Depth sampling.xml

Page auto-generated from XML file.

---

Failure

The generated TethysL source could not be parsed, likely due to source XML not being well-formed.

Below is the compile error at the TethysL level, as well as the source XML.

The TethysL file name shown below does not necessarily indicate the file exists, but hints about the actual corresponding .xml file.

Syntax error:
     --> lrauv-application/Missions/Deprecated/Science/depth_sampling.xml:1792:7
      | 
 1788 | 
 1789 |     aggregate SetSpeedInitialDive {
 1790 |       run in sequence
 1791 | 
 1792 |       run when (
      |       ^^^
 1793 |         CntSamples == 1 count
 1794 |         and ( not ( FlagInitialDiveSpeedSet ) )
 1795 |       )
 1796 | 
      | 
Unexpected: `run`
Possible items include (total 15):
  aggregate
  assign
  behavior
  call
  [...7 more...]
  preemptive
  }
  break
  timeout

Generated TethysL

# Generated by TethysL
mission DepthSampling {
  arguments {
    # You probably need to change these.

    NumSamplers = 1 count
      """
      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 = 30 meter
      """
      Maximum depth for the entire mission.
      """

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

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

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

    AcousticTrackingTimeout = 21 hour
      """
      If the vehicle does not receive an acoustic signal for more than this
      length of time, it will surface for communications. Set longer than
      MissionTimeout to effectively disable.
      """

    MaxWaitNoFiring = 3 hour
      """
      If no firing after more than MaxWaitNoFiring, terminate mission.
      """

    MaxWaitNotAchievingDepth = 3 hour
      """
      Maximum wait time the vehicle cannot reach the targeted depth.
      """

    RunToWaypointTimeout = 3 hour
      """
      Maximum duration for trying to achieve spiral cast waypoint
      """

    RunToWaypointNeedCommsTime = 30 minute
      """
      How often to surface for commumications when heading to waypoint
      """

    InitialDiveDuration = 5.0 minute
      """
      On the first dive to the target depth, run at SpeedInitialDive for this
      duration (e.g., 1 m/s spiral to dive fast).
      """

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

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

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

    RudderAngleSpiralOrDonut = 13 degree
      """
      Rudder angle during spiral or donut.
      """

    Latitude = NaN degree
      """
      Latitude of waypoint to seek. If set to NaN, uses latitude at mission
      initialization.
      """

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

    Longitude = NaN degree
      """
      Longitude of waypoint to seek. If set to NaN, uses longitude at mission
      initialization.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.825</Value></DefineArg>

    Northings = 0 meter
      """
      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 = 0 meter
      """
      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 = NaN meter
      """
      Depth of level flight during the mission. If NaN, then yo-yo flight.
      """

    TransitYoYoMinDepth = 5 meter
      """
      Minimum depth while performing the YoYo behavior. Irrelevant if
      DepthLevelFlight is non-NaN (i.e., if level flight).
      """

    TransitYoYoMaxDepth = 20 meter
      """
      Maximum depth while performing the YoYo behavior. Irrelevant if
      DepthLevelFlight is non-NaN (i.e., if level flight). flight.
      """

    Depth1 = NaN meter
      """
      Depth of sample 1. If NaN, then smear sampling.
      """

    Depth2 = NaN meter
      """
      Depth of sample 2.
      """

    Depth3 = NaN meter
      """
      Depth of sample 3.
      """

    Depth4 = NaN meter
      """
      Depth of sample 4.
      """

    Depth5 = NaN meter
      """
      Depth of sample 5.
      """

    Depth6 = NaN meter
      """
      Depth of sample 6.
      """

    Depth7 = NaN meter
      """
      Depth of sample 7.
      """

    Depth8 = NaN meter
      """
      Depth of sample 8.
      """

    Depth9 = NaN meter
      """
      Depth of sample 9.
      """

    Depth10 = NaN meter
      """
      Depth of sample 10.
      """

    Depth11 = NaN meter
      """
      Depth of sample 11.
      """

    Depth12 = NaN meter
      """
      Depth of sample 12.
      """

    Depth13 = NaN meter
      """
      Depth of sample 13.
      """

    Depth14 = NaN meter
      """
      Depth of sample 14.
      """

    Depth15 = NaN meter
      """
      Depth of sample 15.
      """

    Depth16 = NaN meter
      """
      Depth of sample 16.
      """

    Depth17 = NaN meter
      """
      Depth of sample 17.
      """

    Depth18 = NaN meter
      """
      Depth of sample 18.
      """

    Depth19 = NaN meter
      """
      Depth of sample 19.
      """

    Depth20 = NaN meter
      """
      Depth of sample 20.
      """

    Depth21 = NaN meter
      """
      Depth of sample 21.
      """

    Depth22 = NaN meter
      """
      Depth of sample 22.
      """

    Depth23 = NaN meter
      """
      Depth of sample 23.
      """

    Depth24 = NaN meter
      """
      Depth of sample 24.
      """

    Depth25 = NaN meter
      """
      Depth of sample 25.
      """

    Depth26 = NaN meter
      """
      Depth of sample 26.
      """

    Depth27 = NaN meter
      """
      Depth of sample 27.
      """

    Depth28 = NaN meter
      """
      Depth of sample 28.
      """

    Depth29 = NaN meter
      """
      Depth of sample 29.
      """

    Depth30 = NaN meter
      """
      Depth of sample 30.
      """

    Depth31 = NaN meter
      """
      Depth of sample 31.
      """

    Depth32 = NaN meter
      """
      Depth of sample 32.
      """

    Depth33 = NaN meter
      """
      Depth of sample 33.
      """

    Depth34 = NaN meter
      """
      Depth of sample 34.
      """

    Depth35 = NaN meter
      """
      Depth of sample 35.
      """

    Depth36 = NaN meter
      """
      Depth of sample 36.
      """

    Depth37 = NaN meter
      """
      Depth of sample 37.
      """

    Depth38 = NaN meter
      """
      Depth of sample 38.
      """

    Depth39 = NaN meter
      """
      Depth of sample 39.
      """

    Depth40 = NaN meter
      """
      Depth of sample 40.
      """

    Depth41 = NaN meter
      """
      Depth of sample 41.
      """

    Depth42 = NaN meter
      """
      Depth of sample 42.
      """

    Depth43 = NaN meter
      """
      Depth of sample 43.
      """

    Depth44 = NaN meter
      """
      Depth of sample 44.
      """

    Depth45 = NaN meter
      """
      Depth of sample 45.
      """

    Depth46 = NaN meter
      """
      Depth of sample 46.
      """

    Depth47 = NaN meter
      """
      Depth of sample 47.
      """

    Depth48 = NaN meter
      """
      Depth of sample 48.
      """

    Depth49 = NaN meter
      """
      Depth of sample 49.
      """

    Depth50 = NaN meter
      """
      Depth of sample 50.
      """

    Depth51 = NaN meter
      """
      Depth of sample 51.
      """

    Depth52 = NaN meter
      """
      Depth of sample 52.
      """

    Depth53 = NaN meter
      """
      Depth of sample 53.
      """

    Depth54 = NaN meter
      """
      Depth of sample 54.
      """

    Depth55 = NaN meter
      """
      Depth of sample 55.
      """

    Depth56 = NaN meter
      """
      Depth of sample 56.
      """

    Depth57 = NaN meter
      """
      Depth of sample 57.
      """

    Depth58 = NaN meter
      """
      Depth of sample 58.
      """

    Depth59 = NaN meter
      """
      Depth of sample 59.
      """

    Depth60 = NaN meter
      """
      Depth of sample 60.
      """

    WaitDepUndulation1 = 10.0 minute
      """
      Sample 1. Wait duration for the depth undulation to damp down.
      """

    WaitDepUndulation2 = 10.0 minute
      """
      Sample 2.
      """

    WaitDepUndulation3 = 10.0 minute
      """
      Sample 3.
      """

    WaitDepUndulation4 = 10.0 minute
      """
      Sample 4.
      """

    WaitDepUndulation5 = 10.0 minute
      """
      Sample 5.
      """

    WaitDepUndulation6 = 10.0 minute
      """
      Sample 6.
      """

    WaitDepUndulation7 = 10.0 minute
      """
      Sample 7.
      """

    WaitDepUndulation8 = 10.0 minute
      """
      Sample 8.
      """

    WaitDepUndulation9 = 10.0 minute
      """
      Sample 9.
      """

    WaitDepUndulation10 = 10.0 minute
      """
      Sample 10.
      """

    WaitDepUndulation11 = 10.0 minute
      """
      Sample 11.
      """

    WaitDepUndulation12 = 10.0 minute
      """
      Sample 12.
      """

    WaitDepUndulation13 = 10.0 minute
      """
      Sample 13.
      """

    WaitDepUndulation14 = 10.0 minute
      """
      Sample 14.
      """

    WaitDepUndulation15 = 10.0 minute
      """
      Sample 15.
      """

    WaitDepUndulation16 = 10.0 minute
      """
      Sample 16.
      """

    WaitDepUndulation17 = 10.0 minute
      """
      Sample 17.
      """

    WaitDepUndulation18 = 10.0 minute
      """
      Sample 18.
      """

    WaitDepUndulation19 = 10.0 minute
      """
      Sample 19.
      """

    WaitDepUndulation20 = 10.0 minute
      """
      Sample 20.
      """

    WaitDepUndulation21 = 10.0 minute
      """
      Sample 21.
      """

    WaitDepUndulation22 = 10.0 minute
      """
      Sample 22.
      """

    WaitDepUndulation23 = 10.0 minute
      """
      Sample 23.
      """

    WaitDepUndulation24 = 10.0 minute
      """
      Sample 24.
      """

    WaitDepUndulation25 = 10.0 minute
      """
      Sample 25.
      """

    WaitDepUndulation26 = 10.0 minute
      """
      Sample 26.
      """

    WaitDepUndulation27 = 10.0 minute
      """
      Sample 27.
      """

    WaitDepUndulation28 = 10.0 minute
      """
      Sample 28.
      """

    WaitDepUndulation29 = 10.0 minute
      """
      Sample 29.
      """

    WaitDepUndulation30 = 10.0 minute
      """
      Sample 30.
      """

    WaitDepUndulation31 = 10.0 minute
      """
      Sample 31.
      """

    WaitDepUndulation32 = 10.0 minute
      """
      Sample 32.
      """

    WaitDepUndulation33 = 10.0 minute
      """
      Sample 33.
      """

    WaitDepUndulation34 = 10.0 minute
      """
      Sample 34.
      """

