Location 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/location_depth_sampling.xml:1453:7
      | 
 1449 | 
 1450 |     aggregate SettingsInSpiralMode {
 1451 |       run in sequence
 1452 | 
 1453 |       run when (
      |       ^^^
 1454 |         SpeedSampling > 0.0 meter_per_second
 1455 |       )
 1456 | 
 1457 |       behavior Guidance:SetSpeed {
      | 
Unexpected: `run`
Possible items include (total 15):
  aggregate
  assign
  behavior
  call
  [...7 more...]
  preemptive
  }
  break
  timeout

Generated TethysL

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

    # You probably need to change these.

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

    # debug
    #     </Description><Units:count/><Value>3</Value></DefineArg>

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

    CANONSamplerRotateOnly = 0 bool

    MissionTimeout = 168 hour
      """
      Maximum duration of mission
      """

    NeedCommsTimeInTransit = 60 minute
      """
      In transit, how often to surface for commumications
      """

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

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

    MaxWaitNotAchievingDepth = 2 hour
      """
      Maximum wait time the vehicle cannot reach the targeted depth.
      """

    LevelRunToSamplingLocation = true
      """
      Whether the vehicle flies at a constant depth to the sampling location.
      """

    DepthLevelRunToSamplingDepth = 20 meter
      """
      Level run depth (if flying at a constant depth to the sampling
      location).
      """

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

    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>

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

    MaxDepth = 160 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.
      """

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

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

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

    LatSampling = NaN degree
      """
      Latitude of sampling location.
      """

    # debug
    #     </Description><Units:degree/><Value>36.815</Value></DefineArg>
    #     </Description><Units:degree/><Value>36.810</Value></DefineArg>

    LonSampling = NaN degree
      """
      Longitude of sampling location.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.835</Value></DefineArg>
    #     </Description><Units:degree/><Value>-121.825</Value></DefineArg>

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

    CartridgeType1 = NaN count
      """
      Sample 1. Cartridge type.
      """

    CartridgeType2 = NaN count
      """
      Sample 2.
      """

    CartridgeType3 = NaN count
      """
      Sample 3.
      """

    CartridgeType4 = NaN count
      """
      Sample 4.
      """

    CartridgeType5 = NaN count
      """
      Sample 5.
      """

    CartridgeType6 = NaN count
      """
      Sample 6.
      """

    CartridgeType7 = NaN count
      """
      Sample 7.
      """

    CartridgeType8 = NaN count
      """
      Sample 8.
      """

    CartridgeType9 = NaN count
      """
      Sample 9.
      """

    CartridgeType10 = NaN count
      """
      Sample 10.
      """

    CartridgeType11 = NaN count
      """
      Sample 11.
      """

    CartridgeType12 = NaN count
      """
      Sample 12.
      """

    CartridgeType13 = NaN count
      """
      Sample 13.
      """

    CartridgeType14 = NaN count
      """
      Sample 14.
      """

    CartridgeType15 = NaN count
      """
      Sample 15.
      """

    CartridgeType16 = NaN count
      """
      Sample 16.
      """

    CartridgeType17 = NaN count
      """
      Sample 17.
      """

    CartridgeType18 = NaN count
      """
      Sample 18.
      """

    CartridgeType19 = NaN count
      """
      Sample 19.
      """

    CartridgeType20 = NaN count
      """
      Sample 20.
      """

    CartridgeType21 = NaN count
      """
      Sample 21.
      """

    CartridgeType22 = NaN count
      """
      Sample 22.
      """

    CartridgeType23 = NaN count
      """
      Sample 23.
      """

    CartridgeType24 = NaN count
      """
      Sample 24.
      """

    CartridgeType25 = NaN count
      """
      Sample 25.
      """

    CartridgeType26 = NaN count
      """
      Sample 26.
      """

    CartridgeType27 = NaN count
      """
      Sample 27.
      """

    CartridgeType28 = NaN count
      """
      Sample 28.
      """

    CartridgeType29 = NaN count
      """
      Sample 29.
      """

    CartridgeType30 = NaN count
      """
      Sample 30.
      """

    CartridgeType31 = NaN count
      """
      Sample 31.
      """

    CartridgeType32 = NaN count
      """
      Sample 32.
      """

    CartridgeType33 = NaN count
      """
      Sample 33.
      """

    CartridgeType34 = NaN count
      """
      Sample 34.
      """

    CartridgeType35 = NaN count
      """
      Sample 35.
      """

    CartridgeType36 = NaN count
      """
      Sample 36.
      """

    CartridgeType37 = NaN count
      """
      Sample 37.
      """

    CartridgeType38 = NaN count
      """
      Sample 38.
      """

    CartridgeType39 = NaN count
      """
      Sample 39.
      """

    CartridgeType40 = NaN count
      """
      Sample 40.
      """

    CartridgeType41 = NaN count
      """
      Sample 41.
      """

    CartridgeType42 = NaN count
      """
      Sample 42.
      """

    CartridgeType43 = NaN count
      """
      Sample 43.
      """

    CartridgeType44 = NaN count
      """
      Sample 44.
      """

    CartridgeType45 = NaN count
      """
      Sample 45.
      """

    CartridgeType46 = NaN count
      """
      Sample 46.
      """

    CartridgeType47 = NaN count
      """
      Sample 47.
      """

    CartridgeType48 = NaN count
      """
      Sample 48.
      """

    CartridgeType49 = NaN count
      """
      Sample 49.
      """

    CartridgeType50 = NaN count
      """
      Sample 50.
      """

    CartridgeType51 = NaN count
      """
      Sample 51.
      """

    CartridgeType52 = NaN count
      """
      Sample 52.
      """

    CartridgeType53 = NaN count
      """
      Sample 53.
      """

    CartridgeType54 = NaN count
      """
      Sample 54.
      """

    CartridgeType55 = NaN count
      """
      Sample 55.
      """

    CartridgeType56 = NaN count
      """
      Sample 56.
      """

    CartridgeType57 = NaN count
      """
      Sample 57.
      """

    CartridgeType58 = NaN count
      """
      Sample 58.
      """

    CartridgeType59 = NaN count
      """
      Sample 59.
      """

    CartridgeType60 = NaN count
      """
      Sample 60.
      """

    DepCommon = NaN meter
      """
      Value common to all samples unless set diffently: Pre-designated depth.
      If NaN, will use vertical distance from chl-peak depth.
      """

    Dep1 = 10 meter
      """
      Sample 1. Pre-designated depth. If NaN, will use vertical distance from
      chl-peak depth.
      """

    Dep2 = 5 meter
      """
      Sample 2.
      """

    Dep3 = 150 meter
      """
      Sample 3.
      """

    Dep4 = 5 meter
      """
      Sample 4.
      """

    Dep5 = 150 meter
      """
      Sample 5.
      """

    Dep6 = 5 meter
      """
      Sample 6.
      """

    Dep7 = 150 meter
      """
      Sample 7.
      """

