArg><DefineArgName="Depth1"><Description>
Depth of sample 1. If NaN, then smear sampling.
<!--debug </Description><Units:meter/><Value>10</Value></DefineArg>--></Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth2"><Description>
Depth of sample 2.
<!--debug </Description><Units:meter/><Value>20</Value></DefineArg>--></Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth3"><Description>
Depth of sample 3.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth4"><Description>
Depth of sample 4.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth5"><Description>
Depth of sample 5.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth6"><Description>
Depth of sample 6.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth7"><Description>
Depth of sample 7.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth8"><Description>
Depth of sample 8.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth9"><Description>
Depth of sample 9.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth10"><Description>
Depth of sample 10.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth11"><Description>
Depth of sample 11.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth12"><Description>
Depth of sample 12.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth13"><Description>
Depth of sample 13.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth14"><Description>
Depth of sample 14.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth15"><Description>
Depth of sample 15.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth16"><Description>
Depth of sample 16.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth17"><Description>
Depth of sample 17.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth18"><Description>
Depth of sample 18.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth19"><Description>
Depth of sample 19.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth20"><Description>
Depth of sample 20.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth21"><Description>
Depth of sample 21.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth22"><Description>
Depth of sample 22.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth23"><Description>
Depth of sample 23.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth24"><Description>
Depth of sample 24.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth25"><Description>
Depth of sample 25.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth26"><Description>
Depth of sample 26.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth27"><Description>
Depth of sample 27.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth28"><Description>
Depth of sample 28.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth29"><Description>
Depth of sample 29.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth30"><Description>
Depth of sample 30.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth31"><Description>
Depth of sample 31.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth32"><Description>
Depth of sample 32.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth33"><Description>
Depth of sample 33.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth34"><Description>
Depth of sample 34.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth35"><Description>
Depth of sample 35.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth36"><Description>
Depth of sample 36.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth37"><Description>
Depth of sample 37.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth38"><Description>
Depth of sample 38.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth39"><Description>
Depth of sample 39.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth40"><Description>
Depth of sample 40.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth41"><Description>
Depth of sample 41.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth42"><Description>
Depth of sample 42.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth43"><Description>
Depth of sample 43.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth44"><Description>
Depth of sample 44.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth45"><Description>
Depth of sample 45.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth46"><Description>
Depth of sample 46.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth47"><Description>
Depth of sample 47.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth48"><Description>
Depth of sample 48.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth49"><Description>
Depth of sample 49.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth50"><Description>
Depth of sample 50.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth51"><Description>
Depth of sample 51.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth52"><Description>
Depth of sample 52.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth53"><Description>
Depth of sample 53.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth54"><Description>
Depth of sample 54.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth55"><Description>
Depth of sample 55.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth56"><Description>
Depth of sample 56.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth57"><Description>
Depth of sample 57.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth58"><Description>
Depth of sample 58.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth59"><Description>
Depth of sample 59.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="Depth60"><Description>
Depth of sample 60.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="WaitDepUndulation1"><Description>
Sample 1. Wait duration for the depth undulation to damp down.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation2"><Description>
Sample 2.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation3"><Description>
Sample 3.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation4"><Description>
Sample 4.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation5"><Description>
Sample 5.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation6"><Description>
Sample 6.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation7"><Description>
Sample 7.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation8"><Description>
Sample 8.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation9"><Description>
Sample 9.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation10"><Description>
Sample 10.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation11"><Description>
Sample 11.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation12"><Description>
Sample 12.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation13"><Description>
Sample 13.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation14"><Description>
Sample 14.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation15"><Description>
Sample 15.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation16"><Description>
Sample 16.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation17"><Description>
Sample 17.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation18"><Description>
Sample 18.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation19"><Description>
Sample 19.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation20"><Description>
Sample 20.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation21"><Description>
Sample 21.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation22"><Description>
Sample 22.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation23"><Description>
Sample 23.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation24"><Description>
Sample 24.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation25"><Description>
Sample 25.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation26"><Description>
Sample 26.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation27"><Description>
Sample 27.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation28"><Description>
Sample 28.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation29"><Description>
Sample 29.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation30"><Description>
Sample 30.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation31"><Description>
Sample 31.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation32"><Description>
Sample 32.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation33"><Description>
Sample 33.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation34"><Description>
Sample 34.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation35"><Description>
Sample 35.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation36"><Description>
Sample 36.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation37"><Description>
Sample 37.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation38"><Description>
Sample 38.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation39"><Description>
Sample 39.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation40"><Description>
Sample 40.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation41"><Description>
Sample 41.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation42"><Description>
Sample 42.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation43"><Description>
Sample 43.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation44"><Description>
Sample 44.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation45"><Description>
Sample 45.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation46"><Description>
Sample 46.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation47"><Description>
Sample 47.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation48"><Description>
Sample 48.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation49"><Description>
Sample 49.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation50"><Description>
Sample 50.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation51"><Description>
Sample 51.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation52"><Description>
Sample 52.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation53"><Description>
Sample 53.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation54"><Description>
Sample 54.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation55"><Description>
Sample 55.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation56"><Description>
Sample 56.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation57"><Description>
Sample 57.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation58"><Description>
Sample 58.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation59"><Description>
Sample 59.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="WaitDepUndulation60"><Description>
Sample 60.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="ShallowBndSmear1"><Description>
Shallow depth bound for smear sampling.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear1"><Description>
Deep depth bound for smear sampling.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear2"><Description>
Sample 2.