    WaitDepUndulation35 = 10.0 minute
      """
      Sample 35.
      """

    WaitDepUndulation36 = 10.0 minute
      """
      Sample 36.
      """

    WaitDepUndulation37 = 10.0 minute
      """
      Sample 37.
      """

    WaitDepUndulation38 = 10.0 minute
      """
      Sample 38.
      """

    WaitDepUndulation39 = 10.0 minute
      """
      Sample 39.
      """

    WaitDepUndulation40 = 10.0 minute
      """
      Sample 40.
      """

    WaitDepUndulation41 = 10.0 minute
      """
      Sample 41.
      """

    WaitDepUndulation42 = 10.0 minute
      """
      Sample 42.
      """

    WaitDepUndulation43 = 10.0 minute
      """
      Sample 43.
      """

    WaitDepUndulation44 = 10.0 minute
      """
      Sample 44.
      """

    WaitDepUndulation45 = 10.0 minute
      """
      Sample 45.
      """

    WaitDepUndulation46 = 10.0 minute
      """
      Sample 46.
      """

    WaitDepUndulation47 = 10.0 minute
      """
      Sample 47.
      """

    WaitDepUndulation48 = 10.0 minute
      """
      Sample 48.
      """

    WaitDepUndulation49 = 10.0 minute
      """
      Sample 49.
      """

    WaitDepUndulation50 = 10.0 minute
      """
      Sample 50.
      """

    WaitDepUndulation51 = 10.0 minute
      """
      Sample 51.
      """

    WaitDepUndulation52 = 10.0 minute
      """
      Sample 52.
      """

    WaitDepUndulation53 = 10.0 minute
      """
      Sample 53.
      """

    WaitDepUndulation54 = 10.0 minute
      """
      Sample 54.
      """

    WaitDepUndulation55 = 10.0 minute
      """
      Sample 55.
      """

    WaitDepUndulation56 = 10.0 minute
      """
      Sample 56.
      """

    WaitDepUndulation57 = 10.0 minute
      """
      Sample 57.
      """

    WaitDepUndulation58 = 10.0 minute
      """
      Sample 58.
      """

    WaitDepUndulation59 = 10.0 minute
      """
      Sample 59.
      """

    WaitDepUndulation60 = 10.0 minute
      """
      Sample 60.
      """

    ShallowBndSmear1 = NaN meter
      """
      Shallow depth bound for smear sampling.
      """

    DeepBndSmear1 = NaN meter
      """
      Deep depth bound for smear sampling.
      """

    ShallowBndSmear2 = NaN meter
      """
      Sample 2.
      """

    DeepBndSmear2 = NaN meter
      """
      Sample 2.
      """

    ShallowBndSmear3 = NaN meter
      """
      Sample 3.
      """

    DeepBndSmear3 = NaN meter
      """
      Sample 3.
      """

    ShallowBndSmear4 = NaN meter
      """
      Sample 4.
      """

    DeepBndSmear4 = NaN meter
      """
      Sample 4.
      """

    ShallowBndSmear5 = NaN meter
      """
      Sample 5.
      """

    DeepBndSmear5 = NaN meter
      """
      Sample 5.
      """

    ShallowBndSmear6 = NaN meter
      """
      Sample 6.
      """

    DeepBndSmear6 = NaN meter
      """
      Sample 6.
      """

    ShallowBndSmear7 = NaN meter
      """
      Sample 7.
      """

    DeepBndSmear7 = NaN meter
      """
      Sample 7.
      """

    ShallowBndSmear8 = NaN meter
      """
      Sample 8.
      """

    DeepBndSmear8 = NaN meter
      """
      Sample 8.
      """

    ShallowBndSmear9 = NaN meter
      """
      Sample 9.
      """

    DeepBndSmear9 = NaN meter
      """
      Sample 9.
      """

    ShallowBndSmear10 = NaN meter
      """
      Sample 10.
      """

    DeepBndSmear10 = NaN meter
      """
      Sample 10.
      """

    ShallowBndSmear11 = NaN meter
      """
      Sample 11.
      """

    DeepBndSmear11 = NaN meter
      """
      Sample 11.
      """

    ShallowBndSmear12 = NaN meter
      """
      Sample 12.
      """

    DeepBndSmear12 = NaN meter
      """
      Sample 12.
      """

    ShallowBndSmear13 = NaN meter
      """
      Sample 13.
      """

    DeepBndSmear13 = NaN meter
      """
      Sample 13.
      """

    ShallowBndSmear14 = NaN meter
      """
      Sample 14.
      """

    DeepBndSmear14 = NaN meter
      """
      Sample 14.
      """

    ShallowBndSmear15 = NaN meter
      """
      Sample 15.
      """

    DeepBndSmear15 = NaN meter
      """
      Sample 15.
      """

    ShallowBndSmear16 = NaN meter
      """
      Sample 16.
      """

    DeepBndSmear16 = NaN meter
      """
      Sample 16.
      """

    ShallowBndSmear17 = NaN meter
      """
      Sample 17.
      """

    DeepBndSmear17 = NaN meter
      """
      Sample 17.
      """

    ShallowBndSmear18 = NaN meter
      """
      Sample 18.
      """

    DeepBndSmear18 = NaN meter
      """
      Sample 18.
      """

    ShallowBndSmear19 = NaN meter
      """
      Sample 19.
      """

    DeepBndSmear19 = NaN meter
      """
      Sample 19.
      """

    ShallowBndSmear20 = NaN meter
      """
      Sample 20.
      """

    DeepBndSmear20 = NaN meter
      """
      Sample 20.
      """

    ShallowBndSmear21 = NaN meter
      """
      Sample 21.
      """

    DeepBndSmear21 = NaN meter
      """
      Sample 21.
      """

    ShallowBndSmear22 = NaN meter
      """
      Sample 22.
      """

    DeepBndSmear22 = NaN meter
      """
      Sample 22.
      """

    ShallowBndSmear23 = NaN meter
      """
      Sample 23.
      """

    DeepBndSmear23 = NaN meter
      """
      Sample 23.
      """

    ShallowBndSmear24 = NaN meter
      """
      Sample 24.
      """

    DeepBndSmear24 = NaN meter
      """
      Sample 24.
      """

    ShallowBndSmear25 = NaN meter
      """
      Sample 25.
      """

    DeepBndSmear25 = NaN meter
      """
      Sample 25.
      """

    ShallowBndSmear26 = NaN meter
      """
      Sample 26.
      """

    DeepBndSmear26 = NaN meter
      """
      Sample 26.
      """

    ShallowBndSmear27 = NaN meter
      """
      Sample 27.
      """

    DeepBndSmear27 = NaN meter
      """
      Sample 27.
      """

    ShallowBndSmear28 = NaN meter
      """
      Sample 28.
      """

    DeepBndSmear28 = NaN meter
      """
      Sample 28.
      """

    ShallowBndSmear29 = NaN meter
      """
      Sample 29.
      """

    DeepBndSmear29 = NaN meter
      """
      Sample 29.
      """

    ShallowBndSmear30 = NaN meter
      """
      Sample 30.
      """

    DeepBndSmear30 = NaN meter
      """
      Sample 30.
      """

    ShallowBndSmear31 = NaN meter
      """
      Sample 31.
      """

    DeepBndSmear31 = NaN meter
      """
      Sample 31.
      """

    ShallowBndSmear32 = NaN meter
      """
      Sample 32.
      """

    DeepBndSmear32 = NaN meter
      """
      Sample 32.
      """

    ShallowBndSmear33 = NaN meter
      """
      Sample 33.
      """

    DeepBndSmear33 = NaN meter
      """
      Sample 33.
      """

    ShallowBndSmear34 = NaN meter
      """
      Sample 34.
      """

    DeepBndSmear34 = NaN meter
      """
      Sample 34.
      """

    ShallowBndSmear35 = NaN meter
      """
      Sample 35.
      """

    DeepBndSmear35 = NaN meter
      """
      Sample 35.
      """

    ShallowBndSmear36 = NaN meter
      """
      Sample 36.
      """

    DeepBndSmear36 = NaN meter
      """
      Sample 36.
      """

    ShallowBndSmear37 = NaN meter
      """
      Sample 37.
      """

    DeepBndSmear37 = NaN meter
      """
      Sample 37.
      """

    ShallowBndSmear38 = NaN meter
      """
      Sample 38.
      """

    DeepBndSmear38 = NaN meter
      """
      Sample 38.
      """

    ShallowBndSmear39 = NaN meter
      """
      Sample 39.
      """

    DeepBndSmear39 = NaN meter
      """
      Sample 39.
      """

    ShallowBndSmear40 = NaN meter
      """
      Sample 40.
      """

    DeepBndSmear40 = NaN meter
      """
      Sample 40.
      """

    ShallowBndSmear41 = NaN meter
      """
      Sample 41.
      """

    DeepBndSmear41 = NaN meter
      """
      Sample 41.
      """

    ShallowBndSmear42 = NaN meter
      """
      Sample 42.
      """

    DeepBndSmear42 = NaN meter
      """
      Sample 42.
      """

    ShallowBndSmear43 = NaN meter
      """
      Sample 43.
      """

    DeepBndSmear43 = NaN meter
      """
      Sample 43.
      """

    ShallowBndSmear44 = NaN meter
      """
      Sample 44.
      """

    DeepBndSmear44 = NaN meter
      """
      Sample 44.
      """

    ShallowBndSmear45 = NaN meter
      """
      Sample 45.
      """

    DeepBndSmear45 = NaN meter
      """
      Sample 45.
      """

    ShallowBndSmear46 = NaN meter
      """
      Sample 46.
      """

    DeepBndSmear46 = NaN meter
      """
      Sample 46.
      """

    ShallowBndSmear47 = NaN meter
      """
      Sample 47.
      """

    DeepBndSmear47 = NaN meter
      """
      Sample 47.
      """

    ShallowBndSmear48 = NaN meter
      """
      Sample 48.
      """

    DeepBndSmear48 = NaN meter
      """
      Sample 48.
      """

    ShallowBndSmear49 = NaN meter
      """
      Sample 49.
      """

    DeepBndSmear49 = NaN meter
      """
      Sample 49.
      """

    ShallowBndSmear50 = NaN meter
      """
      Sample 50.
      """

    DeepBndSmear50 = NaN meter
      """
      Sample 50.
      """

    ShallowBndSmear51 = NaN meter
      """
      Sample 51.
      """

    DeepBndSmear51 = NaN meter
      """
      Sample 51.
      """

