Passive acoustic monitoring.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/Engineering/passive_acoustic_monitoring.xml:721:11
     | 
 717 |       aggregate ApproachDepth {
 718 |         run in sequence
 719 | 
 720 |         aggregate ApproachDepthPropellerOn {
 721 |           break if (
     |           ^^^^^
 722 |             not (
 723 |               ApproachSpeedNotFirstTime > 0 meter_per_second
 724 |               or ( Cnt == 1 count )
 725 |             )
     | 
Unexpected: `break`
One of the following is possible:
  """
  arguments
  output
  run
  test_code

Generated TethysL

mission passive_acoustic_monitoring {
  """
  The mission will dive LRAUV to the start/center depth, then hold the
  vehicle at neutral buoyancy/trim with all actuators disengaged. The
  science payload will be powered.
  """

  arguments {
    MissionTimeout = 180 minute
      """
      Maximum duration of mission
      """

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

    SurfacingIntervalDuringListening = 180 minute
      """
      When the listening depth bound is breached and the submergence time has
      surpassed SurfacingIntervalDuringListening, the vehicle will surface.
      """
      # debug
      #     </Description><Units:minute/><Value>30</Value></DefineArg>

    NeedCommsMaxWait = 180 minute
      """
      If the submergence time has surpassed NeedCommsMaxWait, the vehicle must
      surface, to caution against drifting too close to shore during
      submergence. Can set it to a huge number to effectively disable it.
      """

    NeedCommsTimeInTransit = 60 minute
      """
      How often to surface for commumications during transit.
      """

    SkipStartComms = false
      """
      Skip communications at start of mission.
      """

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

    Depth = 30 meter
      """
      Center depth of listening drift.
      """

    SettleTime = 5 minute
      """
      Time to wait after reaching target depth.
      """

    DeepBound = 32 meter
      """
      Deep depth bound of listening drift. Vehicle will return to center depth
      when depth bound is exceeded.
      """

    ShallowBound = 28 meter
      """
      Shallow depth bound of listening drift. Vehicle will return to center
      depth when depth bound is exceeded.
      """

    FactorLooseningDepthBand = 2 count
      """
      When the buoyancy adjustment delta drops to the minimum (meaning the
      vehicle is almost perfectly neutrally buoyant), loosen the depth
      envelope by this factor.
      """

    InitialYoyoToListeningLocation = false
      """
      Initial yoyo transit to the listening location.
      """

    InitialLevelRunToListeningLocation = true
      """
      Initial level run to the listening location.
      """

    YoyoBackToListeningLocation = false
      """
      Yoyo back to the listening location.
      """

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

    LevelRunBackToListeningLocation = true
      """
      Level run back to the listening location.
      """

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

    DepthLevelRunToListeningLocation = 5 meter
      """
      Level run depth to the listening location.
      """
      # debug
      #     </Description><Units:meter/><Value>30</Value></DefineArg>

    SpeedTransit = 1 meter_per_second
      """
      Vehicle speed when transiting.
      """

    ApproachSpeedFirstTime = 1 meter_per_second
      """
      Vehicle thruster speed used to reach center depth for the 1st time.
      """

    ApproachSpeedNotFirstTime = 0 meter_per_second
      """
      Vehicle thruster speed used to reach center depth. Zero means thruster
      off.
      """
      # debug
      #     </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    MinAltitude = 5 meter

    MaxDepth = 50 meter

    MinOffshore = 2 kilometer

    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).
      """

    LatListening = NaN degree
      """
      Nominal latitude of acoustic monitoring.
      """

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

    LonListening = NaN degree
      """
      Nominal longitude of acoustic monitoring.
      """

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

    CheckDepths = 1 bool

    BuoyancyAdjustmentStep = 16 cubic_centimeter
      """
      Initial value of buoyancy adjustment step size. Adjusted during mission.
      """
      # debug
      #     </Description><Units:cubic_centimeter/><Value>64</Value></DefineArg>

    BuoyancyAdjustmentStepMin = 2 cubic_centimeter
      """
      Minimum value of buoyancy adjustment step size.
      """
      # debug
      #     </Description><Units:cubic_centimeter/><Value>32</Value></DefineArg>

    SinkingOrFloatingRateThreshold = 0.002 meter_per_second
      """
      Threshold of depth rate of sinking or floating from the target depth to
      the depth bound being violated. When this threshold is breached, adjust
      the neutral buoyancy.
      """