<!--debug </Description><Units:meter/><Value>17</Value></DefineArg>--></Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear2"><Description>
Sample 2.
<!--debug </Description><Units:meter/><Value>20</Value></DefineArg>--></Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear3"><Description>
Sample 3.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear3"><Description>
Sample 3.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear4"><Description>
Sample 4.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear4"><Description>
Sample 4.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear5"><Description>
Sample 5.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear5"><Description>
Sample 5.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear6"><Description>
Sample 6.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear6"><Description>
Sample 6.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear7"><Description>
Sample 7.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear7"><Description>
Sample 7.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear8"><Description>
Sample 8.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear8"><Description>
Sample 8.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear9"><Description>
Sample 9.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear9"><Description>
Sample 9.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear10"><Description>
Sample 10.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear10"><Description>
Sample 10.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear11"><Description>
Sample 11.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear11"><Description>
Sample 11.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear12"><Description>
Sample 12.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear12"><Description>
Sample 12.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear13"><Description>
Sample 13.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear13"><Description>
Sample 13.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear14"><Description>
Sample 14.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear14"><Description>
Sample 14.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear15"><Description>
Sample 15.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear15"><Description>
Sample 15.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear16"><Description>
Sample 16.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear16"><Description>
Sample 16.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear17"><Description>
Sample 17.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear17"><Description>
Sample 17.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear18"><Description>
Sample 18.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear18"><Description>
Sample 18.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear19"><Description>
Sample 19.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear19"><Description>
Sample 19.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear20"><Description>
Sample 20.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear20"><Description>
Sample 20.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear21"><Description>
Sample 21.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear21"><Description>
Sample 21.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear22"><Description>
Sample 22.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear22"><Description>
Sample 22.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear23"><Description>
Sample 23.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear23"><Description>
Sample 23.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear24"><Description>
Sample 24.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear24"><Description>
Sample 24.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear25"><Description>
Sample 25.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear25"><Description>
Sample 25.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear26"><Description>
Sample 26.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear26"><Description>
Sample 26.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear27"><Description>
Sample 27.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear27"><Description>
Sample 27.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear28"><Description>
Sample 28.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear28"><Description>
Sample 28.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear29"><Description>
Sample 29.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear29"><Description>
Sample 29.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear30"><Description>
Sample 30.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear30"><Description>
Sample 30.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear31"><Description>
Sample 31.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear31"><Description>
Sample 31.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear32"><Description>
Sample 32.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear32"><Description>
Sample 32.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear33"><Description>
Sample 33.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear33"><Description>
Sample 33.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear34"><Description>
Sample 34.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear34"><Description>
Sample 34.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear35"><Description>
Sample 35.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear35"><Description>
Sample 35.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear36"><Description>
Sample 36.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear36"><Description>
Sample 36.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear37"><Description>
Sample 37.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear37"><Description>
Sample 37.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear38"><Description>
Sample 38.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear38"><Description>
Sample 38.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear39"><Description>
Sample 39.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear39"><Description>
Sample 39.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear40"><Description>
Sample 40.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear40"><Description>