    Dep8 = 5 meter
      """
      Sample 8.
      """

    Dep9 = 150 meter
      """
      Sample 9.
      """

    Dep10 = 5 meter
      """
      Sample 10.
      """

    Dep11 = 150 meter
      """
      Sample 11.
      """

    Dep12 = 5 meter
      """
      Sample 12.
      """

    Dep13 = 150 meter
      """
      Sample 13.
      """

    Dep14 = 5 meter
      """
      Sample 14.
      """

    Dep15 = 150 meter
      """
      Sample 15.
      """

    Dep16 = 5 meter
      """
      Sample 16.
      """

    Dep17 = 150 meter
      """
      Sample 17.
      """

    Dep18 = 5 meter
      """
      Sample 18.
      """

    Dep19 = 150 meter
      """
      Sample 19.
      """

    Dep20 = 5 meter
      """
      Sample 20.
      """

    Dep21 = 150 meter
      """
      Sample 21.
      """

    Dep22 = 5 meter
      """
      Sample 22.
      """

    Dep23 = 150 meter
      """
      Sample 23.
      """

    Dep24 = 5 meter
      """
      Sample 24.
      """

    Dep25 = 150 meter
      """
      Sample 25.
      """

    Dep26 = 5 meter
      """
      Sample 26.
      """

    Dep27 = 150 meter
      """
      Sample 27.
      """

    Dep28 = 5 meter
      """
      Sample 28.
      """

    Dep29 = 150 meter
      """
      Sample 29.
      """

    Dep30 = 5 meter
      """
      Sample 30.
      """

    Dep31 = 150 meter
      """
      Sample 31.
      """

    Dep32 = 5 meter
      """
      Sample 32.
      """

    Dep33 = 150 meter
      """
      Sample 33.
      """

    Dep34 = 5 meter
      """
      Sample 34.
      """

    Dep35 = 150 meter
      """
      Sample 35.
      """

    Dep36 = 5 meter
      """
      Sample 36.
      """

    Dep37 = 150 meter
      """
      Sample 37.
      """

    Dep38 = 5 meter
      """
      Sample 38.
      """

    Dep39 = 150 meter
      """
      Sample 39.
      """

    Dep40 = 5 meter
      """
      Sample 40.
      """

    Dep41 = 150 meter
      """
      Sample 41.
      """

    Dep42 = 5 meter
      """
      Sample 42.
      """

    Dep43 = 150 meter
      """
      Sample 43.
      """

    Dep44 = 5 meter
      """
      Sample 44.
      """

    Dep45 = 150 meter
      """
      Sample 45.
      """

    Dep46 = 5 meter
      """
      Sample 46.
      """

    Dep47 = 150 meter
      """
      Sample 47.
      """

    Dep48 = 5 meter
      """
      Sample 48.
      """

    Dep49 = 150 meter
      """
      Sample 49.
      """

    Dep50 = 5 meter
      """
      Sample 50.
      """

    Dep51 = 150 meter
      """
      Sample 51.
      """

    Dep52 = 5 meter
      """
      Sample 52.
      """

    Dep53 = 150 meter
      """
      Sample 53.
      """

    Dep54 = 5 meter
      """
      Sample 54.
      """

    Dep55 = 150 meter
      """
      Sample 55.
      """

    Dep56 = 5 meter
      """
      Sample 56.
      """

    Dep57 = 150 meter
      """
      Sample 57.
      """

    Dep58 = 5 meter
      """
      Sample 58.
      """

    Dep59 = 150 meter
      """
      Sample 59.
      """

    Dep60 = 5 meter
      """
      Sample 60.
      """

    WaitDepUndulationCommon = 5.0 minute
      """
      Value common to all samples unless set differently: Wait duration for
      the depth undulation to damp down.
      """

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

    WaitDepUndulation2 = NaN minute
      """
      Sample 2.
      """

    WaitDepUndulation3 = NaN minute
      """
      Sample 3.
      """

    WaitDepUndulation4 = NaN minute
      """
      Sample 4.
      """

    WaitDepUndulation5 = NaN minute
      """
      Sample 5.
      """

    WaitDepUndulation6 = NaN minute
      """
      Sample 6.
      """

    WaitDepUndulation7 = NaN minute
      """
      Sample 7.
      """

    WaitDepUndulation8 = NaN minute
      """
      Sample 8.
      """

    WaitDepUndulation9 = NaN minute
      """
      Sample 9.
      """

    WaitDepUndulation10 = NaN minute
      """
      Sample 10.
      """

    WaitDepUndulation11 = NaN minute
      """
      Sample 11.
      """

    WaitDepUndulation12 = NaN minute
      """
      Sample 12.
      """

    WaitDepUndulation13 = NaN minute
      """
      Sample 13.
      """

    WaitDepUndulation14 = NaN minute
      """
      Sample 14.
      """

    WaitDepUndulation15 = NaN minute
      """
      Sample 15.
      """

    WaitDepUndulation16 = NaN minute
      """
      Sample 16.
      """

    WaitDepUndulation17 = NaN minute
      """
      Sample 17.
      """

    WaitDepUndulation18 = NaN minute
      """
      Sample 18.
      """

    WaitDepUndulation19 = NaN minute
      """
      Sample 19.
      """

    WaitDepUndulation20 = NaN minute
      """
      Sample 20.
      """

    WaitDepUndulation21 = NaN minute
      """
      Sample 21.
      """

    WaitDepUndulation22 = NaN minute
      """
      Sample 22.
      """

    WaitDepUndulation23 = NaN minute
      """
      Sample 23.
      """

    WaitDepUndulation24 = NaN minute
      """
      Sample 24.
      """

    WaitDepUndulation25 = NaN minute
      """
      Sample 25.
      """

    WaitDepUndulation26 = NaN minute
      """
      Sample 26.
      """

    WaitDepUndulation27 = NaN minute
      """
      Sample 27.
      """

    WaitDepUndulation28 = NaN minute
      """
      Sample 28.
      """

    WaitDepUndulation29 = NaN minute
      """
      Sample 29.
      """

    WaitDepUndulation30 = NaN minute
      """
      Sample 30.
      """

    WaitDepUndulation31 = NaN minute
      """
      Sample 31.
      """

    WaitDepUndulation32 = NaN minute
      """
      Sample 32.
      """

    WaitDepUndulation33 = NaN minute
      """
      Sample 33.
      """

    WaitDepUndulation34 = NaN minute
      """
      Sample 34.
      """

    WaitDepUndulation35 = NaN minute
      """
      Sample 35.
      """

    WaitDepUndulation36 = NaN minute
      """
      Sample 36.
      """

    WaitDepUndulation37 = NaN minute
      """
      Sample 37.
      """

    WaitDepUndulation38 = NaN minute
      """
      Sample 38.
      """

    WaitDepUndulation39 = NaN minute
      """
      Sample 39.
      """

    WaitDepUndulation40 = NaN minute
      """
      Sample 40.
      """

    WaitDepUndulation41 = NaN minute
      """
      Sample 41.
      """