    # You probably do not need to change these.

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

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

    NeutralBuoyancy = Control:VerticalControl.buoyancyNeutral
      """
      Neutral buoyancy value obtained from the preceding BallastAndTrim test.
      """

    MassDefault = Control:VerticalControl.massDefault
      """
      Static setting for mass during the mission.
      """

    DepthDeadband = 0.1 meter
      """
      How much vertical drift from the specified depth is allowed durnig the
      mission.
      """
  }

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

    SettleSpeed = 1 meter_per_second

    SinkingOrFloatingRate = NaN meter_per_second
      """
      Depth rate of sinking or floating from the target depth to the depth
      bound being violated.
      """

    BuoyancyAdjustmentStepPrevious = NaN cubic_centimeter
      """

      """

    NeutralBuoyancyPrevious = NaN cubic_centimeter
      """

      """

    BuoyancyAdjustmentStepNew = NaN cubic_centimeter
      """

      """

    DeepBoundMinusTargetDepth = NaN meter

    DepthMinusTargetDepth = NaN meter

    TargetDepthMinusShallowBound = NaN meter

    TargetDepthMinusDepth = NaN meter

    TimeTargetDepth = NaN second

    ElapsedSinceSettledAtTargetDepth = NaN second

    ElapsedSinceLastGPSfix = NaN second

    InitialTransitDone = true

    BuoyancyAdjustmentDone = false

    Settled = false

    DeltaReduced = false

    Sinking = false

    SurfacingStarted = false

    ApproachDepthPropOff = false

    DepthBandLoosened = false

    Cnt = 0 count
  }

  # The timeout

  timeout duration=MissionTimeout

  insert Insert/Science.tl


  insert Insert/NeedComms.tl id="NeedComms"


  assign in sequence NeedComms:DiveInterval = NeedCommsMaxWait

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  insert Insert/StandardEnvelopes.tl


  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

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



  aggregate CommsAndOptionallyTransitBackToListeningLocation {
    run when (
      called
    )

    aggregate CommsOnly {
      run in sequence

      break if (
        (
          YoyoBackToListeningLocation
          or LevelRunBackToListeningLocation
        )
        and (
          LatListening >= 0 degree
          or ( LatListening < 0 degree )
          and (
            LonListening >= 0 degree
            or ( LonListening < 0 degree )
          )
        )
      )

      call id="SurfacingCommsOnly" refId="NeedComms"

      assign in sequence SurfacingStarted = false
    }

    aggregate CommsAndYoYo {
      run in sequence

      break if (
        not ( YoyoBackToListeningLocation )
        or (
          not (
            LatListening >= 0 degree
            or ( LatListening < 0 degree )
            and (
              LonListening >= 0 degree
              or ( LonListening < 0 degree )
            )
          )
        )
      )

      call id="YoyoStartComms" refId="NeedComms"

      syslog important "Yoyo back to listening location LatListening = "
           + LatListening ~ degree
           + ", LonListening = "
           + LonListening ~ degree
           + "."

      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 = NeutralBuoyancy
      }

      behavior Guidance:Waypoint {
        run in sequence
        set Guidance:Waypoint.latitude = LatListening
        set Guidance:Waypoint.longitude = LonListening
      }

      assign in sequence NeedComms:DiveInterval = NeedCommsMaxWait

      assign in sequence SurfacingStarted = false
    }

    aggregate CommsAndLevelRun {
      run in sequence

      break if (
        not ( LevelRunBackToListeningLocation )
        or (
          not (
            LatListening >= 0 degree
            or ( LatListening < 0 degree )
            and (
              LonListening >= 0 degree
              or ( LonListening < 0 degree )
            )
          )
        )
      )

      call id="LevelRunStartComms" refId="NeedComms"

      syslog important "Level run back to listening location LatListening = "
           + LatListening ~ degree
           + ", LonListening = "
           + LonListening ~ degree
           + "."