Sample 40.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear41"><Description>
Sample 41.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear41"><Description>
Sample 41.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear42"><Description>
Sample 42.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear42"><Description>
Sample 42.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear43"><Description>
Sample 43.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear43"><Description>
Sample 43.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear44"><Description>
Sample 44.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear44"><Description>
Sample 44.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear45"><Description>
Sample 45.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear45"><Description>
Sample 45.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear46"><Description>
Sample 46.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear46"><Description>
Sample 46.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear47"><Description>
Sample 47.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear47"><Description>
Sample 47.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear48"><Description>
Sample 48.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear48"><Description>
Sample 48.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear49"><Description>
Sample 49.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear49"><Description>
Sample 49.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear50"><Description>
Sample 50.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear50"><Description>
Sample 50.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear51"><Description>
Sample 51.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear51"><Description>
Sample 51.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear52"><Description>
Sample 52.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear52"><Description>
Sample 52.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear53"><Description>
Sample 53.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear53"><Description>
Sample 53.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear54"><Description>
Sample 54.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear54"><Description>
Sample 54.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear55"><Description>
Sample 55.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear55"><Description>
Sample 55.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear56"><Description>
Sample 56.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear56"><Description>
Sample 56.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear57"><Description>
Sample 57.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear57"><Description>
Sample 57.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear58"><Description>
Sample 58.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear58"><Description>
Sample 58.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear59"><Description>
Sample 59.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear59"><Description>
Sample 59.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="ShallowBndSmear60"><Description>
Sample 60.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBndSmear60"><Description>
Sample 60.
</Description><Units:meter/><Value>NaN</Value></DefineArg><!-- Use caution when changing these. --><DefineArgName="UpRate"><Description>
Go-up depth rate in smear sampling mode (negative depth rate means going
up).
</Description><Units:meter_per_second/><Value>-0.1</Value></DefineArg><DefineArgName="DownRate"><Description>
Go-down depth rate in smear sampling mode (positive depth rate means
going down).
</Description><Units:meter_per_second/><Value>0.1</Value></DefineArg><!-- You probably do not need to change these. --><DefineArgName="TransitYoYoUpPitch"><Description>
Vehicle up pitch while performing the YoYo behavior.
</Description><Units:degree/><Value>20</Value></DefineArg><DefineArgName="TransitYoYoDownPitch"><Description>
Vehicle down pitch while performing the YoYo behavior.
</Description><Units:degree/><Value>-20</Value></DefineArg><DefineArgName="BuoyancyNeutral"><Description>
Buoyancy bladder position while performing the YoYo behavior. Defaults
to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
for active buoyancy
</Description><Control:VerticalControl.buoyancyNeutral/></DefineArg><DefineArgName="MassDefault"><Description>
Static setting for mass during the mission. Set to NaN mm for active
mass position
</Description><Control:VerticalControl.massDefault/></DefineArg><!-- Internal variables that you should not change --><DefineArgName="SpeedApproachThenSample"><Description>
Vehicle speed when approaching the target isotherm or depth and then
sampling. Initialized to 1 m/s.
</Description><Units:meter_per_second/><Value>1.0</Value></DefineArg><DefineArgName="DepthLogged"><Description></Description><Units:meter/><Value>0.0</Value></DefineArg><DefineArgName="TempLogged"><Description></Description><Units:celsius/><Value>0.0</Value></DefineArg><DefineArgName="ChlLogged"><Description></Description><Units:microgram_per_liter/><Value>0.0</Value></DefineArg><DefineArgName="TransitCompleted"><Description>
Transit is completed (initialized to false).
</Description><False/></DefineArg><DefineArgName="TargetedDepth"><Description>
Depth if pre-designated. Initialized to NaN.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="WaitDepthUndulation"><Description>
Wait duration for the depth undulation to damp down. Initialized to 10
minutes.
</Description><Units:minute/><Value>10.0</Value></DefineArg><DefineArgName="ShallowBoundSmear"><Description>
Shallow depth bound for smear sampling.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="DeepBoundSmear"><Description>
Deep depth bound for smear sampling.
</Description><Units:meter/><Value>NaN</Value></DefineArg><DefineArgName="SampleOptionsSet"><Description>
Sample options (VertDistance, ReportAtSurface, ReacquirePeak) already
set. Initialized to false.
</Description><False/></DefineArg><DefineArgName="SampleCompleted"><Description>
Sampling completed. Initialized to false.
</Description><False/></DefineArg><DefineArgName="StoppedForNoFiringForTooLong"><Description>
Mission stopped because of no firing for too long. Initialized to false.
</Description><False/></DefineArg><DefineArgName="FlagSamplingOngoing"><Description>
Flag of water sampling in process (initialized to false).