    ShallowBndSmear52 = NaN meter
      """
      Sample 52.
      """

    DeepBndSmear52 = NaN meter
      """
      Sample 52.
      """

    ShallowBndSmear53 = NaN meter
      """
      Sample 53.
      """

    DeepBndSmear53 = NaN meter
      """
      Sample 53.
      """

    ShallowBndSmear54 = NaN meter
      """
      Sample 54.
      """

    DeepBndSmear54 = NaN meter
      """
      Sample 54.
      """

    ShallowBndSmear55 = NaN meter
      """
      Sample 55.
      """

    DeepBndSmear55 = NaN meter
      """
      Sample 55.
      """

    ShallowBndSmear56 = NaN meter
      """
      Sample 56.
      """

    DeepBndSmear56 = NaN meter
      """
      Sample 56.
      """

    ShallowBndSmear57 = NaN meter
      """
      Sample 57.
      """

    DeepBndSmear57 = NaN meter
      """
      Sample 57.
      """

    ShallowBndSmear58 = NaN meter
      """
      Sample 58.
      """

    DeepBndSmear58 = NaN meter
      """
      Sample 58.
      """

    ShallowBndSmear59 = NaN meter
      """
      Sample 59.
      """

    DeepBndSmear59 = NaN meter
      """
      Sample 59.
      """

    ShallowBndSmear60 = NaN meter
      """
      Sample 60.
      """

    DeepBndSmear60 = NaN meter
      """
      Sample 60.
      """

    # Use caution when changing these.

    UpRate = -0.1 meter_per_second
      """
      Go-up depth rate in smear sampling mode (negative depth rate means going
      up).
      """

    DownRate = 0.1 meter_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 = 20 degree
      """
      Vehicle up pitch while performing the YoYo behavior.
      """

    TransitYoYoDownPitch = -20 degree
      """
      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 change

    SpeedApproachThenSample = 1.0 meter_per_second
      """
      Vehicle speed when approaching the target isotherm or depth and then
      sampling. Initialized to 1 m/s.
      """

    DepthLogged = 0.0 meter
      """

      """

    TempLogged = 0.0 celsius
      """

      """

    ChlLogged = 0.0 microgram_per_liter
      """

      """

    TransitCompleted = false
      """
      Transit is completed (initialized to false).
      """

    TargetedDepth = NaN meter
      """
      Depth if pre-designated. Initialized to NaN.
      """

    WaitDepthUndulation = 10.0 minute
      """
      Wait duration for the depth undulation to damp down. Initialized to 10
      minutes.
      """

    ShallowBoundSmear = NaN meter
      """
      Shallow depth bound for smear sampling.
      """

    DeepBoundSmear = NaN meter
      """
      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 = NaN minute
      """
      Elapsed time from last time-fix to StartDive.
      """

    FromLastTimeFixToNow = NaN minute
      """
      Elapsed time from last time-fix to now.
      """

    FromLastTimeFixToLastFiring = NaN minute
      """
      Elapsed time from last time-fix to last firing.
      """

    CntSamples = 1 count
      """
      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.

  timeout duration=MissionTimeout

  insert Insert/AbortDrift.xml {
    redefineArg AcousticTimeout = AcousticTrackingTimeout
  }



  insert Insert/Science.xml {
    redefineArg PeakDetectChlActive = true
  }



  insert Insert/StandardEnvelopes.xml


  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  behavior Guidance:Pitch {
    run in parallel
    set Guidance:Pitch.massPosition = MassDefault
  }

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



  insert Insert/NeedComms.xml id="NeedComms"


  call id="StartingMission" refId="NeedComms"

  aggregate ESPSampling {
    run when (
      called
    )

    aggregate TriggerESP {
      run in sequence

      assign in sequence DepthLogged = Universal:depth

      assign in sequence TempLogged = Universal:sea_water_temperature

      assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water

      syslog important "Trigger ESP sampling. DepthLogged, TempLogged, ChlLogged = "
           + DepthLogged ~ meter
           + ", "
           + TempLogged ~ celsius
           + ", "
           + ChlLogged ~ microgram_per_liter
           + "."

      readDatum {
        Science:ESPComponent.sampling
      }

      syslog important "Wait for ESP sampling to complete."

      readDatum {
        Science:ESPComponent.sample_number
      }
    }
  }

  aggregate SampleAtDepthWrapper {
    run when (
      called
    )

    break if (
      TargetedDepth >= MaxDepth
    )

    assign in sequence SampleAtDepth:TargetDepth = TargetedDepth

    assign in sequence SampleAtDepth:SettleTime = WaitDepthUndulation

    call id="SampleAtTargetDepth" refId="SampleAtDepth"

    syslog important "ESP sample No."
         + CntSamples ~ count
         + " completed."
  }

  aggregate SmearSamplingWrapper {
    run when (
      called
    )

    break if (
      not ( EnableFiringSmear )
    )

    aggregate GoDownGoUpFire {
      run in sequence

      aggregate GoDownInSpiralMode {
        run while (
          EnableFiringSmear
          and FlagGoDown
        )

        behavior Guidance:Pitch {
          run in parallel
          set Guidance:Pitch.depthRate = DownRate
        }
      }

      aggregate GoUpInSpiralMode {
        run while (
          EnableFiringSmear
          and FlagGoUp
        )

        behavior Guidance:Pitch {
          run in parallel
          set Guidance:Pitch.depthRate = UpRate
        }
      }

      aggregate ResetFlagGoDownSetFlagGoUp {
        run when (
          EnableFiringSmear
          and ( Universal:depth >= DeepBoundSmear )
          and ( not ( FlagGoUp ) )
        )

        assign in sequence FlagGoDown = false

        assign in sequence FlagGoUp = true

        syslog important "Bounce up from "
             + Universal:depth ~ meter
             + "."
      }

      aggregate ResetFlagGoUpSetFlagGoDown {
        run when (
          EnableFiringSmear
          and ( Universal:depth <= ShallowBoundSmear )
          and ( not ( FlagGoDown ) )
        )

        assign in sequence FlagGoUp = false

        assign in sequence FlagGoDown = true

        syslog important "Bounce down from "
             + Universal:depth ~ meter
             + "."
      }

      aggregate Firing {
        run when (
          EnableFiringSmear
          and FlagGoDown
          and ( Universal:depth >= ShallowBoundSmear )
          or (
            EnableFiringSmear
            and FlagGoUp
            and ( Universal:depth <= DeepBoundSmear )
          )
        )

        call id="Sampling" refId="ESPSampling"

        syslog important " ESP sample No."
             + CntSamples ~ count
             + " completed."

        assign in sequence EnableFiringSmear = false
      }
    }
  }

  aggregate Transit {
    run in sequence

    timeout duration=RunToWaypointTimeout {
      syslog important "Timed out trying to reach the waypoint. Stopping mission."
      behavior Guidance:Execute {
        run in sequence
        set Guidance:Execute.command = "stop"
      }
    }


    assign in sequence NeedComms:DiveInterval = RunToWaypointNeedCommsTime

    assign in sequence NeedComms:SurfaceSpeed = SpeedTransit

    behavior Guidance:SetSpeed {
      run in parallel
      set Guidance:SetSpeed.speed = SpeedTransit
    }

    behavior Guidance:Buoyancy {
      run in parallel
      set Guidance:Buoyancy.position = BuoyancyNeutral
    }

    aggregate YoyoToWaypoint {
      run in sequence

      break if (
        not ( isNaN ( DepthLevelFlight ) )
      )

      behavior Guidance:DepthEnvelope {
        run in parallel
        set Guidance:DepthEnvelope.minDepth = TransitYoYoMinDepth
        set Guidance:DepthEnvelope.maxDepth = TransitYoYoMaxDepth
        set Guidance:DepthEnvelope.downPitch = TransitYoYoDownPitch
        set Guidance:DepthEnvelope.upPitch = TransitYoYoUpPitch
      }

      behavior Guidance:YoYo {
        run in parallel
        set Guidance:YoYo.downPitch = TransitYoYoDownPitch
        set Guidance:YoYo.upPitch = TransitYoYoUpPitch
      }

      behavior Guidance:Waypoint {
        run in sequence
        set Guidance:Waypoint.latitude = Latitude
        set Guidance:Waypoint.longitude = Longitude
        set Guidance:Waypoint.northingsDelta = Northings
        set Guidance:Waypoint.eastingsDelta = Eastings
      }
    }

    aggregate LevelFlightToWaypoint {
      run in sequence

      break if (
        isNaN ( DepthLevelFlight )
      )

      behavior Guidance:Pitch {
        run in parallel
        set Guidance:Pitch.depth = DepthLevelFlight
      }

      behavior Guidance:Waypoint {
        run in sequence
        set Guidance:Waypoint.latitude = Latitude
        set Guidance:Waypoint.longitude = Longitude
        set Guidance:Waypoint.northingsDelta = Northings
        set Guidance:Waypoint.eastingsDelta = Eastings
      }
    }

    call id="DoneTransit" refId="NeedComms"

    assign in sequence TransitCompleted = true

    assign in sequence FlagGoDown = true

    syslog important "Transit and NeedComms completed. Go down from "
         + Universal:depth ~ meter
         + "."

    assign in sequence FromLastTimeFixToStartDive = elapsed ( Universal:time_fix )