    WaitDepUndulation42 = NaN minute
      """
      Sample 42.
      """

    WaitDepUndulation43 = NaN minute
      """
      Sample 43.
      """

    WaitDepUndulation44 = NaN minute
      """
      Sample 44.
      """

    WaitDepUndulation45 = NaN minute
      """
      Sample 45.
      """

    WaitDepUndulation46 = NaN minute
      """
      Sample 46.
      """

    WaitDepUndulation47 = NaN minute
      """
      Sample 47.
      """

    WaitDepUndulation48 = NaN minute
      """
      Sample 48.
      """

    WaitDepUndulation49 = NaN minute
      """
      Sample 49.
      """

    WaitDepUndulation50 = NaN minute
      """
      Sample 50.
      """

    WaitDepUndulation51 = NaN minute
      """
      Sample 51.
      """

    WaitDepUndulation52 = NaN minute
      """
      Sample 52.
      """

    WaitDepUndulation53 = NaN minute
      """
      Sample 53.
      """

    WaitDepUndulation54 = NaN minute
      """
      Sample 54.
      """

    WaitDepUndulation55 = NaN minute
      """
      Sample 55.
      """

    WaitDepUndulation56 = NaN minute
      """
      Sample 56.
      """

    WaitDepUndulation57 = NaN minute
      """
      Sample 57.
      """

    WaitDepUndulation58 = NaN minute
      """
      Sample 58.
      """

    WaitDepUndulation59 = NaN minute
      """
      Sample 59.
      """

    WaitDepUndulation60 = NaN minute
      """
      Sample 60.
      """

    # You probably do not need to change these.

    UseCANONSampler = Science:CANONSampler.loadAtStartup
      """
      Whether to use CANON Sampler to sample.
      """

    UseESP = Science:ESPComponent.loadAtStartup
      """
      Whether to use ESP to sample.
      """

    CANONSamplerTriggerTimeout = 1 minute
      """
      How long to wait for a CANON Sampler sample to start.
      """

    CANONSamplerTimeout = Science:CANONSampler.sampleTimeout
      """
      How long to wait for a CANON Sampler sample to complete.
      """

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

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

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

    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
      """
  }

  output {
    # Internal variables that you do not need to change

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

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

    CartridgeType = -10 count
      """
      Cartridge type. Initialized to -10.
      """

    CartridgeTypeIndividual = -10 count
      """
      Initialized to -10.
      """

    DepthSet = 10.0 meter
      """
      Depth for sampling. Initialized to 10 m.
      """

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

    DepIndividual = NaN meter
      """
      Initialized to NaN.
      """

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

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

    SampleOptionsSet = false
      """
      Sample settings 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.
      """

    DepthLogged = 0.0 meter
      """

      """

    TempLogged = 0.0 celsius
      """

      """

    ChlLogged = 0.0 microgram_per_liter
      """

      """

    FlagTargetDepthSet = false
      """
      Flag of target depth having been set. Initialized to false.
      """

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

    CntSamples = 0 count
      """
      Count of water samples (initilized to 0).
      """
  }

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

  timeout duration=MissionTimeout

  # Missions should almost always start with standard safety envelopes

  behavior Sample:AbortSample {
    run in parallel
  }

  insert Insert/StandardEnvelopes.xml


  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

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



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



  insert Insert/Science.xml {
    """
    Most missions will run the science sensors. If you don't place this
    aggregate above NeedComms, science instruments get turned off on the
    last upcast and while floating on the surface.
    """
  }



  insert Insert/NeedComms.xml id="NeedComms"


  assign in parallel Control:VerticalControl.maxBuoyDiveAccel = BuoyDiveAccel

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

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

  behavior Guidance:AltitudeEnvelope {
    """
    Another altitude envelope for the YoYo behavior. This envelope
    should fall within the limits of the standard safety envelopes in
    Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
    angles for bottom-terminated YoYos.
    """
    run in parallel
    set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude
    set Guidance:AltitudeEnvelope.upPitch = YoYoUpPitch
  }

  aggregate SetSampleOptions {
    run when (
      called
    )

    aggregate SettingCartridgeTypeIndividual {
      run in sequence

      break if (
        isNaN ( CartridgeTypeIndividual )
        or ( not ( UseESP ) )
      )

      assign in sequence CartridgeType = CartridgeTypeIndividual
    }

    aggregate SettingCartridgeTypeCommon {
      run in sequence

      break if (
        not ( isNaN ( CartridgeTypeIndividual ) )
        or ( not ( UseESP ) )
      )

      assign in sequence CartridgeType = CartridgeTypeCommon
    }

    aggregate SettingDepIndividual {
      run in sequence

      break if (
        isNaN ( DepIndividual )
      )

      assign in sequence DepthDesignated = DepIndividual
    }

    aggregate SettingDepCommon {
      run in sequence

      break if (
        not ( isNaN ( DepIndividual ) )
      )

      assign in sequence DepthDesignated = DepCommon
    }

    aggregate SettingWaitIndividual {
      run in sequence

      break if (
        isNaN ( WaitDepUndulationIndividual )
      )

      assign in sequence WaitDepthUndulation = WaitDepUndulationIndividual
    }

    aggregate SettingWaitCommon {
      run in sequence

      break if (
        not ( isNaN ( WaitDepUndulationIndividual ) )
      )

      assign in sequence WaitDepthUndulation = WaitDepUndulationCommon
    }

    syslog important "Set CartridgeType (if ESP), DepthDesignated, WaitDepthUndulation to "
         + CartridgeType ~ count
         + ", "
         + DepthDesignated ~ meter
         + ", "
         + WaitDepthUndulation ~ minute
         + "."
  }

  aggregate MissionStart {
    run in sequence

    call id="MissionStartComms" refId="NeedComms"

    assign in sequence ElapsedSinceStartOrLastSample = 0 hour
  }

  aggregate GoToLocationToSample {
    run in sequence repeat=NumSamplers

    break if (
      CntSamples > NumSamplers
    )

    assign in sequence CntSamples = CntSamples + 1 count

    assign in sequence SampleOptionsSet = false

    assign in sequence SampleCompleted = false

    aggregate GoToSamplingLocation {
      run in sequence

      break if (
        FlagSamplingOngoing
      )

      aggregate YoYo {
        run in sequence

        break if (
          LevelRunToSamplingLocation
        )

        call id="TransitStartComms" refId="NeedComms"

        assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransit

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

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

        behavior Guidance:YoYo {
          run in parallel
          set Guidance:YoYo.downPitch = YoYoDownPitch
          set Guidance:YoYo.upPitch = YoYoUpPitch
        }

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

        behavior Guidance:Waypoint {
          run in sequence
          set Guidance:Waypoint.latitude = LatSampling
          set Guidance:Waypoint.longitude = LonSampling
        }

        assign in sequence NeedComms:DiveInterval = MissionTimeout
      }

      aggregate LevelRun {
        run in sequence

        break if (
          not ( LevelRunToSamplingLocation )
        )

        call id="TransitStartComms" refId="NeedComms"

        assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransit

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

        behavior Guidance:Mass {
          run in parallel
          set Guidance:Mass.position = MassDefault
        }