</Description><False/></DefineArg><DefineArgName="FlagFired"><Description>
Flag of sample fired (initialized to false).
</Description><False/></DefineArg><DefineArgName="FlagGoUp"><Description>
Go-up flag (set to true when going up. Initialized to false).
</Description><False/></DefineArg><DefineArgName="FlagGoDown"><Description>
Go-down flag (set to true when going down. Initialized to false).
</Description><False/></DefineArg><DefineArgName="FlagInitialDiveSpeedSet"><Description>
Flag of initial dive speed set. Initialized to false.
</Description><False/></DefineArg><DefineArgName="EnableFiringSmear"><Description>
Enable firing. Initialized to true.
</Description><True/></DefineArg><DefineArgName="FromLastTimeFixToStartDive"><Description>
Elapsed time from last time-fix to StartDive.
</Description><Units:minute/><Value>NaN</Value></DefineArg><DefineArgName="FromLastTimeFixToNow"><Description>
Elapsed time from last time-fix to now.
</Description><Units:minute/><Value>NaN</Value></DefineArg><DefineArgName="FromLastTimeFixToLastFiring"><Description>
Elapsed time from last time-fix to last firing.
</Description><Units:minute/><Value>NaN</Value></DefineArg><DefineArgName="CntSamples"><Description>
Count of water samples (initilized to 1).
</Description><Units:count/><Value>1</Value></DefineArg><!-- Missions should almost always start with a timeout and a NeedComms aggregate. Drift missions will not use NeedComms. --><TimeoutDuration="MissionTimeout"/><InsertFilename="Insert/AbortDrift.xml"><RedefineArgName="AcousticTimeout"><ArgName="AcousticTrackingTimeout"/></RedefineArg></Insert><InsertFilename="Insert/Science.xml"><RedefineArgName="PeakDetectChlActive"><True/></RedefineArg></Insert><InsertFilename="Insert/StandardEnvelopes.xml"/><Assign><Sequence/><ArgName="StandardEnvelopes:MinAltitude"/><ArgName="MinAltitude"/></Assign><Assign><Sequence/><ArgName="StandardEnvelopes:MaxDepth"/><ArgName="MaxDepth"/></Assign><Assign><Sequence/><ArgName="StandardEnvelopes:MinOffshore"/><ArgName="MinOffshore"/></Assign><Guidance:Pitch><Parallel/><Setting><Guidance:Pitch.massPosition/><ArgName="MassDefault"/></Setting></Guidance:Pitch><InsertFilename="Insert/SampleAtDepth.xml"><RedefineArgName="MaxWaitNotReachingDepth"><ArgName="MaxWaitNotAchievingDepth"/></RedefineArg></Insert><InsertFilename="Insert/NeedComms.xml"Id="NeedComms"/><CallId="StartingMission"RefId="NeedComms"/><AggregateId="ESPSampling"><When><Called/></When><AggregateId="TriggerESP"><Sequence/><Assign><Sequence/><ArgName="DepthLogged"/><Universal:depth/></Assign><Assign><Sequence/><ArgName="TempLogged"/><Universal:sea_water_temperature/></Assign><Assign><Sequence/><ArgName="ChlLogged"/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Assign><SyslogSeverity="Important">Trigger ESP sampling. DepthLogged, TempLogged, ChlLogged = <ArgName="DepthLogged"/><Units:meter/>, <ArgName="TempLogged"/><Units:celsius/>, <ArgName="ChlLogged"/><Units:microgram_per_liter/>.</Syslog><ReadDatum><Science:ESPComponent.sampling/></ReadDatum><SyslogSeverity="Important">Wait for ESP sampling to complete.</Syslog><ReadDatum><Science:ESPComponent.sample_number/></ReadDatum></Aggregate></Aggregate><AggregateId="SampleAtDepthWrapper"><When><Called/></When><Break><ArgName="TargetedDepth"/><Ge><ArgName="MaxDepth"/></Ge></Break><Assign><Sequence/><ArgName="SampleAtDepth:TargetDepth"/><ArgName="TargetedDepth"/></Assign><Assign><Sequence/><ArgName="SampleAtDepth:SettleTime"/><ArgName="WaitDepthUndulation"/></Assign><CallId="SampleAtTargetDepth"RefId="SampleAtDepth"/><SyslogSeverity="Important">ESP sample No.<ArgName="CntSamples"/><Units:count/> completed.</Syslog></Aggregate><AggregateId="SmearSamplingWrapper"><When><Called/></When><Break><Not><ArgName="EnableFiringSmear"/></Not></Break><AggregateId="GoDownGoUpFire"><Sequence/><AggregateId="GoDownInSpiralMode"><While><ArgName="EnableFiringSmear"/><And><ArgName="FlagGoDown"/></And></While><Guidance:Pitch><Parallel/><Setting><Guidance:Pitch.depthRate/><ArgName="DownRate"/></Setting></Guidance:Pitch></Aggregate><AggregateId="GoUpInSpiralMode"><While><ArgName="EnableFiringSmear"/><And><ArgName="FlagGoUp"/></And></While><Guidance:Pitch><Parallel/><Setting><Guidance:Pitch.depthRate/><ArgName="UpRate"/></Setting></Guidance:Pitch></Aggregate><AggregateId="ResetFlagGoDownSetFlagGoUp"><When><ArgName="EnableFiringSmear"/><And><Universal:depth/><Ge><ArgName="DeepBoundSmear"/></Ge></And><And><Not><ArgName="FlagGoUp"/></Not></And></When><Assign><Sequence/><ArgName="FlagGoDown"/><False/></Assign><Assign><Sequence/><ArgName="FlagGoUp"/><True/></Assign><SyslogSeverity="Important">Bounce up from <Universal:depth/><Units:meter/>.</Syslog></Aggregate><AggregateId="ResetFlagGoUpSetFlagGoDown"><When><ArgName="EnableFiringSmear"/><And><Universal:depth/><Le><ArgName="ShallowBoundSmear"/></Le></And><And><Not><ArgName="FlagGoDown"/></Not></And></When><Assign><Sequence/><ArgName="FlagGoUp"/><False/></Assign><Assign><Sequence/><ArgName="FlagGoDown"/><True/></Assign><SyslogSeverity="Important">Bounce down from <Universal:depth/><Units:meter/>.</Syslog></Aggregate><AggregateId="Firing"><When><ArgName="EnableFiringSmear"/><And><ArgName="FlagGoDown"/></And><And><Universal:depth/><Ge><ArgName="ShallowBoundSmear"/></Ge></And><Or><ArgName="EnableFiringSmear"/><And><ArgName="FlagGoUp"/></And><And><Universal:depth/><Le><ArgName="DeepBoundSmear"/></Le></And></Or></When><CallId="Sampling"RefId="ESPSampling"/><SyslogSeverity="Important"> ESP sample No.<ArgName="CntSamples"/><Units:count/> completed.</Syslog><Assign><Sequence/><ArgName="EnableFiringSmear"/><False/></Assign></Aggregate></Aggregate></Aggregate><AggregateId="Transit"><Sequence/><TimeoutDuration="RunToWaypointTimeout"><SyslogSeverity="Important">Timed out trying to reach the waypoint. Stopping mission.</Syslog><Guidance:Execute><Sequence/><Setting><Guidance:Execute.command/><String>stop</String></Setting></Guidance:Execute></Timeout><Assign><Sequence/><ArgName="NeedComms:DiveInterval"/><ArgName="RunToWaypointNeedCommsTime"/></Assign><Assign><Sequence/><ArgName="NeedComms:SurfaceSpeed"/><ArgName="SpeedTransit"/></Assign><Guidance:SetSpeed><Parallel/><Setting><Guidance:SetSpeed.speed/><ArgName="SpeedTransit"/></Setting></Guidance:SetSpeed><Guidance:Buoyancy><Parallel/><Setting><Guidance:Buoyancy.position/><ArgName="BuoyancyNeutral"/></Setting></Guidance:Buoyancy><AggregateId="YoyoToWaypoint"><Sequence/><Break><Not><IsNaN><ArgName="DepthLevelFlight"/></IsNaN></Not></Break><Guidance:DepthEnvelope><Parallel/><Setting><Guidance:DepthEnvelope.minDepth/><ArgName="TransitYoYoMinDepth"/></Setting><Setting><Guidance:DepthEnvelope.maxDepth/><ArgName="TransitYoYoMaxDepth"/></Setting><Setting><Guidance:DepthEnvelope.downPitch/><ArgName="TransitYoYoDownPitch"/></Setting><Setting><Guidance:DepthEnvelope.upPitch/><ArgName="TransitYoYoUpPitch"/></Setting></Guidance:DepthEnvelope><Guidance:YoYo><Parallel/><Setting><Guidance:YoYo.downPitch/><ArgName="TransitYoYoDownPitch"/></Setting><Setting><Guidance:YoYo.upPitch/><ArgName="TransitYoYoUpPitch"/></Setting></Guidance:YoYo><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Latitude"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Longitude"/></Setting><Setting><Guidance:Waypoint.northingsDelta/><ArgName="Northings"/></Setting><Setting><Guidance:Waypoint.eastingsDelta/><ArgName="Eastings"/></Setting></Guidance:Waypoint></Aggregate><AggregateId="LevelFlightToWaypoint"><Sequence/><Break><IsNaN><ArgName="DepthLevelFlight"/></IsNaN></Break><Guidance:Pitch><Parallel/><Setting><Guidance:Pitch.depth/><ArgName="DepthLevelFlight"/></Setting></Guidance:Pitch><Guidance:Waypoint><Sequence/><Setting><Guidance:Waypoint.latitude/><ArgName="Latitude"/></Setting><Setting><Guidance:Waypoint.longitude/><ArgName="Longitude"/></Setting><Setting><Guidance:Waypoint.northingsDelta/><ArgName="Northings"/></Setting><Setting><Guidance:Waypoint.eastingsDelta/><ArgName="Eastings"/></Setting></Guidance:Waypoint></Aggregate><CallId="DoneTransit"RefId="NeedComms"/><Assign><Sequence/><ArgName="TransitCompleted"/><True/></Assign><Assign><Sequence/><ArgName="FlagGoDown"/><True/></Assign><SyslogSeverity="Important">Transit