    # debug
    #   <Syslog Severity="Important">FromLastTimeFixToStartDive = <Arg Name="FromLastTimeFixToStartDive"/><Units:minute/></Syslog>

    assign in sequence SpeedApproachThenSample = SpeedInitialDive
  }

  assign in sequence NeedComms:DiveInterval = MissionTimeout

  aggregate TakeSamples {
    run in sequence

    break if (
      not ( TransitCompleted )
      or ( CntSamples == ( NumSamplers + 1 count ) )
    )

    aggregate SetSpeedInitialDive {
      run in sequence

      run when (
        CntSamples == 1 count
        and ( not ( FlagInitialDiveSpeedSet ) )
      )

      assign in sequence SpeedApproachThenSample = SpeedInitialDive

      behavior Guidance:Wait {
        run in sequence
        set Guidance:Wait.duration = InitialDiveDuration
      }

      assign in sequence SpeedApproachThenSample = SpeedSampling

      assign in sequence FlagInitialDiveSpeedSet = true
    }

    aggregate SetNeutralBuoyancyNonZeroRudderInSpiralOrDonutMode {
      run in parallel

      run while ( SpeedApproachThenSample > 0.0 meter_per_second )

      behavior Guidance:SetSpeed {
        run in parallel
        set Guidance:SetSpeed.speed = SpeedApproachThenSample
      }

      behavior Guidance:Buoyancy {
        run in parallel
        set Guidance:Buoyancy.position = BuoyancyNeutral
      }

      behavior Guidance:Point {
        run in parallel
        set Guidance:Point.rudderAngle = RudderAngleSpiralOrDonut
      }
    }

    aggregate SetZeroRudderInDriftMode {
      run in parallel

      run while ( not ( SpeedApproachThenSample > 0.0 meter_per_second ) )

      behavior Guidance:SetSpeed {
        run in parallel
        set Guidance:SetSpeed.speed = SpeedApproachThenSample
      }

      behavior Guidance:Point {
        run in parallel
        set Guidance:Point.rudderAngle = 0.0 degree
      }
    }

    aggregate NoFiringForTooLong {
      run when (
        elapsed ( Universal:time_fix ) > ( FromLastTimeFixToStartDive + MaxWaitNoFiring )
        and ( not ( FlagSamplingOngoing ) )
        and ( CntSamples == 1 count )
        and ( not ( FlagFired ) )
        and ( not ( StoppedForNoFiringForTooLong ) )
        or (
          elapsed ( Universal:time_fix ) > ( FromLastTimeFixToLastFiring + MaxWaitNoFiring )
          and ( not ( FlagSamplingOngoing ) )
          and ( CntSamples >= 2 count )
          and ( not ( StoppedForNoFiringForTooLong ) )
        )
      )

      assign in sequence FromLastTimeFixToNow = elapsed ( Universal:time_fix )

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

      behavior Guidance:Execute {
        run in sequence
        set Guidance:Execute.command = "stop"
      }

      assign in sequence StoppedForNoFiringForTooLong = true
    }

    aggregate SetOptionsOfSample1 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 1 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth1

      assign in sequence WaitDepthUndulation = WaitDepUndulation1

      assign in sequence ShallowBoundSmear = ShallowBndSmear1

      assign in sequence DeepBoundSmear = DeepBndSmear1

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample2 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 2 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth2

      assign in sequence WaitDepthUndulation = WaitDepUndulation2

      assign in sequence ShallowBoundSmear = ShallowBndSmear2

      assign in sequence DeepBoundSmear = DeepBndSmear2

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample3 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 3 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth3

      assign in sequence WaitDepthUndulation = WaitDepUndulation3

      assign in sequence ShallowBoundSmear = ShallowBndSmear3

      assign in sequence DeepBoundSmear = DeepBndSmear3

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample4 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 4 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth4

      assign in sequence WaitDepthUndulation = WaitDepUndulation4

      assign in sequence ShallowBoundSmear = ShallowBndSmear4

      assign in sequence DeepBoundSmear = DeepBndSmear4

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample5 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 5 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth5

      assign in sequence WaitDepthUndulation = WaitDepUndulation5

      assign in sequence ShallowBoundSmear = ShallowBndSmear5

      assign in sequence DeepBoundSmear = DeepBndSmear5

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample6 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 6 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth6

      assign in sequence WaitDepthUndulation = WaitDepUndulation6

      assign in sequence ShallowBoundSmear = ShallowBndSmear6

      assign in sequence DeepBoundSmear = DeepBndSmear6

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample7 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 7 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth7

      assign in sequence WaitDepthUndulation = WaitDepUndulation7

      assign in sequence ShallowBoundSmear = ShallowBndSmear7

      assign in sequence DeepBoundSmear = DeepBndSmear7

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample8 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 8 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth8

      assign in sequence WaitDepthUndulation = WaitDepUndulation8

      assign in sequence ShallowBoundSmear = ShallowBndSmear8

      assign in sequence DeepBoundSmear = DeepBndSmear8

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample9 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 9 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth9

      assign in sequence WaitDepthUndulation = WaitDepUndulation9

      assign in sequence ShallowBoundSmear = ShallowBndSmear9

      assign in sequence DeepBoundSmear = DeepBndSmear9

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample10 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 10 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth10

      assign in sequence WaitDepthUndulation = WaitDepUndulation10

      assign in sequence ShallowBoundSmear = ShallowBndSmear10

      assign in sequence DeepBoundSmear = DeepBndSmear10

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample11 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 11 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth11

      assign in sequence WaitDepthUndulation = WaitDepUndulation11

      assign in sequence ShallowBoundSmear = ShallowBndSmear11

      assign in sequence DeepBoundSmear = DeepBndSmear11

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample12 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 12 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth12

      assign in sequence WaitDepthUndulation = WaitDepUndulation12

      assign in sequence ShallowBoundSmear = ShallowBndSmear12

      assign in sequence DeepBoundSmear = DeepBndSmear12

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample13 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 13 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth13

      assign in sequence WaitDepthUndulation = WaitDepUndulation13

      assign in sequence ShallowBoundSmear = ShallowBndSmear13

      assign in sequence DeepBoundSmear = DeepBndSmear13

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample14 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 14 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth14

      assign in sequence WaitDepthUndulation = WaitDepUndulation14

      assign in sequence ShallowBoundSmear = ShallowBndSmear14

      assign in sequence DeepBoundSmear = DeepBndSmear14

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample15 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 15 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth15

      assign in sequence WaitDepthUndulation = WaitDepUndulation15

      assign in sequence ShallowBoundSmear = ShallowBndSmear15

      assign in sequence DeepBoundSmear = DeepBndSmear15

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample16 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 16 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth16

      assign in sequence WaitDepthUndulation = WaitDepUndulation16

      assign in sequence ShallowBoundSmear = ShallowBndSmear16

      assign in sequence DeepBoundSmear = DeepBndSmear16

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample17 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 17 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth17

      assign in sequence WaitDepthUndulation = WaitDepUndulation17

      assign in sequence ShallowBoundSmear = ShallowBndSmear17

      assign in sequence DeepBoundSmear = DeepBndSmear17

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample18 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 18 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth18

      assign in sequence WaitDepthUndulation = WaitDepUndulation18

      assign in sequence ShallowBoundSmear = ShallowBndSmear18

      assign in sequence DeepBoundSmear = DeepBndSmear18

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample19 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 19 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth19

      assign in sequence WaitDepthUndulation = WaitDepUndulation19

      assign in sequence ShallowBoundSmear = ShallowBndSmear19

      assign in sequence DeepBoundSmear = DeepBndSmear19

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample20 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 20 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth20

      assign in sequence WaitDepthUndulation = WaitDepUndulation20

      assign in sequence ShallowBoundSmear = ShallowBndSmear20

      assign in sequence DeepBoundSmear = DeepBndSmear20

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample21 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 21 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth21

      assign in sequence WaitDepthUndulation = WaitDepUndulation21

      assign in sequence ShallowBoundSmear = ShallowBndSmear21

      assign in sequence DeepBoundSmear = DeepBndSmear21

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample22 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 22 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth22

      assign in sequence WaitDepthUndulation = WaitDepUndulation22

      assign in sequence ShallowBoundSmear = ShallowBndSmear22

      assign in sequence DeepBoundSmear = DeepBndSmear22

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample23 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 23 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth23

      assign in sequence WaitDepthUndulation = WaitDepUndulation23

      assign in sequence ShallowBoundSmear = ShallowBndSmear23

      assign in sequence DeepBoundSmear = DeepBndSmear23

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample24 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 24 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth24

      assign in sequence WaitDepthUndulation = WaitDepUndulation24

      assign in sequence ShallowBoundSmear = ShallowBndSmear24

      assign in sequence DeepBoundSmear = DeepBndSmear24

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample25 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 25 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth25

      assign in sequence WaitDepthUndulation = WaitDepUndulation25

      assign in sequence ShallowBoundSmear = ShallowBndSmear25

      assign in sequence DeepBoundSmear = DeepBndSmear25

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample26 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 26 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth26

      assign in sequence WaitDepthUndulation = WaitDepUndulation26

      assign in sequence ShallowBoundSmear = ShallowBndSmear26

      assign in sequence DeepBoundSmear = DeepBndSmear26

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample27 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 27 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth27

      assign in sequence WaitDepthUndulation = WaitDepUndulation27

      assign in sequence ShallowBoundSmear = ShallowBndSmear27

      assign in sequence DeepBoundSmear = DeepBndSmear27

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample28 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 28 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth28

      assign in sequence WaitDepthUndulation = WaitDepUndulation28

      assign in sequence ShallowBoundSmear = ShallowBndSmear28

      assign in sequence DeepBoundSmear = DeepBndSmear28

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample29 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 29 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth29

      assign in sequence WaitDepthUndulation = WaitDepUndulation29

      assign in sequence ShallowBoundSmear = ShallowBndSmear29

      assign in sequence DeepBoundSmear = DeepBndSmear29

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample30 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 30 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth30

      assign in sequence WaitDepthUndulation = WaitDepUndulation30

      assign in sequence ShallowBoundSmear = ShallowBndSmear30

      assign in sequence DeepBoundSmear = DeepBndSmear30

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample31 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 31 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth31

      assign in sequence WaitDepthUndulation = WaitDepUndulation31

      assign in sequence ShallowBoundSmear = ShallowBndSmear31

      assign in sequence DeepBoundSmear = DeepBndSmear31

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample32 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 32 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth32

      assign in sequence WaitDepthUndulation = WaitDepUndulation32

      assign in sequence ShallowBoundSmear = ShallowBndSmear32

      assign in sequence DeepBoundSmear = DeepBndSmear32

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample33 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 33 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth33

      assign in sequence WaitDepthUndulation = WaitDepUndulation33

      assign in sequence ShallowBoundSmear = ShallowBndSmear33

      assign in sequence DeepBoundSmear = DeepBndSmear33

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample34 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 34 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth34

      assign in sequence WaitDepthUndulation = WaitDepUndulation34

      assign in sequence ShallowBoundSmear = ShallowBndSmear34

      assign in sequence DeepBoundSmear = DeepBndSmear34

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample35 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 35 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth35

      assign in sequence WaitDepthUndulation = WaitDepUndulation35

      assign in sequence ShallowBoundSmear = ShallowBndSmear35

      assign in sequence DeepBoundSmear = DeepBndSmear35

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample36 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 36 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth36

      assign in sequence WaitDepthUndulation = WaitDepUndulation36

      assign in sequence ShallowBoundSmear = ShallowBndSmear36

      assign in sequence DeepBoundSmear = DeepBndSmear36

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample37 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 37 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth37