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

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

        behavior Guidance:Waypoint {
          run in sequence
          set Guidance:Waypoint.latitude = LatSampling
          set Guidance:Waypoint.longitude = LonSampling
        }

        assign in sequence NeedComms:DiveInterval = MissionTimeout
      }
    }

    aggregate SettingsInSpiralMode {
      run in sequence

      run when (
        SpeedSampling > 0.0 meter_per_second
      )

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

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

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

    aggregate SettingsInDriftMode {
      run in sequence

      run when (
        not ( SpeedSampling > 0.0 meter_per_second )
      )

      behavior Guidance:SetSpeed {
        run in parallel
        set Guidance:SetSpeed.speed = 0.0 meter_per_second
      }

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

    aggregate NoFiringForTooLong {
      run in sequence

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

      assign in sequence ElapsedTime = elapsed ( ElapsedSinceStartOrLastSample )

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

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

      assign in sequence StoppedForNoFiringForTooLong = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType1

      assign in sequence DepIndividual = Dep1

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation1

      call id="SetOptionsForSample1" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType2

      assign in sequence DepIndividual = Dep2

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation2

      call id="SetOptionsForSample2" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType3

      assign in sequence DepIndividual = Dep3

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation3

      call id="SetOptionsForSample3" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType4

      assign in sequence DepIndividual = Dep4

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation4

      call id="SetOptionsForSample4" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType5

      assign in sequence DepIndividual = Dep5

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation5

      call id="SetOptionsForSample5" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType6

      assign in sequence DepIndividual = Dep6

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation6

      call id="SetOptionsForSample6" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType7

      assign in sequence DepIndividual = Dep7

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation7

      call id="SetOptionsForSample7" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType8

      assign in sequence DepIndividual = Dep8

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation8

      call id="SetOptionsForSample8" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType9

      assign in sequence DepIndividual = Dep9

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation9

      call id="SetOptionsForSample9" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType10

      assign in sequence DepIndividual = Dep10

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation10

      call id="SetOptionsForSample10" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType11

      assign in sequence DepIndividual = Dep11

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation11

      call id="SetOptionsForSample11" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType12

      assign in sequence DepIndividual = Dep12

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation12

      call id="SetOptionsForSample12" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType13

      assign in sequence DepIndividual = Dep13

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation13

      call id="SetOptionsForSample13" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType14

      assign in sequence DepIndividual = Dep14

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation14

      call id="SetOptionsForSample14" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType15

      assign in sequence DepIndividual = Dep15

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation15

      call id="SetOptionsForSample15" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType16

      assign in sequence DepIndividual = Dep16

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation16

      call id="SetOptionsForSample16" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType17

      assign in sequence DepIndividual = Dep17

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation17

      call id="SetOptionsForSample17" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType18

      assign in sequence DepIndividual = Dep18

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation18

      call id="SetOptionsForSample18" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType19

      assign in sequence DepIndividual = Dep19

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation19

      call id="SetOptionsForSample19" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType20

      assign in sequence DepIndividual = Dep20

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation20

      call id="SetOptionsForSample20" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType21

      assign in sequence DepIndividual = Dep21

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation21

      call id="SetOptionsForSample21" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType22

      assign in sequence DepIndividual = Dep22

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation22

      call id="SetOptionsForSample22" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType23

      assign in sequence DepIndividual = Dep23

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation23

      call id="SetOptionsForSample23" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType24

      assign in sequence DepIndividual = Dep24

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation24

      call id="SetOptionsForSample24" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType25

      assign in sequence DepIndividual = Dep25

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation25

      call id="SetOptionsForSample25" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType26

      assign in sequence DepIndividual = Dep26

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation26

      call id="SetOptionsForSample26" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType27

      assign in sequence DepIndividual = Dep27

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation27

      call id="SetOptionsForSample27" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType28

      assign in sequence DepIndividual = Dep28

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation28

      call id="SetOptionsForSample28" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType29

      assign in sequence DepIndividual = Dep29

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation29

      call id="SetOptionsForSample29" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType30

      assign in sequence DepIndividual = Dep30

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation30

      call id="SetOptionsForSample30" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType31

      assign in sequence DepIndividual = Dep31

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation31

      call id="SetOptionsForSample31" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType32

      assign in sequence DepIndividual = Dep32

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation32

      call id="SetOptionsForSample32" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType33

      assign in sequence DepIndividual = Dep33

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation33

      call id="SetOptionsForSample33" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType34

      assign in sequence DepIndividual = Dep34

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation34

      call id="SetOptionsForSample34" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType35

      assign in sequence DepIndividual = Dep35

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation35

      call id="SetOptionsForSample35" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType36

      assign in sequence DepIndividual = Dep36

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation36

      call id="SetOptionsForSample36" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType37

      assign in sequence DepIndividual = Dep37

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation37

      call id="SetOptionsForSample37" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType38

      assign in sequence DepIndividual = Dep38

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation38

      call id="SetOptionsForSample38" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType39

      assign in sequence DepIndividual = Dep39

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation39

      call id="SetOptionsForSample39" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType40

      assign in sequence DepIndividual = Dep40

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation40

      call id="SetOptionsForSample40" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType41

      assign in sequence DepIndividual = Dep41

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation41

      call id="SetOptionsForSample41" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType42

      assign in sequence DepIndividual = Dep42

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation42

      call id="SetOptionsForSample42" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType43

      assign in sequence DepIndividual = Dep43

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation43

      call id="SetOptionsForSample43" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType44

      assign in sequence DepIndividual = Dep44

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation44

      call id="SetOptionsForSample44" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType45

      assign in sequence DepIndividual = Dep45

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation45

      call id="SetOptionsForSample45" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType46

      assign in sequence DepIndividual = Dep46

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation46

      call id="SetOptionsForSample46" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType47

      assign in sequence DepIndividual = Dep47

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation47

      call id="SetOptionsForSample47" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType48

      assign in sequence DepIndividual = Dep48

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation48

      call id="SetOptionsForSample48" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType49

      assign in sequence DepIndividual = Dep49

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation49

      call id="SetOptionsForSample49" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType50

      assign in sequence DepIndividual = Dep50

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation50

      call id="SetOptionsForSample50" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType51

      assign in sequence DepIndividual = Dep51

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation51

      call id="SetOptionsForSample51" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType52

      assign in sequence DepIndividual = Dep52

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation52

      call id="SetOptionsForSample52" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType53

      assign in sequence DepIndividual = Dep53

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation53

      call id="SetOptionsForSample53" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType54

      assign in sequence DepIndividual = Dep54

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation54

      call id="SetOptionsForSample54" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType55

      assign in sequence DepIndividual = Dep55

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation55

      call id="SetOptionsForSample55" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType56

      assign in sequence DepIndividual = Dep56

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation56

      call id="SetOptionsForSample56" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType57

      assign in sequence DepIndividual = Dep57

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation57

      call id="SetOptionsForSample57" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType58

      assign in sequence DepIndividual = Dep58

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation58

      call id="SetOptionsForSample58" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType59

      assign in sequence DepIndividual = Dep59

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation59

      call id="SetOptionsForSample59" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