and NeedComms completed. Go down from <Universal:depth/><Units:meter/>.</Syslog><Assign><Sequence/><ArgName="FromLastTimeFixToStartDive"/><Elapsed><Universal:time_fix/></Elapsed></Assign><!--debug <Syslog Severity="Important">FromLastTimeFixToStartDive = <Arg Name="FromLastTimeFixToStartDive"/><Units:minute/></Syslog>--><Assign><Sequence/><ArgName="SpeedApproachThenSample"/><ArgName="SpeedInitialDive"/></Assign></Aggregate><Assign><Sequence/><ArgName="NeedComms:DiveInterval"/><ArgName="MissionTimeout"/></Assign><AggregateId="TakeSamples"><Sequence/><Break><Not><ArgName="TransitCompleted"/></Not><Or><ArgName="CntSamples"/><Eq><ArgName="NumSamplers"/><Add><Units:count/><Value>1</Value></Add></Eq></Or></Break><AggregateId="SetSpeedInitialDive"><Sequence/><When><ArgName="CntSamples"/><Eq><Units:count/><Value>1</Value></Eq><And><Not><ArgName="FlagInitialDiveSpeedSet"/></Not></And></When><Assign><Sequence/><ArgName="SpeedApproachThenSample"/><ArgName="SpeedInitialDive"/></Assign><Guidance:Wait><Sequence/><Setting><Guidance:Wait.duration/><ArgName="InitialDiveDuration"/></Setting></Guidance:Wait><Assign><Sequence/><ArgName="SpeedApproachThenSample"/><ArgName="SpeedSampling"/></Assign><Assign><Sequence/><ArgName="FlagInitialDiveSpeedSet"/><True/></Assign></Aggregate><AggregateId="SetNeutralBuoyancyNonZeroRudderInSpiralOrDonutMode"><Parallel/><While><ArgName="SpeedApproachThenSample"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></While><Guidance:SetSpeed><Parallel/><Setting><Guidance:SetSpeed.speed/><ArgName="SpeedApproachThenSample"/></Setting></Guidance:SetSpeed><Guidance:Buoyancy><Parallel/><Setting><Guidance:Buoyancy.position/><ArgName="BuoyancyNeutral"/></Setting></Guidance:Buoyancy><Guidance:Point><Parallel/><Setting><Guidance:Point.rudderAngle/><ArgName="RudderAngleSpiralOrDonut"/></Setting></Guidance:Point></Aggregate><AggregateId="SetZeroRudderInDriftMode"><Parallel/><While><Not><ArgName="SpeedApproachThenSample"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></Not></While><Guidance:SetSpeed><Parallel/><Setting><Guidance:SetSpeed.speed/><ArgName="SpeedApproachThenSample"/></Setting></Guidance:SetSpeed><Guidance:Point><Parallel/><Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>0.0</Value></Setting></Guidance:Point></Aggregate><AggregateId="NoFiringForTooLong"><When><Elapsed><Universal:time_fix/></Elapsed><Gt><ArgName="FromLastTimeFixToStartDive"/><Add><ArgName="MaxWaitNoFiring"/></Add></Gt><And><Not><ArgName="FlagSamplingOngoing"/></Not></And><And><ArgName="CntSamples"/><Eq><Units:count/><Value>1</Value></Eq></And><And><Not><ArgName="FlagFired"/></Not></And><And><Not><ArgName="StoppedForNoFiringForTooLong"/></Not></And><Or><Elapsed><Universal:time_fix/></Elapsed><Gt><ArgName="FromLastTimeFixToLastFiring"/><Add><ArgName="MaxWaitNoFiring"/></Add></Gt><And><Not><ArgName="FlagSamplingOngoing"/></Not></And><And><ArgName="CntSamples"/><Ge><Units:count/><Value>2</Value></Ge></And><And><Not><ArgName="StoppedForNoFiringForTooLong"/></Not></And></Or></When><Assign><Sequence/><ArgName="FromLastTimeFixToNow"/><Elapsed><Universal:time_fix/></Elapsed></Assign><SyslogSeverity="Important">No firing for too long. Stopping mission. FromLastTimeFixToNow, FromLastTimeFixToLastFiring = <ArgName="FromLastTimeFixToNow"/><Units:minute/>, <ArgName="FromLastTimeFixToLastFiring"/><Units:minute/></Syslog><Guidance:Execute><Sequence/><Setting><Guidance:Execute.command/><String>stop</String></Setting></Guidance:Execute><Assign><Sequence/><ArgName="StoppedForNoFiringForTooLong"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample1"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>1</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth1"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation1"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear1"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear1"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample2"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>2</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth2"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation2"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear2"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear2"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample3"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>3</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth3"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation3"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear3"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear3"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample4"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>4</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth4"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation4"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear4"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear4"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample5"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>5</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth5"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation5"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear5"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear5"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample6"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>6</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth6"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation6"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear6"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear6"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample7"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>7</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth7"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation7"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear7"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear7"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample8"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>8</