      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 = NeutralBuoyancy
      }

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

      behavior Guidance:Waypoint {
        run in sequence
        set Guidance:Waypoint.latitude = LatListening
        set Guidance:Waypoint.longitude = LonListening
      }

      assign in sequence NeedComms:DiveInterval = NeedCommsMaxWait

      assign in sequence SurfacingStarted = false
    }
  }

  syslog important "NeutralBuoyancy = "
       + NeutralBuoyancy ~ cubic_centimeter
       + "."

  syslog important "BuoyancyAdjustmentStep = "
       + BuoyancyAdjustmentStep ~ cubic_centimeter
       + "."

  syslog important "Initial shallow bound = "
       + ShallowBound ~ meter
       + "."

  syslog important "Initial deep bound = "
       + DeepBound ~ meter
       + "."

  assign in sequence TargetDepthMinusShallowBound = Depth - ShallowBound

  syslog important "TargetDepthMinusShallowBound = "
       + TargetDepthMinusShallowBound ~ meter
       + "."

  assign in sequence DeepBoundMinusTargetDepth = DeepBound - Depth

  syslog important "DeepBoundMinusTargetDepth = "
       + DeepBoundMinusTargetDepth ~ meter
       + "."

  aggregate CheckTargetDepths {
    run in sequence

    break if (
      not ( CheckDepths )
    )

    aggregate CheckDepth {
      run in sequence

      break if (
        not (
          Depth > DeepBound
          or ( Depth < ShallowBound )
        )
      )

      syslog important "Aborting mission. Target depth is deeper than DeepBound or shallower than ShallowBound."

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

    assign in sequence CheckDepths = 0 bool
  }

  aggregate StartingMission {
    run in sequence

    break if (
      SkipStartComms
    )

    # DO NOT REMOVE the syslog entry below. The MissionManager seems to ignore the value of SkipComms, does not evaluate the Break statement properly, and always calls NeedComms. Adding the syslog call somehow fixes it.

    syslog info "Checking for additional instructions before submerging."

    call id="StartingMission" refId="NeedComms"
  }

  aggregate InitialTransitToListeningLocation {
    run in sequence

    aggregate InitialYoYo {
      run in sequence

      break if (
        not ( InitialYoyoToListeningLocation )
        or (
          not (
            LatListening >= 0 degree
            or ( LatListening < 0 degree )
            and (
              LonListening >= 0 degree
              or ( LonListening < 0 degree )
            )
          )
        )
      )

      assign in sequence InitialTransitDone = false

      syslog important "Initial yoyo transit to listening location LatListening = "
           + LatListening ~ degree
           + ", LonListening = "
           + LonListening ~ degree
           + "."

      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 = NeutralBuoyancy
      }

      behavior Guidance:Waypoint {
        run in sequence
        set Guidance:Waypoint.latitude = LatListening
        set Guidance:Waypoint.longitude = LonListening
      }

      call id="InitialYoYoReachedWaypoint" refId="NeedComms"

      assign in sequence NeedComms:DiveInterval = NeedCommsMaxWait

      assign in sequence InitialTransitDone = true
    }

    aggregate InitialLevelRun {
      run in sequence

      break if (
        not ( InitialLevelRunToListeningLocation )
        or (
          not (
            LatListening >= 0 degree
            or ( LatListening < 0 degree )
            and (
              LonListening >= 0 degree
              or ( LonListening < 0 degree )
            )
          )
        )
      )

      assign in sequence InitialTransitDone = false

      syslog important "Initial level run transit to listening location LatListening = "
           + LatListening ~ degree
           + ", LonListening = "
           + LonListening ~ degree
           + "."

      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 = NeutralBuoyancy
      }

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

      behavior Guidance:Waypoint {
        run in sequence
        set Guidance:Waypoint.latitude = LatListening
        set Guidance:Waypoint.longitude = LonListening
      }

      call id="InitialLevelRunReachedWaypoint" refId="NeedComms"

      assign in sequence NeedComms:DiveInterval = NeedCommsMaxWait

      assign in sequence InitialTransitDone = true
    }
  }

  aggregate PAM {
    run in sequence repeat=999

    behavior Guidance:Pitch {
      run in parallel
      set Guidance:Pitch.massPosition = Control:VerticalControl.massDefault
    }

    aggregate SetToNeutralBuoyancy {
      run while ( not ( ApproachDepthPropOff ) )