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

      assign in sequence CartridgeTypeIndividual = CartridgeType60

      assign in sequence DepIndividual = Dep60

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation60

      call id="SetOptionsForSample60" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetFiringDepthAbsolute {
      run in sequence

      run when (
        SampleOptionsSet
        and ( not ( isNaN ( DepthDesignated ) ) )
        and ( not ( FlagTargetDepthSet ) )
      )

      assign in sequence DepthSet = DepthDesignated

      assign in sequence FlagTargetDepthSet = true
    }

    aggregate FiringOnDepth {
      run in sequence

      break if (
        not ( FlagTargetDepthSet )
        or ( not ( CntSamples <= NumSamplers ) )
      )

      assign in sequence SampleAtDepth:TargetDepth = DepthSet

      assign in sequence SampleAtDepth:SettleTime = WaitDepthUndulation

      assign in sequence FlagSamplingOngoing = true

      syslog important "DepthSet = "
           + DepthSet ~ meter

      syslog important "Taking sample No."
           + CntSamples ~ count
           + ". Target depth = "
           + DepthSet ~ meter
           + "."

      syslog important "If ESP, requesting ESP cartridge type:"
           + CartridgeType ~ count

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour

      aggregate TriggerOnDepth {
        run in sequence

        break if (
          UseESP
          and ( isNaN ( CartridgeType ) )
        )

        assign in sequence SampleAtDepth:ESPCartridgeType = CartridgeType

        call id="Sampling" refId="SampleAtDepth"

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

        assign in sequence ElapsedSinceStartOrLastSample = 0 hour

        assign in sequence FlagSamplingOngoing = false

        assign in sequence SampleCompleted = true

        # Don't move the following line

        assign in sequence SampleOptionsSet = false

        assign in sequence FlagTargetDepthSet = false
      }
    }

    aggregate Surfacing {
      run in sequence

      break if (
        not (
          SampleCompleted
          and ( CntSamples == NumSamplers )
        )
      )

      call id="AllSamplesDoneGoToSurface" refId="NeedComms"
    }
  }
}

Source XML

<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control" 
       xmlns:Derivation="Tethys/Derivation" 
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"       
       xmlns:Science="Tethys/Science"
       xmlns:Sample="Tethys/Sample"
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Sample http://okeanids.mbari.org/tethys/Xml/Sample.xsd
                           Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="LocationDepthSampling">

<!-- Almost every mission should start with an overall timeout and a NeedCommsTime. Drift Missions will have an acoustic timeout instead of a NeedCommsTime. -->

<!-- You probably need to change these. -->

    <DefineArg Name="NumSamplers"><Description>
        Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0
        to disable sampling.
    </Description><Units:count/><Value>1</Value></DefineArg>

<!--debug    
    </Description><Units:count/><Value>3</Value></DefineArg>
-->

    <DefineArg Name="StartIndex"><Description>
        Start index in ESP settings. If re-running mission, can skip settings of
        already-completed samples. Default is 1 (no skipping).
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="CANONSamplerRotateOnly"><Units:bool/><Value>0</Value></DefineArg>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>168</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeInTransit"><Description>
        In transit, how often to surface for commumications
    </Description><Units:minute/><Value>60</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>240</Value></DefineArg>

    <DefineArg Name="MaxWaitNoFiring"><Description>
        If no firing after more than MaxWaitNoFiring, terminate mission.
<!--debug
    </Description><Units:hour/><Value>4</Value></DefineArg>
-->
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="MaxWaitNotAchievingDepth"><Description>
        Maximum wait time the vehicle cannot reach the targeted depth.
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="LevelRunToSamplingLocation"><Description>
        Whether the vehicle flies at a constant depth to the sampling location.
    </Description><True/></DefineArg>

    <DefineArg Name="DepthLevelRunToSamplingDepth"><Description>
        Level run depth (if flying at a constant depth to the sampling
        location).
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="SpeedTransit"><Description>
        Vehicle speed when transiting.
    </Description><Units:meter_per_second/><Value>1.0</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="RudderAngleDonutSampling"><Description>
        Rudder angle during donut sampling.
    </Description><Units:degree/><Value>13</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>160</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="TransitYoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="TransitYoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>9</Value></DefineArg>

    <DefineArg Name="LatSampling"><Description>
        Latitude of sampling location.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>36.815</Value></DefineArg>
    </Description><Units:degree/><Value>36.810</Value></DefineArg>
-->

    <DefineArg Name="LonSampling"><Description>
        Longitude of sampling location.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>-121.835</Value></DefineArg>
    </Description><Units:degree/><Value>-121.825</Value></DefineArg>
-->