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth8"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation8"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear8"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear8"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample9"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>9</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth9"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation9"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear9"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear9"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample10"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>10</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth10"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation10"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear10"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear10"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample11"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>11</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth11"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation11"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear11"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear11"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample12"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>12</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth12"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation12"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear12"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear12"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample13"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>13</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth13"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation13"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear13"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear13"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample14"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>14</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth14"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation14"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear14"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear14"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample15"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>15</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth15"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation15"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear15"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear15"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample16"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>16</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth16"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation16"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear16"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear16"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample17"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>17</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth17"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation17"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear17"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear17"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample18"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>18</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth18"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation18"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear18"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear18"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample19"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>19</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth19"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation19"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear19"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear19"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample20"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>20</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth20"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation20"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear20"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear20"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample21"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>21</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth21"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation21"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear21"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear21"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample22"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>22</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth22"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation22"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear22"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear22"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample23"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>23</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth23"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation23"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear23"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear23"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample24"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>24</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth24"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation24"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear24"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear24"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample25"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>25</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth25"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation25"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear25"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear25"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample26"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>26</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth26"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation26"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear26"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear26"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample27"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>27</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth27"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation27"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear27"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear27"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample28"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>28</