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

    assign in sequence Cnt = Cnt + 1 count

    syslog important "Cnt = "
         + Cnt ~ count

    syslog important "NeutralBuoyancy = "
         + NeutralBuoyancy ~ cubic_centimeter
         + ", BuoyancyAdjustmentStep = "
         + BuoyancyAdjustmentStep ~ cubic_centimeter

    assign in sequence Settled = false

    assign in sequence DeltaReduced = false

    aggregate ApproachDepthSettleAtDepth {
      run in sequence

      aggregate LoosenDepthBandIfBuoyancyDeltaDropsToMinimum {
        run in sequence

        break if (
          BuoyancyAdjustmentStep >= ( BuoyancyAdjustmentStepMin * 2 count )
          or DepthBandLoosened
        )

        assign in sequence DeepBoundMinusTargetDepth = DeepBoundMinusTargetDepth * FactorLooseningDepthBand

        assign in sequence TargetDepthMinusShallowBound = TargetDepthMinusShallowBound * FactorLooseningDepthBand

        assign in sequence DeepBound = Depth + DeepBoundMinusTargetDepth

        assign in sequence ShallowBound = Depth - TargetDepthMinusShallowBound

        syslog important "Loosened shallow bound = "
             + ShallowBound ~ meter
             + "."

        syslog important "Loosened deep bound = "
             + DeepBound ~ meter
             + "."

        assign in sequence DepthBandLoosened = true
      }

      aggregate ApproachDepth {
        run in sequence

        aggregate ApproachDepthPropellerOn {
          break if (
            not (
              ApproachSpeedNotFirstTime > 0 meter_per_second
              or ( Cnt == 1 count )
            )
          )

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

          syslog important "Moving to "
               + Depth ~ meter

          assign in sequence BuoyancyAdjustmentDone = false

          behavior Guidance:Point {
            run in parallel
            set Guidance:Point.rudderAngle = 13 degree
          }

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

          behavior Guidance:Pitch {
            run in sequence
            set Guidance:Pitch.depth = Depth
          }
        }

        aggregate ApproachDepthPropellerOff {
          break if (
            ApproachSpeedNotFirstTime > 0 meter_per_second
            or ( Cnt == 1 count )
          )

          assign in sequence ApproachDepthPropOff = true

          assign in sequence BuoyancyAdjustmentDone = false

          syslog important "Moving to "
               + Depth ~ meter

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

          behavior Guidance:Pitch {
            run in sequence
            set Guidance:Pitch.depth = Depth
          }

          assign in sequence ApproachDepthPropOff = false
        }
      }

      aggregate Settle {
        run in sequence

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

        aggregate VBSDepthLimit {
          """
          Check if the vehicle can settle using the VBS.
          """

          run in sequence

          aggregate ShallowerThanVBSDepthLimit {
            run in sequence

            break if (
              Universal:depth > Control:VerticalControl.buoyancyPumpDepth
            )

            assign in sequence SettleSpeed = 0 meter_per_second
          }

          aggregate DeeperThanVBSDepthLimit {
            run in sequence

            break if (
              Universal:depth <= Control:VerticalControl.buoyancyPumpDepth
            )

            assign in sequence SettleSpeed = 1 meter_per_second
          }
        }

        aggregate settle_at_depth {
          run in sequence

          syslog important "Reached "
               + Universal:depth ~ meter
               + ", settling for "
               + SettleTime ~ minute
               + "at"
               + SettleSpeed ~ meter_per_second

          aggregate SettleAtDepthPropellerOn {
            break if (
              not ( SettleSpeed > 0 meter_per_second )
            )

            behavior Guidance:Point {
              run in parallel
              set Guidance:Point.rudderAngle = 13 degree
            }

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

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

            assign in sequence TimeTargetDepth = 0 second

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

            assign in sequence Settled = true
          }

          aggregate SettleAtDepthPropellerOff {
            break if (
              SettleSpeed > 0 meter_per_second
            )

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

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

            assign in sequence TimeTargetDepth = 0 second

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

            assign in sequence Settled = true
          }
        }
      }

      aggregate Hover {
        """
        Hover neutral within depth bound.
        """

        run in sequence

        break if (
          Universal:depth > DeepBound
          or ( Universal:depth < ShallowBound )
        )

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

        behavior Guidance:Pitch {
          run in parallel
          set Guidance:Pitch.elevatorAngle = 0 degree
        }

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.rudderAngle = 0 degree
        }

        behavior Guidance:SetSpeed {
          run in parallel
          set Guidance:SetSpeed.speed = 0 meter_per_second
        }