      assign in sequence WaitDepthUndulation = WaitDepUndulation37

      assign in sequence ShallowBoundSmear = ShallowBndSmear37

      assign in sequence DeepBoundSmear = DeepBndSmear37

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample38 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 38 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth38

      assign in sequence WaitDepthUndulation = WaitDepUndulation38

      assign in sequence ShallowBoundSmear = ShallowBndSmear38

      assign in sequence DeepBoundSmear = DeepBndSmear38

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample39 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 39 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth39

      assign in sequence WaitDepthUndulation = WaitDepUndulation39

      assign in sequence ShallowBoundSmear = ShallowBndSmear39

      assign in sequence DeepBoundSmear = DeepBndSmear39

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample40 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 40 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth40

      assign in sequence WaitDepthUndulation = WaitDepUndulation40

      assign in sequence ShallowBoundSmear = ShallowBndSmear40

      assign in sequence DeepBoundSmear = DeepBndSmear40

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample41 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 41 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth41

      assign in sequence WaitDepthUndulation = WaitDepUndulation41

      assign in sequence ShallowBoundSmear = ShallowBndSmear41

      assign in sequence DeepBoundSmear = DeepBndSmear41

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample42 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 42 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth42

      assign in sequence WaitDepthUndulation = WaitDepUndulation42

      assign in sequence ShallowBoundSmear = ShallowBndSmear42

      assign in sequence DeepBoundSmear = DeepBndSmear42

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample43 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 43 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth43

      assign in sequence WaitDepthUndulation = WaitDepUndulation43

      assign in sequence ShallowBoundSmear = ShallowBndSmear43

      assign in sequence DeepBoundSmear = DeepBndSmear43

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample44 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 44 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth44

      assign in sequence WaitDepthUndulation = WaitDepUndulation44

      assign in sequence ShallowBoundSmear = ShallowBndSmear44

      assign in sequence DeepBoundSmear = DeepBndSmear44

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample45 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 45 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth45

      assign in sequence WaitDepthUndulation = WaitDepUndulation45

      assign in sequence ShallowBoundSmear = ShallowBndSmear45

      assign in sequence DeepBoundSmear = DeepBndSmear45

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample46 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 46 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth46

      assign in sequence WaitDepthUndulation = WaitDepUndulation46

      assign in sequence ShallowBoundSmear = ShallowBndSmear46

      assign in sequence DeepBoundSmear = DeepBndSmear46

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample47 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 47 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth47

      assign in sequence WaitDepthUndulation = WaitDepUndulation47

      assign in sequence ShallowBoundSmear = ShallowBndSmear47

      assign in sequence DeepBoundSmear = DeepBndSmear47

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample48 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 48 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth48

      assign in sequence WaitDepthUndulation = WaitDepUndulation48

      assign in sequence ShallowBoundSmear = ShallowBndSmear48

      assign in sequence DeepBoundSmear = DeepBndSmear48

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample49 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 49 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth49

      assign in sequence WaitDepthUndulation = WaitDepUndulation49

      assign in sequence ShallowBoundSmear = ShallowBndSmear49

      assign in sequence DeepBoundSmear = DeepBndSmear49

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample50 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 50 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth50

      assign in sequence WaitDepthUndulation = WaitDepUndulation50

      assign in sequence ShallowBoundSmear = ShallowBndSmear50

      assign in sequence DeepBoundSmear = DeepBndSmear50

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample51 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 51 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth51

      assign in sequence WaitDepthUndulation = WaitDepUndulation51

      assign in sequence ShallowBoundSmear = ShallowBndSmear51

      assign in sequence DeepBoundSmear = DeepBndSmear51

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample52 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 52 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth52

      assign in sequence WaitDepthUndulation = WaitDepUndulation52

      assign in sequence ShallowBoundSmear = ShallowBndSmear52

      assign in sequence DeepBoundSmear = DeepBndSmear52

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample53 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 53 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth53

      assign in sequence WaitDepthUndulation = WaitDepUndulation53

      assign in sequence ShallowBoundSmear = ShallowBndSmear53

      assign in sequence DeepBoundSmear = DeepBndSmear53

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample54 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 54 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth54

      assign in sequence WaitDepthUndulation = WaitDepUndulation54

      assign in sequence ShallowBoundSmear = ShallowBndSmear54

      assign in sequence DeepBoundSmear = DeepBndSmear54

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample55 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 55 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth55

      assign in sequence WaitDepthUndulation = WaitDepUndulation55

      assign in sequence ShallowBoundSmear = ShallowBndSmear55

      assign in sequence DeepBoundSmear = DeepBndSmear55

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample56 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 56 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth56

      assign in sequence WaitDepthUndulation = WaitDepUndulation56

      assign in sequence ShallowBoundSmear = ShallowBndSmear56

      assign in sequence DeepBoundSmear = DeepBndSmear56

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample57 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 57 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth57

      assign in sequence WaitDepthUndulation = WaitDepUndulation57

      assign in sequence ShallowBoundSmear = ShallowBndSmear57

      assign in sequence DeepBoundSmear = DeepBndSmear57

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample58 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 58 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth58

      assign in sequence WaitDepthUndulation = WaitDepUndulation58

      assign in sequence ShallowBoundSmear = ShallowBndSmear58

      assign in sequence DeepBoundSmear = DeepBndSmear58

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample59 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 59 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth59

      assign in sequence WaitDepthUndulation = WaitDepUndulation59

      assign in sequence ShallowBoundSmear = ShallowBndSmear59

      assign in sequence DeepBoundSmear = DeepBndSmear59

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample60 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples == 60 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence TargetedDepth = Depth60

      assign in sequence WaitDepthUndulation = WaitDepUndulation60

      assign in sequence ShallowBoundSmear = ShallowBndSmear60

      assign in sequence DeepBoundSmear = DeepBndSmear60

      assign in sequence SampleOptionsSet = true
    }

    aggregate SampleAtConstantDepth {
      run when (
        TransitCompleted
        and ( not ( isNaN ( TargetedDepth ) ) )
        and ( not ( FlagSamplingOngoing ) )
        and ( CntSamples <= NumSamplers )
        and SampleOptionsSet
        and ( not ( SampleCompleted ) )
      )

      syslog important "Taking sample No."
           + CntSamples ~ count
           + " at "
           + TargetedDepth ~ meter
           + "."

      assign in sequence FlagSamplingOngoing = true

      call id="TakeSampleAtTargetDepth" refId="SampleAtDepthWrapper"

      assign in sequence FlagSamplingOngoing = false

      assign in sequence SampleCompleted = true

      assign in sequence SampleOptionsSet = false
    }

    aggregate SmearSampling {
      run when (
        TransitCompleted
        and ( not ( isNaN ( ShallowBoundSmear ) ) )
        and ( not ( isNaN ( DeepBoundSmear ) ) )
        and ( not ( FlagSamplingOngoing ) )
        and ( CntSamples <= NumSamplers )
        and SampleOptionsSet
        and ( not ( SampleCompleted ) )
      )

      syslog important "Taking sample No."
           + CntSamples ~ count
           + " smeared between "
           + ShallowBoundSmear ~ meter
           + " and "
           + DeepBoundSmear ~ meter
           + "."

      assign in sequence EnableFiringSmear = true

      assign in sequence FlagSamplingOngoing = true

      assign in sequence FlagFired = true

      assign in sequence FromLastTimeFixToLastFiring = elapsed ( Universal:time_fix )

      # debug
      #            <Syslog Severity="Important">FromLastTimeFixToLastFiring = <Arg Name="FromLastTimeFixToLastFi ring"/><Units:minute/></Syslog>

      call id="TakeSmearSample" refId="SmearSamplingWrapper"

      assign in sequence FlagSamplingOngoing = false

      assign in sequence SampleCompleted = true

      assign in sequence SampleOptionsSet = false
    }

    aggregate IncrementSampleCounter {
      run when (
        SampleCompleted
      )

      assign in sequence CntSamples = CntSamples + 1 count

      assign in sequence SampleCompleted = false
    }
  }
}

Source XML

<?xml version="1.0" encoding="UTF-8"?>
<!-- Generated by TethysL -->
<Mission xmlns: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. -->

    <DefineArg Name="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>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>12</Value></DefineArg>

    <DefineArg Name="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>

    <DefineArg Name="MaxWaitNoFiring"><Description>
        If no firing after more than MaxWaitNoFiring, terminate mission.
    </Description><Units:hour/><Value>3</Value></DefineArg>

    <DefineArg Name="MaxWaitNotAchievingDepth"><Description>
        Maximum wait time the vehicle cannot reach the targeted depth.
    </Description><Units:hour/><Value>3</Value></DefineArg>

    <DefineArg Name="RunToWaypointTimeout"><Description>
        Maximum duration for trying to achieve spiral cast waypoint
    </Description><Units:hour/><Value>3</Value></DefineArg>

    <DefineArg Name="RunToWaypointNeedCommsTime"><Description>
        How often to surface for commumications when heading to waypoint
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="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>

    <DefineArg Name="SpeedTransit"><Description>
        Vehicle speed when transiting.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="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>
-->

    <DefineArg Name="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>
-->

    <DefineArg Name="RudderAngleSpiralOrDonut"><Description>
        Rudder angle during spiral or donut.
    </Description><Units:degree/><Value>13</Value></DefineArg>