    <DefineArg Name="CartridgeTypeCommon"><Description>
        Value common to all samples unless set diffently: cartridge type.
<!--debug
    </Description><Units:count/><Value>NaN</Value></DefineArg>
-->
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType1"><Description>
        Sample 1. Cartridge type.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType2"><Description>
        Sample 2.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType3"><Description>
        Sample 3.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType4"><Description>
        Sample 4.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType5"><Description>
        Sample 5.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType6"><Description>
        Sample 6.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType7"><Description>
        Sample 7.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType8"><Description>
        Sample 8.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType9"><Description>
        Sample 9.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType10"><Description>
        Sample 10.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType11"><Description>
        Sample 11.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType12"><Description>
        Sample 12.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType13"><Description>
        Sample 13.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType14"><Description>
        Sample 14.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType15"><Description>
        Sample 15.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType16"><Description>
        Sample 16.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType17"><Description>
        Sample 17.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType18"><Description>
        Sample 18.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType19"><Description>
        Sample 19.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType20"><Description>
        Sample 20.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType21"><Description>
        Sample 21.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType22"><Description>
        Sample 22.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType23"><Description>
        Sample 23.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType24"><Description>
        Sample 24.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType25"><Description>
        Sample 25.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType26"><Description>
        Sample 26.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType27"><Description>
        Sample 27.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType28"><Description>
        Sample 28.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType29"><Description>
        Sample 29.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType30"><Description>
        Sample 30.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType31"><Description>
        Sample 31.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType32"><Description>
        Sample 32.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType33"><Description>
        Sample 33.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType34"><Description>
        Sample 34.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType35"><Description>
        Sample 35.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType36"><Description>
        Sample 36.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType37"><Description>
        Sample 37.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType38"><Description>
        Sample 38.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType39"><Description>
        Sample 39.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType40"><Description>
        Sample 40.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType41"><Description>
        Sample 41.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType42"><Description>
        Sample 42.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType43"><Description>
        Sample 43.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType44"><Description>
        Sample 44.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType45"><Description>
        Sample 45.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType46"><Description>
        Sample 46.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType47"><Description>
        Sample 47.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType48"><Description>
        Sample 48.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType49"><Description>
        Sample 49.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType50"><Description>
        Sample 50.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType51"><Description>
        Sample 51.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType52"><Description>
        Sample 52.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType53"><Description>
        Sample 53.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType54"><Description>
        Sample 54.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType55"><Description>
        Sample 55.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType56"><Description>
        Sample 56.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType57"><Description>
        Sample 57.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType58"><Description>
        Sample 58.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType59"><Description>
        Sample 59.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CartridgeType60"><Description>
        Sample 60.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepCommon"><Description>
        Value common to all samples unless set diffently: Pre-designated depth.
        If NaN, will use vertical distance from chl-peak depth.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep1"><Description>
        Sample 1. Pre-designated depth. If NaN, will use vertical distance from
        chl-peak depth.
<!--debug   
    </Description><Units:meter/><Value>150</Value></DefineArg>
-->
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Dep2"><Description>
        Sample 2.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep3"><Description>
        Sample 3.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep4"><Description>
        Sample 4.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep5"><Description>
        Sample 5.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep6"><Description>
        Sample 6.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep7"><Description>
        Sample 7.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep8"><Description>
        Sample 8.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep9"><Description>
        Sample 9.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep10"><Description>
        Sample 10.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep11"><Description>
        Sample 11.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep12"><Description>
        Sample 12.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep13"><Description>
        Sample 13.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep14"><Description>
        Sample 14.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep15"><Description>
        Sample 15.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep16"><Description>
        Sample 16.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep17"><Description>
        Sample 17.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep18"><Description>
        Sample 18.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep19"><Description>
        Sample 19.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep20"><Description>
        Sample 20.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep21"><Description>
        Sample 21.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep22"><Description>
        Sample 22.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep23"><Description>
        Sample 23.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep24"><Description>
        Sample 24.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep25"><Description>
        Sample 25.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep26"><Description>
        Sample 26.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep27"><Description>
        Sample 27.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep28"><Description>
        Sample 28.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep29"><Description>
        Sample 29.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep30"><Description>
        Sample 30.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep31"><Description>
        Sample 31.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep32"><Description>
        Sample 32.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep33"><Description>
        Sample 33.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep34"><Description>
        Sample 34.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep35"><Description>
        Sample 35.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep36"><Description>
        Sample 36.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep37"><Description>
        Sample 37.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep38"><Description>
        Sample 38.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep39"><Description>
        Sample 39.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep40"><Description>
        Sample 40.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep41"><Description>
        Sample 41.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep42"><Description>
        Sample 42.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep43"><Description>
        Sample 43.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep44"><Description>
        Sample 44.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep45"><Description>
        Sample 45.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep46"><Description>
        Sample 46.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep47"><Description>
        Sample 47.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep48"><Description>
        Sample 48.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep49"><Description>
        Sample 49.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep50"><Description>
        Sample 50.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep51"><Description>
        Sample 51.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep52"><Description>
        Sample 52.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep53"><Description>
        Sample 53.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep54"><Description>
        Sample 54.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep55"><Description>
        Sample 55.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep56"><Description>
        Sample 56.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep57"><Description>
        Sample 57.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep58"><Description>
        Sample 58.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep59"><Description>
        Sample 59.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep60"><Description>
        Sample 60.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="WaitDepUndulationCommon"><Description>
        Value common to all samples unless set differently: Wait duration for
        the depth undulation to damp down.
    </Description><Units:minute/><Value>5.0</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

<!-- You probably do not need to change these. -->

    <DefineArg Name="UseCANONSampler"><Description>
        Whether to use CANON Sampler to sample.
    </Description><Science:CANONSampler.loadAtStartup/></DefineArg>

    <DefineArg Name="UseESP"><Description>
        Whether to use ESP to sample.
    </Description><Science:ESPComponent.loadAtStartup/></DefineArg>

    <DefineArg Name="CANONSamplerTriggerTimeout"><Description>
        How long to wait for a CANON Sampler sample to start.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="CANONSamplerTimeout"><Description>
        How long to wait for a CANON Sampler sample to complete.
    </Description><Science:CANONSampler.sampleTimeout/></DefineArg>

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

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

    <DefineArg Name="BuoyDiveAccel"><Description>
        In buoyancy-only mode, maxBuoyDiveAccel needs to be set at least an
        order of magnitude higher than that in Control.cfg.
    </Description><Units:meter_per_second_squared/><Value>0.0025</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 do not need to change -->

    <DefineOutput Name="ElapsedSinceStartOrLastSample"><Description>
        The mission sets this variable to reset the sample timer.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

    <DefineOutput Name="ElapsedTime"><Description>
        Only for syslog.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

    <DefineOutput Name="CartridgeType"><Description>
        Cartridge type. Initialized to -10.
    </Description><Units:count/><Value>-10</Value></DefineOutput>

    <DefineOutput Name="CartridgeTypeIndividual"><Description>
        Initialized to -10.
    </Description><Units:count/><Value>-10</Value></DefineOutput>

    <DefineOutput Name="DepthSet"><Description>
        Depth for sampling. Initialized to 10 m.
    </Description><Units:meter/><Value>10.0</Value></DefineOutput>

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

    <DefineOutput Name="DepIndividual"><Description>
        Initialized to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineOutput>

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

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

    <DefineOutput Name="SampleOptionsSet"><Description>
        Sample settings already set. Initialized to false.
    </Description><False/></DefineOutput>

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

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

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

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

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

    <DefineOutput Name="FlagTargetDepthSet"><Description>
        Flag of target depth having been set. Initialized to false.
    </Description><False/></DefineOutput>

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

    <DefineOutput Name="CntSamples"><Description>
        Count of water samples (initilized to 0).
    </Description><Units:count/><Value>0</Value></DefineOutput>

<!-- Missions should almost always start with a timeout and a NeedComms aggregate. Drift missions will not use NeedComms. -->

    <Timeout Duration="MissionTimeout"/>

<!-- Missions should almost always start with standard safety envelopes -->

    <Sample:AbortSample>
        <Parallel/>
    </Sample:AbortSample>

    <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>

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

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

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description>
    </Insert>

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

    <Assign><Parallel/><Control:VerticalControl.maxBuoyDiveAccel/><Arg Name="BuoyDiveAccel"/></Assign>