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

      aggregate DeeperThanDeepBound {
        run in sequence

        run while (
          Universal:depth > DeepBound
          and Settled
        )

        break if (
          Universal:depth <= ( DeepBound - DepthDeadband )
        )

        assign in sequence DepthMinusTargetDepth = Universal:depth - Depth

        assign in sequence ElapsedSinceSettledAtTargetDepth = elapsed ( TimeTargetDepth )

        assign in sequence SinkingOrFloatingRate = DepthMinusTargetDepth / ElapsedSinceSettledAtTargetDepth

        syslog important "Now depth "
             + Universal:depth ~ meter
             + " is deeper than DeepBound "
             + DeepBound ~ meter
             + ". SinkingOrFloatingRate = DepthMinusTargetDepth "
             + DepthMinusTargetDepth ~ meter
             + " divided by "
             + ElapsedSinceSettledAtTargetDepth ~ second
             + " = "
             + SinkingOrFloatingRate ~ meter_per_second

        aggregate SurfacingDeeperThanDeepBound {
          run in sequence

          run when (
            elapsed ( Universal:time_fix ) > SurfacingIntervalDuringListening
          )

          assign in sequence ElapsedSinceLastGPSfix = elapsed ( Universal:time_fix )

          syslog important "Elapsed time since the last GPS fix "
               + ElapsedSinceLastGPSfix ~ minute
               + " is longer than SurfacingIntervalDuringListening "
               + SurfacingIntervalDuringListening ~ minute
               + ". Surface and optionally transit back to listening location."

          assign in sequence Cnt = 0 count

          assign in sequence SurfacingStarted = true

          call id="CommsAndOptionalTransitBack" refId="CommsAndOptionallyTransitBackToListeningLocation"
        }

        aggregate DoNotIncreaseNeutralBuoyancy {
          run in sequence

          break if (
            SinkingOrFloatingRate >= SinkingOrFloatingRateThreshold
            or BuoyancyAdjustmentDone
            and ( not ( SurfacingStarted ) )
          )

          syslog important "But SinkingOrFloatingRate = "
               + SinkingOrFloatingRate ~ meter_per_second
               + " is less than SinkingOrFloatingRateThreshold "
               + SinkingOrFloatingRateThreshold ~ meter_per_second
               + ", or the vehicle is surfacing. Do not increase neutral buoyancy. Just go back to the target depth."

          assign in sequence Sinking = true

          assign in sequence BuoyancyAdjustmentDone = true
        }

        aggregate IncreaseNeutralBuoyancy {
          run in sequence

          break if (
            SinkingOrFloatingRate < SinkingOrFloatingRateThreshold
            or SurfacingStarted
          )

          aggregate IncreaseNeutralBuoyancyDecreaseDelta {
            run in sequence

            break if (
              Cnt == 1 count
              or Sinking
              or ( BuoyancyAdjustmentStep < ( BuoyancyAdjustmentStepMin * 2 count ) )
              or BuoyancyAdjustmentDone
            )

            assign in sequence DeltaReduced = true

            assign in sequence BuoyancyAdjustmentStepPrevious = BuoyancyAdjustmentStep

            assign in sequence NeutralBuoyancyPrevious = NeutralBuoyancy

            assign in sequence BuoyancyAdjustmentStepNew = BuoyancyAdjustmentStep / 2 count

            assign in sequence NeutralBuoyancy = NeutralBuoyancy + BuoyancyAdjustmentStepNew

            syslog important "SinkingOrFloatingRate = "
                 + SinkingOrFloatingRate ~ meter_per_second
                 + " is greater than SinkingOrFloatingRateThreshold "
                 + SinkingOrFloatingRateThreshold ~ meter_per_second
                 + ". Floating previously but sinking now. Decrease BuoyancyAdjustmentStep from "
                 + BuoyancyAdjustmentStepPrevious ~ cubic_centimeter
                 + " to "
                 + BuoyancyAdjustmentStepNew ~ cubic_centimeter
                 + ". Increase neutral buoyancy: "
                 + NeutralBuoyancyPrevious ~ cubic_centimeter
                 + " + "
                 + BuoyancyAdjustmentStepNew ~ cubic_centimeter
                 + " = "
                 + NeutralBuoyancy ~ cubic_centimeter
                 + ". Then go back to the target depth."