    <DefineArg Name="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>
-->

    <DefineArg Name="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>
-->

    <DefineArg Name="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>

    <DefineArg Name="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>

    <DefineArg Name="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>

    <DefineArg Name="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>

    <DefineArg Name="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>

    <DefineArg Name="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>

    <DefineArg Name="Depth2"><Description>
        Depth of sample 2.
<!--debug
    </Description><Units:meter/><Value>20</Value></DefineArg>
-->
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth3"><Description>
        Depth of sample 3.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth4"><Description>
        Depth of sample 4.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth5"><Description>
        Depth of sample 5.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth6"><Description>
        Depth of sample 6.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth7"><Description>
        Depth of sample 7.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth8"><Description>
        Depth of sample 8.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth9"><Description>
        Depth of sample 9.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth10"><Description>
        Depth of sample 10.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth11"><Description>
        Depth of sample 11.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth12"><Description>
        Depth of sample 12.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth13"><Description>
        Depth of sample 13.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth14"><Description>
        Depth of sample 14.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth15"><Description>
        Depth of sample 15.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth16"><Description>
        Depth of sample 16.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth17"><Description>
        Depth of sample 17.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth18"><Description>
        Depth of sample 18.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth19"><Description>
        Depth of sample 19.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth20"><Description>
        Depth of sample 20.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth21"><Description>
        Depth of sample 21.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth22"><Description>
        Depth of sample 22.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth23"><Description>
        Depth of sample 23.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth24"><Description>
        Depth of sample 24.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth25"><Description>
        Depth of sample 25.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth26"><Description>
        Depth of sample 26.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth27"><Description>
        Depth of sample 27.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth28"><Description>
        Depth of sample 28.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth29"><Description>
        Depth of sample 29.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth30"><Description>
        Depth of sample 30.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth31"><Description>
        Depth of sample 31.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth32"><Description>
        Depth of sample 32.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth33"><Description>
        Depth of sample 33.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth34"><Description>
        Depth of sample 34.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth35"><Description>
        Depth of sample 35.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth36"><Description>
        Depth of sample 36.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth37"><Description>
        Depth of sample 37.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth38"><Description>
        Depth of sample 38.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth39"><Description>
        Depth of sample 39.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth40"><Description>
        Depth of sample 40.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth41"><Description>
        Depth of sample 41.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth42"><Description>
        Depth of sample 42.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth43"><Description>
        Depth of sample 43.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth44"><Description>
        Depth of sample 44.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth45"><Description>
        Depth of sample 45.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth46"><Description>
        Depth of sample 46.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth47"><Description>
        Depth of sample 47.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth48"><Description>
        Depth of sample 48.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth49"><Description>
        Depth of sample 49.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth50"><Description>
        Depth of sample 50.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth51"><Description>
        Depth of sample 51.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth52"><Description>
        Depth of sample 52.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth53"><Description>
        Depth of sample 53.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth54"><Description>
        Depth of sample 54.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth55"><Description>
        Depth of sample 55.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth56"><Description>
        Depth of sample 56.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth57"><Description>
        Depth of sample 57.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth58"><Description>
        Depth of sample 58.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth59"><Description>
        Depth of sample 59.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Depth60"><Description>
        Depth of sample 60.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation1"><Description>
        Sample 1. Wait duration for the depth undulation to damp down.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation2"><Description>
        Sample 2.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation3"><Description>
        Sample 3.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation4"><Description>
        Sample 4.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation5"><Description>
        Sample 5.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation6"><Description>
        Sample 6.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation7"><Description>
        Sample 7.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation8"><Description>
        Sample 8.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation9"><Description>
        Sample 9.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation10"><Description>
        Sample 10.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation11"><Description>
        Sample 11.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation12"><Description>
        Sample 12.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation13"><Description>
        Sample 13.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation14"><Description>
        Sample 14.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation15"><Description>
        Sample 15.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation16"><Description>
        Sample 16.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation17"><Description>
        Sample 17.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation18"><Description>
        Sample 18.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation19"><Description>
        Sample 19.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation20"><Description>
        Sample 20.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation21"><Description>
        Sample 21.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation22"><Description>
        Sample 22.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation23"><Description>
        Sample 23.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation24"><Description>
        Sample 24.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation25"><Description>
        Sample 25.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation26"><Description>
        Sample 26.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation27"><Description>
        Sample 27.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation28"><Description>
        Sample 28.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation29"><Description>
        Sample 29.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation30"><Description>
        Sample 30.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation31"><Description>
        Sample 31.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation32"><Description>
        Sample 32.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation33"><Description>
        Sample 33.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation34"><Description>
        Sample 34.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation35"><Description>
        Sample 35.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation36"><Description>
        Sample 36.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation37"><Description>
        Sample 37.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation38"><Description>
        Sample 38.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation39"><Description>
        Sample 39.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation40"><Description>
        Sample 40.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation41"><Description>
        Sample 41.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation42"><Description>
        Sample 42.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation43"><Description>
        Sample 43.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation44"><Description>
        Sample 44.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation45"><Description>
        Sample 45.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation46"><Description>
        Sample 46.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation47"><Description>
        Sample 47.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation48"><Description>
        Sample 48.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation49"><Description>
        Sample 49.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation50"><Description>
        Sample 50.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation51"><Description>
        Sample 51.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation52"><Description>
        Sample 52.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation53"><Description>
        Sample 53.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation54"><Description>
        Sample 54.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation55"><Description>
        Sample 55.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation56"><Description>
        Sample 56.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation57"><Description>
        Sample 57.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation58"><Description>
        Sample 58.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation59"><Description>
        Sample 59.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation60"><Description>
        Sample 60.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear1"><Description>
        Shallow depth bound for smear sampling.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear1"><Description>
        Deep depth bound for smear sampling.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear2"><Description>
        Sample 2.
<!--debug
    </Description><Units:meter/><Value>17</Value></DefineArg>
-->
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear2"><Description>
        Sample 2.
<!--debug
    </Description><Units:meter/><Value>20</Value></DefineArg>
-->
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear3"><Description>
        Sample 3.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear3"><Description>
        Sample 3.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear4"><Description>
        Sample 4.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear4"><Description>
        Sample 4.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear5"><Description>
        Sample 5.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear5"><Description>
        Sample 5.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear6"><Description>
        Sample 6.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear6"><Description>
        Sample 6.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear7"><Description>
        Sample 7.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear7"><Description>
        Sample 7.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear8"><Description>
        Sample 8.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear8"><Description>
        Sample 8.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear9"><Description>
        Sample 9.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear9"><Description>
        Sample 9.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear10"><Description>
        Sample 10.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear10"><Description>
        Sample 10.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear11"><Description>
        Sample 11.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear11"><Description>
        Sample 11.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear12"><Description>
        Sample 12.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear12"><Description>
        Sample 12.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear13"><Description>
        Sample 13.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear13"><Description>
        Sample 13.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear14"><Description>
        Sample 14.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear14"><Description>
        Sample 14.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear15"><Description>
        Sample 15.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear15"><Description>
        Sample 15.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear16"><Description>
        Sample 16.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear16"><Description>
        Sample 16.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear17"><Description>
        Sample 17.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear17"><Description>
        Sample 17.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear18"><Description>
        Sample 18.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear18"><Description>
        Sample 18.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear19"><Description>
        Sample 19.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear19"><Description>
        Sample 19.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear20"><Description>
        Sample 20.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear20"><Description>
        Sample 20.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear21"><Description>
        Sample 21.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear21"><Description>
        Sample 21.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear22"><Description>
        Sample 22.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear22"><Description>
        Sample 22.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear23"><Description>
        Sample 23.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear23"><Description>
        Sample 23.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear24"><Description>
        Sample 24.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear24"><Description>
        Sample 24.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear25"><Description>
        Sample 25.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear25"><Description>
        Sample 25.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear26"><Description>
        Sample 26.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear26"><Description>
        Sample 26.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear27"><Description>
        Sample 27.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear27"><Description>
        Sample 27.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear28"><Description>
        Sample 28.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear28"><Description>
        Sample 28.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear29"><Description>
        Sample 29.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear29"><Description>
        Sample 29.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear30"><Description>
        Sample 30.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear30"><Description>
        Sample 30.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear31"><Description>
        Sample 31.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear31"><Description>
        Sample 31.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear32"><Description>
        Sample 32.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear32"><Description>
        Sample 32.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear33"><Description>
        Sample 33.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear33"><Description>
        Sample 33.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear34"><Description>
        Sample 34.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear34"><Description>
        Sample 34.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear35"><Description>
        Sample 35.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear35"><Description>
        Sample 35.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear36"><Description>
        Sample 36.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear36"><Description>
        Sample 36.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear37"><Description>
        Sample 37.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear37"><Description>
        Sample 37.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear38"><Description>
        Sample 38.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear38"><Description>
        Sample 38.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear39"><Description>
        Sample 39.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear39"><Description>
        Sample 39.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear40"><Description>
        Sample 40.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear40"><Description>
        Sample 40.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear41"><Description>
        Sample 41.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear41"><Description>
        Sample 41.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear42"><Description>
        Sample 42.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear42"><Description>
        Sample 42.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear43"><Description>
        Sample 43.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear43"><Description>
        Sample 43.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear44"><Description>
        Sample 44.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear44"><Description>
        Sample 44.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear45"><Description>
        Sample 45.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear45"><Description>
        Sample 45.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear46"><Description>
        Sample 46.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear46"><Description>
        Sample 46.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear47"><Description>
        Sample 47.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear47"><Description>
        Sample 47.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear48"><Description>
        Sample 48.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear48"><Description>
        Sample 48.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear49"><Description>
        Sample 49.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear49"><Description>
        Sample 49.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear50"><Description>
        Sample 50.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear50"><Description>
        Sample 50.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear51"><Description>
        Sample 51.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear51"><Description>
        Sample 51.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear52"><Description>
        Sample 52.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear52"><Description>
        Sample 52.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear53"><Description>
        Sample 53.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear53"><Description>
        Sample 53.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear54"><Description>
        Sample 54.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear54"><Description>
        Sample 54.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear55"><Description>
        Sample 55.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear55"><Description>
        Sample 55.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear56"><Description>
        Sample 56.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear56"><Description>
        Sample 56.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear57"><Description>
        Sample 57.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear57"><Description>
        Sample 57.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear58"><Description>
        Sample 58.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear58"><Description>
        Sample 58.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear59"><Description>
        Sample 59.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear59"><Description>
        Sample 59.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBndSmear60"><Description>
        Sample 60.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBndSmear60"><Description>
        Sample 60.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!-- Use caution when changing these. -->

    <DefineArg Name="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>

    <DefineArg Name="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. -->

    <DefineArg Name="TransitYoYoUpPitch"><Description>
        Vehicle up pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="TransitYoYoDownPitch"><Description>
        Vehicle down pitch while performing the YoYo behavior.
    </Description><Units:degree/><Value>-20</Value></DefineArg>

    <DefineArg Name="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>

    <DefineArg Name="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 -->

    <DefineArg Name="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>

    <DefineArg Name="DepthLogged"><Description></Description><Units:meter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="TempLogged"><Description></Description><Units:celsius/><Value>0.0</Value></DefineArg>