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth28"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation28"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear28"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear28"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample29"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>29</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth29"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation29"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear29"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear29"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample30"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>30</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth30"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation30"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear30"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear30"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample31"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>31</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth31"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation31"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear31"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear31"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample32"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>32</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth32"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation32"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear32"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear32"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample33"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>33</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth33"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation33"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear33"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear33"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample34"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>34</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth34"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation34"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear34"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear34"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample35"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>35</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth35"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation35"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear35"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear35"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample36"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>36</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth36"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation36"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear36"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear36"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample37"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>37</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth37"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation37"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear37"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear37"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample38"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>38</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth38"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation38"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear38"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear38"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample39"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>39</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth39"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation39"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear39"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear39"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample40"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>40</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth40"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation40"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear40"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear40"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample41"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>41</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth41"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation41"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear41"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear41"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample42"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>42</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth42"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation42"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear42"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear42"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample43"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>43</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth43"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation43"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear43"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear43"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample44"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>44</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth44"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation44"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear44"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear44"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample45"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>45</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth45"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation45"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear45"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear45"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample46"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>46</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth46"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation46"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear46"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear46"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample47"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>47</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth47"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation47"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear47"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear47"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample48"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>48</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth48"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation48"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear48"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear48"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample49"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>49</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth49"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation49"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear49"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear49"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample50"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>50</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth50"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation50"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear50"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear50"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample51"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>51</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth51"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation51"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear51"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear51"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample52"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>52</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth52"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation52"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear52"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear52"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample53"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>53</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth53"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation53"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear53"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear53"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample54"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>54</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth54"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation54"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear54"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear54"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample55"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>55</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth55"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation55"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear55"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear55"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample56"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>56</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth56"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation56"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear56"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear56"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample57"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>57</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth57"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation57"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear57"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear57"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample58"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>58</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth58"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation58"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear58"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear58"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample59"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>59</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth59"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation59"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear59"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear59"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SetOptionsOfSample60"><When><Not><ArgName="SampleOptionsSet"/></Not><And><ArgName="CntSamples"/><Eq><Units:count/><Value>60</Value></Eq></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And></When><Assign><Sequence/><ArgName="TargetedDepth"/><ArgName="Depth60"/></Assign><Assign><Sequence/><ArgName="WaitDepthUndulation"/><ArgName="WaitDepUndulation60"/></Assign><Assign><Sequence/><ArgName="ShallowBoundSmear"/><ArgName="ShallowBndSmear60"/></Assign><Assign><Sequence/><ArgName="DeepBoundSmear"/><ArgName="DeepBndSmear60"/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><True/></Assign></Aggregate><AggregateId="SampleAtConstantDepth"><When><ArgName="TransitCompleted"/><And><Not><IsNaN><ArgName="TargetedDepth"/></IsNaN></Not></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><ArgName="SampleOptionsSet"/></And><And><Not><ArgName="SampleCompleted"/></Not></And></When><SyslogSeverity="Important">Taking sample No.<ArgName="CntSamples"/><Units:count/> at <ArgName="TargetedDepth"/><Units:meter/>.</Syslog><Assign><Sequence/><ArgName="FlagSamplingOngoing"/><True/></Assign><CallId="TakeSampleAtTargetDepth"RefId="SampleAtDepthWrapper"/><Assign><Sequence/><ArgName="FlagSamplingOngoing"/><False/></Assign><Assign><Sequence/><ArgName="SampleCompleted"/><True/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><False/></Assign></Aggregate><AggregateId="SmearSampling"><When><ArgName="TransitCompleted"/><And><Not><IsNaN><ArgName="ShallowBoundSmear"/></IsNaN></Not></And><And><Not><IsNaN><ArgName="DeepBoundSmear"/></IsNaN></Not></And><And><Not><ArgName="FlagSamplingOngoing"/></Not></And><And><ArgName="CntSamples"/><Le><ArgName="NumSamplers"/></Le></And><And><ArgName="SampleOptionsSet"/></And><And><Not><ArgName="SampleCompleted"/></Not></And></When><SyslogSeverity="Important">Taking sample No.<ArgName="CntSamples"/><Units:count/> smeared between <ArgName="ShallowBoundSmear"/><Units:meter/> and <ArgName="DeepBoundSmear"/><Units:meter/>.</Syslog><Assign><Sequence/><ArgName="EnableFiringSmear"/><True/></Assign><Assign><Sequence/><ArgName="FlagSamplingOngoing"/><True/></Assign><Assign><Sequence/><ArgName="FlagFired"/><True/></Assign><Assign><Sequence/><ArgName="FromLastTimeFixToLastFiring"/><Elapsed><Universal:time_fix/></Elapsed></Assign><!--debug <Syslog Severity="Important">FromLastTimeFixToLastFiring = <Arg Name="FromLastTimeFixToLastFi ring"/><Units:minute/></Syslog>--><CallId="TakeSmearSample"RefId="SmearSamplingWrapper"/><Assign><Sequence/><ArgName="FlagSamplingOngoing"/><False/></Assign><Assign><Sequence/><ArgName="SampleCompleted"/><True/></Assign><Assign><Sequence/><ArgName="SampleOptionsSet"/><False/></Assign></Aggregate><AggregateId="IncrementSampleCounter"><When><ArgName="SampleCompleted"/></When><Assign><Sequence/><ArgName="CntSamples"/><ArgName="CntSamples"/><Add><Units:count/><Value>1</Value></Add></Assign><Assign><Sequence/><ArgName="SampleCompleted"/><False/></Assign></Aggregate></Aggregate></Mission>