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

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

    <Guidance:AltitudeEnvelope>
        <Description>
            Another altitude envelope for the YoYo behavior. This envelope
            should fall within the limits of the standard safety envelopes in
            Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
            angles for bottom-terminated YoYos.
        </Description>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
        <Setting><Guidance:AltitudeEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Aggregate Id="SetSampleOptions">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SettingCartridgeTypeIndividual">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="CartridgeTypeIndividual"/>
                </IsNaN>
                <Or><Not><Arg Name="UseESP"/></Not></Or>
            </Break>

            <Assign><Sequence/><Arg Name="CartridgeType"/><Arg Name="CartridgeTypeIndividual"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingCartridgeTypeCommon">

            <Sequence/>

            <Break>
                <Not><IsNaN><Arg Name="CartridgeTypeIndividual"/>
                </IsNaN></Not>
                <Or><Not><Arg Name="UseESP"/></Not></Or>
            </Break>

            <Assign><Sequence/><Arg Name="CartridgeType"/><Arg Name="CartridgeTypeCommon"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingDepIndividual">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="DepthDesignated"/><Arg Name="DepIndividual"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingDepCommon">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="DepthDesignated"/><Arg Name="DepCommon"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingWaitIndividual">

            <Sequence/>

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

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

        </Aggregate>

        <Aggregate Id="SettingWaitCommon">

            <Sequence/>

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

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

        </Aggregate>

        <Syslog Severity="Important">Set CartridgeType (if ESP), DepthDesignated, WaitDepthUndulation to <Arg Name="CartridgeType"/><Units:count/>, <Arg Name="DepthDesignated"/><Units:meter/>, <Arg Name="WaitDepthUndulation"/><Units:minute/>.</Syslog>

    </Aggregate>

    <Aggregate Id="MissionStart">

        <Sequence/>

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

        <Assign><Sequence/><Arg Name="ElapsedSinceStartOrLastSample"/><Units:hour/><Value>0</Value></Assign>

    </Aggregate>

    <Aggregate Id="GoToLocationToSample">

        <Sequence Repeat="NumSamplers"/>

        <Break><Arg Name="CntSamples"/>
            <Gt><Arg Name="NumSamplers"/></Gt>
        </Break>

        <Assign><Sequence/><Arg Name="CntSamples"/><Arg Name="CntSamples"/><Add><Units:count/> <Value>1</Value></Add></Assign>

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

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

        <Aggregate Id="GoToSamplingLocation">

            <Sequence/>

            <Break><Arg Name="FlagSamplingOngoing"/>
            </Break>

            <Aggregate Id="YoYo">

                <Sequence/>

                <Break><Arg Name="LevelRunToSamplingLocation"/>
                </Break>

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

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

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

                <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="YoYoDownPitch"/></Setting>
                    <Setting><Guidance:DepthEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
                </Guidance:DepthEnvelope>

                <Guidance:YoYo>
                    <Parallel/>
                    <Setting><Guidance:YoYo.downPitch/><Arg Name="YoYoDownPitch"/></Setting>
                    <Setting><Guidance:YoYo.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
                </Guidance:YoYo>

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

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="LatSampling"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="LonSampling"/></Setting>
                </Guidance:Waypoint>

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

            </Aggregate>

            <Aggregate Id="LevelRun">

                <Sequence/>

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

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

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

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

                <Guidance:Mass>
                    <Parallel/>
                    <Setting><Guidance:Mass.position/><Arg Name="MassDefault"/></Setting>
                </Guidance:Mass>

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

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

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="LatSampling"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="LonSampling"/></Setting>
                </Guidance:Waypoint>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="SettingsInSpiralMode">

            <Sequence/>

            <When>
                <Arg Name="SpeedSampling"/>
                <Gt><Units:meter_per_second/><Value>0.0</Value></Gt>
            </When>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Arg Name="SpeedSampling"/></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="RudderAngleDonutSampling"/></Setting>
            </Guidance:Point>

        </Aggregate>

        <Aggregate Id="SettingsInDriftMode">

            <Sequence/>

            <When>
                <Not><Arg Name="SpeedSampling"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></Not>
            </When>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.0</Value></Setting>
            </Guidance:SetSpeed>

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

        </Aggregate>

        <Aggregate Id="NoFiringForTooLong">

            <Sequence/>

            <When>
                <Elapsed><Arg Name="ElapsedSinceStartOrLastSample"/></Elapsed>
                <Gt><Arg Name="MaxWaitNoFiring"/></Gt>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Not><Arg Name="StoppedForNoFiringForTooLong"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="ElapsedTime"/><Elapsed><Arg Name="ElapsedSinceStartOrLastSample"/></Elapsed></Assign>

            <Syslog Severity="Important">No firing for too long. Stopping mission. ElapsedTime, MaxWaitNoFiring = <Arg Name="ElapsedTime"/><Units:minute/>, <Arg Name="MaxWaitNoFiring"/><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>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType1"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep1"/></Assign>

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

            <Call Id="SetOptionsForSample1" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample2">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType2"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep2"/></Assign>

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

            <Call Id="SetOptionsForSample2" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample3">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType3"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep3"/></Assign>

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

            <Call Id="SetOptionsForSample3" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample4">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType4"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep4"/></Assign>

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

            <Call Id="SetOptionsForSample4" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample5">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType5"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep5"/></Assign>

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

            <Call Id="SetOptionsForSample5" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample6">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType6"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep6"/></Assign>

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

            <Call Id="SetOptionsForSample6" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample7">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType7"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep7"/></Assign>

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

            <Call Id="SetOptionsForSample7" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample8">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType8"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep8"/></Assign>

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

            <Call Id="SetOptionsForSample8" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample9">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType9"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep9"/></Assign>

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

            <Call Id="SetOptionsForSample9" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample10">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType10"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep10"/></Assign>

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

            <Call Id="SetOptionsForSample10" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample11">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType11"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep11"/></Assign>

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

            <Call Id="SetOptionsForSample11" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample12">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType12"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep12"/></Assign>

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

            <Call Id="SetOptionsForSample12" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample13">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

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

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType13"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep13"/></Assign>

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

            <Call Id="SetOptionsForSample13" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample14">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>14</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType14"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep14"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation14"/></Assign>

            <Call Id="SetOptionsForSample14" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample15">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>15</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType15"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep15"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation15"/></Assign>

            <Call Id="SetOptionsForSample15" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample16">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>16</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType16"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep16"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation16"/></Assign>

            <Call Id="SetOptionsForSample16" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample17">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>17</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType17"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep17"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation17"/></Assign>

            <Call Id="SetOptionsForSample17" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample18">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>18</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType18"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep18"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation18"/></Assign>

            <Call Id="SetOptionsForSample18" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample19">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>19</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType19"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep19"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation19"/></Assign>