    <DefineArg Name="ChlLogged"><Description></Description><Units:microgram_per_liter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="TransitCompleted"><Description>
        Transit is completed (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="TargetedDepth"><Description>
        Depth if pre-designated. Initialized to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepthUndulation"><Description>
        Wait duration for the depth undulation to damp down. Initialized to 10
        minutes.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear"><Description>
        Shallow depth bound for smear sampling.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear"><Description>
        Deep depth bound for smear sampling.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="SampleOptionsSet"><Description>
        Sample options (VertDistance, ReportAtSurface, ReacquirePeak) already
        set. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="SampleCompleted"><Description>
        Sampling completed. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="StoppedForNoFiringForTooLong"><Description>
        Mission stopped because of no firing for too long. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="FlagSamplingOngoing"><Description>
        Flag of water sampling in process (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="FlagFired"><Description>
        Flag of sample fired (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="FlagGoUp"><Description>
        Go-up flag (set to true when going up. Initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="FlagGoDown"><Description>
        Go-down flag (set to true when going down. Initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="FlagInitialDiveSpeedSet"><Description>
        Flag of initial dive speed set. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="EnableFiringSmear"><Description>
        Enable firing. Initialized to true.
    </Description><True/></DefineArg>

    <DefineArg Name="FromLastTimeFixToStartDive"><Description>
        Elapsed time from last time-fix to StartDive.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="FromLastTimeFixToNow"><Description>
        Elapsed time from last time-fix to now.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="FromLastTimeFixToLastFiring"><Description>
        Elapsed time from last time-fix to last firing.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="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. -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/AbortDrift.xml">
        <RedefineArg Name="AcousticTimeout"><Arg Name="AcousticTrackingTimeout"/></RedefineArg>
    </Insert>

    <Insert Filename="Insert/Science.xml">
        <RedefineArg Name="PeakDetectChlActive"><True/></RedefineArg>
    </Insert>

    <Insert Filename="Insert/StandardEnvelopes.xml"/>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinAltitude"/><Arg Name="MinAltitude"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MaxDepth"/><Arg Name="MaxDepth"/></Assign>

    <Assign><Sequence/><Arg Name="StandardEnvelopes:MinOffshore"/><Arg Name="MinOffshore"/></Assign>

    <Guidance:Pitch>
        <Parallel/>
        <Setting><Guidance:Pitch.massPosition/><Arg Name="MassDefault"/></Setting>
    </Guidance:Pitch>

    <Insert Filename="Insert/SampleAtDepth.xml">
        <RedefineArg Name="MaxWaitNotReachingDepth"><Arg Name="MaxWaitNotAchievingDepth"/></RedefineArg>
    </Insert>

    <Insert Filename="Insert/NeedComms.xml" Id="NeedComms"/>

    <Call Id="StartingMission" RefId="NeedComms"/>

    <Aggregate Id="ESPSampling">

        <When>
            <Called/>
        </When>

        <Aggregate Id="TriggerESP">

            <Sequence/>

            <Assign><Sequence/><Arg Name="DepthLogged"/><Universal:depth/></Assign>

            <Assign><Sequence/><Arg Name="TempLogged"/><Universal:sea_water_temperature/></Assign>

            <Assign><Sequence/><Arg Name="ChlLogged"/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Assign>

            <Syslog Severity="Important">Trigger ESP sampling. DepthLogged, TempLogged, ChlLogged = <Arg Name="DepthLogged"/><Units:meter/>, <Arg Name="TempLogged"/><Units:celsius/>, <Arg Name="ChlLogged"/><Units:microgram_per_liter/>.</Syslog>

            <ReadDatum>
                <Science:ESPComponent.sampling/>
            </ReadDatum>

            <Syslog Severity="Important">Wait for ESP sampling to complete.</Syslog>

            <ReadDatum>
                <Science:ESPComponent.sample_number/>
            </ReadDatum>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SampleAtDepthWrapper">

        <When>
            <Called/>
        </When>

        <Break><Arg Name="TargetedDepth"/>
            <Ge><Arg Name="MaxDepth"/></Ge>
        </Break>

        <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="TargetedDepth"/></Assign>

        <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="WaitDepthUndulation"/></Assign>

        <Call Id="SampleAtTargetDepth" RefId="SampleAtDepth"/>

        <Syslog Severity="Important">ESP sample No.<Arg Name="CntSamples"/><Units:count/> completed.</Syslog>

    </Aggregate>

    <Aggregate Id="SmearSamplingWrapper">

        <When>
            <Called/>
        </When>

        <Break>
            <Not><Arg Name="EnableFiringSmear"/></Not>
        </Break>

        <Aggregate Id="GoDownGoUpFire">

            <Sequence/>

            <Aggregate Id="GoDownInSpiralMode">

                <While>
                    <Arg Name="EnableFiringSmear"/>
                    <And><Arg Name="FlagGoDown"/></And>
                </While>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depthRate/><Arg Name="DownRate"/></Setting>
                </Guidance:Pitch>

            </Aggregate>

            <Aggregate Id="GoUpInSpiralMode">

                <While>
                    <Arg Name="EnableFiringSmear"/>
                    <And><Arg Name="FlagGoUp"/></And>
                </While>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depthRate/><Arg Name="UpRate"/></Setting>
                </Guidance:Pitch>

            </Aggregate>

            <Aggregate Id="ResetFlagGoDownSetFlagGoUp">

                <When>
                    <Arg Name="EnableFiringSmear"/>
                    <And><Universal:depth/><Ge><Arg Name="DeepBoundSmear"/></Ge></And>
                    <And><Not><Arg Name="FlagGoUp"/></Not></And>
                </When>

                <Assign><Sequence/><Arg Name="FlagGoDown"/><False/></Assign>

                <Assign><Sequence/><Arg Name="FlagGoUp"/><True/></Assign>

                <Syslog Severity="Important">Bounce up from <Universal:depth/><Units:meter/>.</Syslog>

            </Aggregate>

            <Aggregate Id="ResetFlagGoUpSetFlagGoDown">

                <When>
                    <Arg Name="EnableFiringSmear"/>
                    <And><Universal:depth/><Le><Arg Name="ShallowBoundSmear"/></Le></And>
                    <And><Not><Arg Name="FlagGoDown"/></Not></And>
                </When>

                <Assign><Sequence/><Arg Name="FlagGoUp"/><False/></Assign>

                <Assign><Sequence/><Arg Name="FlagGoDown"/><True/></Assign>

                <Syslog Severity="Important">Bounce down from <Universal:depth/><Units:meter/>.</Syslog>

            </Aggregate>

            <Aggregate Id="Firing">

                <When>
                    <Arg Name="EnableFiringSmear"/>
                    <And><Arg Name="FlagGoDown"/></And>
                    <And><Universal:depth/><Ge><Arg Name="ShallowBoundSmear"/></Ge></And>
                    <Or><Arg Name="EnableFiringSmear"/><And><Arg Name="FlagGoUp"/></And><And><Universal:depth/><Le><Arg Name="DeepBoundSmear"/></Le></And></Or>
                </When>

                <Call Id="Sampling" RefId="ESPSampling"/>

                <Syslog Severity="Important"> ESP sample No.<Arg Name="CntSamples"/><Units:count/> completed.</Syslog>

                <Assign><Sequence/><Arg Name="EnableFiringSmear"/><False/></Assign>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="Transit">

        <Sequence/>

        <Timeout Duration="RunToWaypointTimeout">
            <Syslog Severity="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/><Arg Name="NeedComms:DiveInterval"/><Arg Name="RunToWaypointNeedCommsTime"/></Assign>

        <Assign><Sequence/><Arg Name="NeedComms:SurfaceSpeed"/><Arg Name="SpeedTransit"/></Assign>

        <Guidance:SetSpeed>
            <Parallel/>
            <Setting><Guidance:SetSpeed.speed/><Arg Name="SpeedTransit"/></Setting>
        </Guidance:SetSpeed>

        <Guidance:Buoyancy>
            <Parallel/>
            <Setting><Guidance:Buoyancy.position/><Arg Name="BuoyancyNeutral"/></Setting>
        </Guidance:Buoyancy>

        <Aggregate Id="YoyoToWaypoint">

            <Sequence/>

            <Break>
                <Not><IsNaN><Arg Name="DepthLevelFlight"/>
                </IsNaN></Not>
            </Break>

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="TransitYoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="TransitYoYoMaxDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.downPitch/><Arg Name="TransitYoYoDownPitch"/></Setting>
                <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="TransitYoYoUpPitch"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:YoYo>
                <Parallel/>
                <Setting><Guidance:YoYo.downPitch/><Arg Name="TransitYoYoDownPitch"/></Setting>
                <Setting><Guidance:YoYo.upPitch/><Arg Name="TransitYoYoUpPitch"/></Setting>
            </Guidance:YoYo>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Latitude"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Longitude"/></Setting>
                <Setting><Guidance:Waypoint.northingsDelta/><Arg Name="Northings"/></Setting>
                <Setting><Guidance:Waypoint.eastingsDelta/><Arg Name="Eastings"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="LevelFlightToWaypoint">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="DepthLevelFlight"/>
                </IsNaN>
            </Break>

            <Guidance:Pitch>
                <Parallel/>
                <Setting><Guidance:Pitch.depth/><Arg Name="DepthLevelFlight"/></Setting>
            </Guidance:Pitch>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Latitude"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Longitude"/></Setting>
                <Setting><Guidance:Waypoint.northingsDelta/><Arg Name="Northings"/></Setting>
                <Setting><Guidance:Waypoint.eastingsDelta/><Arg Name="Eastings"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Call Id="DoneTransit" RefId="NeedComms"/>

        <Assign><Sequence/><Arg Name="TransitCompleted"/><True/></Assign>

        <Assign><Sequence/><Arg Name="FlagGoDown"/><True/></Assign>

        <Syslog Severity="Important">Transit and NeedComms completed. Go down from <Universal:depth/><Units:meter/>.</Syslog>

        <Assign><Sequence/><Arg Name="FromLastTimeFixToStartDive"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

<!--debug
    <Syslog Severity="Important">FromLastTimeFixToStartDive = <Arg Name="FromLastTimeFixToStartDive"/><Units:minute/></Syslog>
-->

        <Assign><Sequence/><Arg Name="SpeedApproachThenSample"/><Arg Name="SpeedInitialDive"/></Assign>

    </Aggregate>

    <Assign><Sequence/><Arg Name="NeedComms:DiveInterval"/><Arg Name="MissionTimeout"/></Assign>