            <Call Id="SetOptionsForSample19" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample20">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>20</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType20"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep20"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation20"/></Assign>

            <Call Id="SetOptionsForSample20" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample21">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>21</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType21"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep21"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation21"/></Assign>

            <Call Id="SetOptionsForSample21" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample22">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>22</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType22"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep22"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation22"/></Assign>

            <Call Id="SetOptionsForSample22" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample23">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>23</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType23"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep23"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation23"/></Assign>

            <Call Id="SetOptionsForSample23" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample24">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>24</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType24"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep24"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation24"/></Assign>

            <Call Id="SetOptionsForSample24" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample25">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>25</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType25"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep25"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation25"/></Assign>

            <Call Id="SetOptionsForSample25" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample26">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>26</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType26"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep26"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation26"/></Assign>

            <Call Id="SetOptionsForSample26" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample27">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>27</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType27"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep27"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation27"/></Assign>

            <Call Id="SetOptionsForSample27" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample28">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>28</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType28"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep28"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation28"/></Assign>

            <Call Id="SetOptionsForSample28" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample29">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>29</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType29"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep29"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation29"/></Assign>

            <Call Id="SetOptionsForSample29" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample30">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>30</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType30"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep30"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation30"/></Assign>

            <Call Id="SetOptionsForSample30" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample31">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>31</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType31"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep31"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation31"/></Assign>

            <Call Id="SetOptionsForSample31" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample32">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>32</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType32"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep32"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation32"/></Assign>

            <Call Id="SetOptionsForSample32" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample33">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>33</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType33"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep33"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation33"/></Assign>

            <Call Id="SetOptionsForSample33" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample34">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>34</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType34"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep34"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation34"/></Assign>

            <Call Id="SetOptionsForSample34" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample35">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>35</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType35"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep35"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation35"/></Assign>

            <Call Id="SetOptionsForSample35" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample36">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>36</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType36"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep36"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation36"/></Assign>

            <Call Id="SetOptionsForSample36" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample37">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>37</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType37"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep37"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation37"/></Assign>

            <Call Id="SetOptionsForSample37" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample38">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>38</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType38"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep38"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation38"/></Assign>

            <Call Id="SetOptionsForSample38" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample39">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>39</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType39"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep39"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation39"/></Assign>

            <Call Id="SetOptionsForSample39" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample40">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>40</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType40"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep40"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation40"/></Assign>

            <Call Id="SetOptionsForSample40" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample41">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>41</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType41"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep41"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation41"/></Assign>

            <Call Id="SetOptionsForSample41" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample42">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>42</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType42"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep42"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation42"/></Assign>

            <Call Id="SetOptionsForSample42" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample43">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>43</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType43"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep43"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation43"/></Assign>

            <Call Id="SetOptionsForSample43" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample44">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>44</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType44"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep44"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation44"/></Assign>

            <Call Id="SetOptionsForSample44" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample45">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>45</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType45"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep45"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation45"/></Assign>

            <Call Id="SetOptionsForSample45" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample46">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>46</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType46"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep46"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation46"/></Assign>

            <Call Id="SetOptionsForSample46" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample47">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>47</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType47"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep47"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation47"/></Assign>

            <Call Id="SetOptionsForSample47" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample48">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>48</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType48"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep48"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation48"/></Assign>

            <Call Id="SetOptionsForSample48" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample49">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>49</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType49"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep49"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation49"/></Assign>

            <Call Id="SetOptionsForSample49" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample50">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>50</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType50"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep50"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation50"/></Assign>

            <Call Id="SetOptionsForSample50" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample51">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>51</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType51"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep51"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation51"/></Assign>

            <Call Id="SetOptionsForSample51" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample52">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>52</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType52"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep52"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation52"/></Assign>

            <Call Id="SetOptionsForSample52" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample53">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>53</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType53"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep53"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation53"/></Assign>

            <Call Id="SetOptionsForSample53" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample54">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>54</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType54"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep54"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation54"/></Assign>

            <Call Id="SetOptionsForSample54" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample55">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>55</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType55"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep55"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation55"/></Assign>

            <Call Id="SetOptionsForSample55" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample56">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>56</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType56"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep56"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation56"/></Assign>

            <Call Id="SetOptionsForSample56" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample57">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>57</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType57"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep57"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation57"/></Assign>

            <Call Id="SetOptionsForSample57" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample58">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>58</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType58"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep58"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation58"/></Assign>

            <Call Id="SetOptionsForSample58" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample59">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>59</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType59"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep59"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation59"/></Assign>

            <Call Id="SetOptionsForSample59" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample60">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>60</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType60"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep60"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation60"/></Assign>

            <Call Id="SetOptionsForSample60" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetFiringDepthAbsolute">

            <Sequence/>

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Not><IsNaN><Arg Name="DepthDesignated"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagTargetDepthSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="DepthDesignated"/></Assign>

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

        </Aggregate>

        <Aggregate Id="FiringOnDepth">

            <Sequence/>

            <Break>
                <Not><Arg Name="FlagTargetDepthSet"/></Not>
                <Or><Not><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></Not></Or>
            </Break>

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

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

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

            <Syslog Severity="Important">DepthSet = <Arg Name="DepthSet"/><Units:meter/></Syslog>

            <Syslog Severity="Important">Taking sample No.<Arg Name="CntSamples"/><Units:count/>. Target depth = <Arg Name="DepthSet"/><Units:meter/>.</Syslog>

            <Syslog Severity="Important">If ESP, requesting ESP cartridge type:<Arg Name="CartridgeType"/><Units:count/></Syslog>

            <Assign><Sequence/><Arg Name="ElapsedSinceStartOrLastSample"/><Units:hour/><Value>0</Value></Assign>

            <Aggregate Id="TriggerOnDepth">

                <Sequence/>

                <Break><Arg Name="UseESP"/>
                    <And><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></And>
                </Break>

                <Assign><Sequence/><Arg Name="SampleAtDepth:ESPCartridgeType"/><Arg Name="CartridgeType"/></Assign>

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

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

                <Assign><Sequence/><Arg Name="ElapsedSinceStartOrLastSample"/><Units:hour/><Value>0</Value></Assign>

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

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

<!-- Don't move the following line -->

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

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Surfacing">

            <Sequence/>

            <Break>
                <Not><Arg Name="SampleCompleted"/><And><Arg Name="CntSamples"/><Eq><Arg Name="NumSamplers"/></Eq></And></Not>
            </Break>

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

        </Aggregate>

    </Aggregate>

</Mission>