    <Aggregate Id="TakeSamples">

        <Sequence/>

        <Break>
            <Not><Arg Name="TransitCompleted"/></Not>
            <Or><Arg Name="CntSamples"/><Eq><Arg Name="NumSamplers"/> <Add><Units:count/> <Value>1</Value></Add></Eq></Or>
        </Break>

        <Aggregate Id="SetSpeedInitialDive">

            <Sequence/>

            <When>
                <Arg Name="CntSamples"/>
                <Eq><Units:count/><Value>1</Value></Eq>
                <And><Not><Arg Name="FlagInitialDiveSpeedSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="SpeedApproachThenSample"/><Arg Name="SpeedInitialDive"/></Assign>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Arg Name="InitialDiveDuration"/></Setting>
            </Guidance:Wait>

            <Assign><Sequence/><Arg Name="SpeedApproachThenSample"/><Arg Name="SpeedSampling"/></Assign>

            <Assign><Sequence/><Arg Name="FlagInitialDiveSpeedSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetNeutralBuoyancyNonZeroRudderInSpiralOrDonutMode">

            <Parallel/>

            <While>
                <Arg Name="SpeedApproachThenSample"/>
                <Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </While>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Arg Name="SpeedApproachThenSample"/></Setting>
            </Guidance:SetSpeed>

            <Guidance:Buoyancy>
                <Parallel/>
                <Setting><Guidance:Buoyancy.position/><Arg Name="BuoyancyNeutral"/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle/><Arg Name="RudderAngleSpiralOrDonut"/></Setting>
            </Guidance:Point>

        </Aggregate>

        <Aggregate Id="SetZeroRudderInDriftMode">

            <Parallel/>

            <While>
                <Not><Arg Name="SpeedApproachThenSample"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></Not>
            </While>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Arg Name="SpeedApproachThenSample"/></Setting>
            </Guidance:SetSpeed>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>0.0</Value></Setting>
            </Guidance:Point>

        </Aggregate>

        <Aggregate Id="NoFiringForTooLong">

            <When>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Gt><Arg Name="FromLastTimeFixToStartDive"/><Add><Arg Name="MaxWaitNoFiring"/></Add></Gt>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>1</Value></Eq></And>
                <And><Not><Arg Name="FlagFired"/></Not></And>
                <And><Not><Arg Name="StoppedForNoFiringForTooLong"/></Not></And>
                <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="FromLastTimeFixToLastFiring"/><Add><Arg Name="MaxWaitNoFiring"/></Add></Gt><And><Not><Arg Name="FlagSamplingOngoing"/></Not></And><And><Arg Name="CntSamples"/><Ge><Units:count/><Value>2</Value></Ge></And><And><Not><Arg Name="StoppedForNoFiringForTooLong"/></Not></And></Or>
            </When>

            <Assign><Sequence/><Arg Name="FromLastTimeFixToNow"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

            <Syslog Severity="Important">No firing for too long. Stopping mission. FromLastTimeFixToNow, FromLastTimeFixToLastFiring = <Arg Name="FromLastTimeFixToNow"/><Units:minute/>, <Arg Name="FromLastTimeFixToLastFiring"/><Units:minute/></Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>

            <Assign><Sequence/><Arg Name="StoppedForNoFiringForTooLong"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample1">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>1</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth1"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation1"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear1"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear1"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample2">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>2</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth2"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation2"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear2"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear2"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample3">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>3</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth3"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation3"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear3"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear3"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample4">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>4</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth4"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation4"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear4"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear4"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample5">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>5</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth5"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation5"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear5"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear5"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample6">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>6</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth6"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation6"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear6"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear6"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample7">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>7</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth7"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation7"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear7"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear7"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample8">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>8</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth8"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation8"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear8"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear8"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample9">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>9</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth9"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation9"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear9"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear9"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample10">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>10</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth10"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation10"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear10"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear10"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample11">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>11</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth11"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation11"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear11"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear11"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample12">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>12</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth12"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation12"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear12"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear12"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample13">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>13</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth13"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation13"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear13"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear13"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample14">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>14</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth14"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation14"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear14"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear14"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample15">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>15</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth15"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation15"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear15"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear15"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample16">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>16</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth16"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation16"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear16"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear16"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample17">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>17</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth17"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation17"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear17"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear17"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample18">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>18</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth18"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation18"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear18"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear18"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample19">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>19</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth19"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation19"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear19"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear19"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample20">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>20</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth20"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation20"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear20"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear20"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample21">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>21</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth21"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation21"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear21"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear21"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample22">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>22</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth22"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation22"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear22"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear22"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample23">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>23</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth23"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation23"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear23"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear23"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample24">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>24</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth24"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation24"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear24"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear24"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample25">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>25</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth25"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation25"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear25"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear25"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample26">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>26</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth26"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation26"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear26"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear26"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample27">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>27</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth27"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation27"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear27"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear27"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample28">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>28</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth28"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation28"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear28"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear28"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample29">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>29</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth29"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation29"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear29"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear29"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample30">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>30</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth30"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation30"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear30"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear30"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample31">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>31</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth31"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation31"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear31"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear31"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample32">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>32</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth32"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation32"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear32"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear32"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample33">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>33</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth33"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation33"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear33"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear33"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample34">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>34</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth34"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation34"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear34"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear34"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample35">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>35</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth35"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation35"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear35"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear35"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample36">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>36</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth36"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation36"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear36"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear36"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample37">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>37</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth37"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation37"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear37"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear37"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample38">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>38</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth38"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation38"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear38"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear38"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample39">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>39</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth39"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation39"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear39"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear39"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample40">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>40</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth40"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation40"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear40"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear40"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample41">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>41</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth41"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation41"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear41"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear41"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample42">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>42</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth42"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation42"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear42"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear42"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample43">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>43</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth43"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation43"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear43"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear43"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample44">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>44</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth44"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation44"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear44"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear44"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample45">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>45</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth45"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation45"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear45"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear45"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample46">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>46</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth46"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation46"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear46"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear46"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample47">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>47</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth47"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation47"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear47"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear47"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample48">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>48</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth48"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation48"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear48"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear48"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample49">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>49</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth49"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation49"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear49"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear49"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample50">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>50</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth50"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation50"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear50"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear50"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample51">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>51</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth51"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation51"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear51"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear51"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample52">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>52</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth52"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation52"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear52"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear52"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample53">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>53</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth53"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation53"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear53"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear53"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample54">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>54</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth54"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation54"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear54"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear54"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample55">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>55</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth55"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation55"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear55"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear55"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample56">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>56</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth56"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation56"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear56"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear56"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample57">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>57</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth57"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation57"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear57"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear57"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample58">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>58</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth58"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation58"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear58"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear58"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample59">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>59</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth59"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation59"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear59"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear59"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample60">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>60</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TargetedDepth"/><Arg Name="Depth60"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulation60"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmear"/><Arg Name="ShallowBndSmear60"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmear"/><Arg Name="DeepBndSmear60"/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><True/></Assign>

        </Aggregate>

        <Aggregate Id="SampleAtConstantDepth">

            <When>
                <Arg Name="TransitCompleted"/>
                <And><Not><IsNaN><Arg Name="TargetedDepth"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Arg Name="SampleOptionsSet"/></And>
                <And><Not><Arg Name="SampleCompleted"/></Not></And>
            </When>

            <Syslog Severity="Important">Taking sample No.<Arg Name="CntSamples"/><Units:count/> at <Arg Name="TargetedDepth"/><Units:meter/>.</Syslog>

            <Assign><Sequence/><Arg Name="FlagSamplingOngoing"/><True/></Assign>

            <Call Id="TakeSampleAtTargetDepth" RefId="SampleAtDepthWrapper"/>

            <Assign><Sequence/><Arg Name="FlagSamplingOngoing"/><False/></Assign>

            <Assign><Sequence/><Arg Name="SampleCompleted"/><True/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><False/></Assign>

        </Aggregate>

        <Aggregate Id="SmearSampling">

            <When>
                <Arg Name="TransitCompleted"/>
                <And><Not><IsNaN><Arg Name="ShallowBoundSmear"/>
                </IsNaN></Not></And>
                <And><Not><IsNaN><Arg Name="DeepBoundSmear"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Arg Name="SampleOptionsSet"/></And>
                <And><Not><Arg Name="SampleCompleted"/></Not></And>
            </When>

            <Syslog Severity="Important">Taking sample No.<Arg Name="CntSamples"/><Units:count/> smeared between <Arg Name="ShallowBoundSmear"/><Units:meter/> and <Arg Name="DeepBoundSmear"/><Units:meter/>.</Syslog>

            <Assign><Sequence/><Arg Name="EnableFiringSmear"/><True/></Assign>

            <Assign><Sequence/><Arg Name="FlagSamplingOngoing"/><True/></Assign>

            <Assign><Sequence/><Arg Name="FlagFired"/><True/></Assign>

            <Assign><Sequence/><Arg Name="FromLastTimeFixToLastFiring"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

<!--debug
           <Syslog Severity="Important">FromLastTimeFixToLastFiring = <Arg Name="FromLastTimeFixToLastFi ring"/><Units:minute/></Syslog>
-->

            <Call Id="TakeSmearSample" RefId="SmearSamplingWrapper"/>

            <Assign><Sequence/><Arg Name="FlagSamplingOngoing"/><False/></Assign>

            <Assign><Sequence/><Arg Name="SampleCompleted"/><True/></Assign>

            <Assign><Sequence/><Arg Name="SampleOptionsSet"/><False/></Assign>

        </Aggregate>

        <Aggregate Id="IncrementSampleCounter">

            <When>
                <Arg Name="SampleCompleted"/>
            </When>

            <Assign><Sequence/><Arg Name="CntSamples"/><Arg Name="CntSamples"/><Add><Units:count/> <Value>1</Value></Add></Assign>

            <Assign><Sequence/><Arg Name="SampleCompleted"/><False/></Assign>

        </Aggregate>

    </Aggregate>

</Mission>