            assign in sequence BuoyancyAdjustmentStep = BuoyancyAdjustmentStepNew

            assign in sequence Sinking = true

            assign in sequence BuoyancyAdjustmentDone = true
          }

          aggregate IncreaseNeutralBuoyancyDoNotChangeDelta {
            run in sequence

            break if (
              not ( Sinking )
              and ( BuoyancyAdjustmentStep >= ( BuoyancyAdjustmentStepMin * 2 count ) )
              and ( Cnt >= 2 count )
              or BuoyancyAdjustmentDone
              or DeltaReduced
            )

            assign in sequence NeutralBuoyancyPrevious = NeutralBuoyancy

            assign in sequence NeutralBuoyancy = NeutralBuoyancy + BuoyancyAdjustmentStep

            syslog important "SinkingOrFloatingRate = "
                 + SinkingOrFloatingRate ~ meter_per_second
                 + " is greater than SinkingOrFloatingRateThreshold "
                 + SinkingOrFloatingRateThreshold ~ meter_per_second
                 + ". Vehicle is a little too heavy. Increase neutral buoyancy: "
                 + NeutralBuoyancyPrevious ~ cubic_centimeter
                 + " + "
                 + BuoyancyAdjustmentStep ~ cubic_centimeter
                 + " = "
                 + NeutralBuoyancy ~ cubic_centimeter
                 + ". Then go back to the target depth."

            assign in sequence Sinking = true

            assign in sequence BuoyancyAdjustmentDone = true
          }
        }
      }

      aggregate ShallowerThanShallowBound {
        run in sequence

        run while (
          Universal:depth < ShallowBound
          and Settled
        )

        break if (
          Universal:depth >= ( ShallowBound + DepthDeadband )
          or ( elapsed ( Universal:time_fix ) > NeedCommsMaxWait )
          or SurfacingStarted
        )

        assign in sequence TargetDepthMinusDepth = Depth - Universal:depth

        assign in sequence ElapsedSinceSettledAtTargetDepth = elapsed ( TimeTargetDepth )

        assign in sequence SinkingOrFloatingRate = TargetDepthMinusDepth / ElapsedSinceSettledAtTargetDepth

        syslog important "Now depth "
             + Universal:depth ~ meter
             + " is shallower than ShallowBound "
             + ShallowBound ~ meter
             + ". SinkingOrFloatingRate = TargetDepthMinusDepth "
             + TargetDepthMinusDepth ~ meter
             + " divided by "
             + ElapsedSinceSettledAtTargetDepth ~ second
             + " = "
             + SinkingOrFloatingRate ~ meter_per_second
             + "."

        aggregate SurfacingShallowerThanShallowBound {
          run in sequence

          run when (
            elapsed ( Universal:time_fix ) > SurfacingIntervalDuringListening
          )

          assign in sequence ElapsedSinceLastGPSfix = elapsed ( Universal:time_fix )

          syslog important "Elapsed time since the last GPS fix "
               + ElapsedSinceLastGPSfix ~ minute
               + " is longer than SurfacingIntervalDuringListening "
               + SurfacingIntervalDuringListening ~ minute
               + ". Surface and optionally transit back to listening location."

          assign in sequence Cnt = 0 count

          assign in sequence SurfacingStarted = true

          call id="CommsAndOptionalTransitBack" refId="CommsAndOptionallyTransitBackToListeningLocation"
        }

        aggregate DoNotDecreaseNeutralBuoyancy {
          run in sequence

          break if (
            SinkingOrFloatingRate >= SinkingOrFloatingRateThreshold
            or BuoyancyAdjustmentDone
          )

          syslog important "But SinkingOrFloatingRate = "
               + SinkingOrFloatingRate ~ meter_per_second
               + " is less than SinkingOrFloatingRateThreshold "
               + SinkingOrFloatingRateThreshold ~ meter_per_second
               + ", or the vehicle is surfacing. Do not decrease neutral buoyancy. Just go back to the target depth."

          assign in sequence Sinking = false

          assign in sequence BuoyancyAdjustmentDone = true
        }

        aggregate DecreaseNeutralBuoyancy {
          run in sequence

          break if (
            SinkingOrFloatingRate < SinkingOrFloatingRateThreshold
          )

          aggregate DecreaseNeutralBuoyancyDecreaseDelta {
            run in sequence

            break if (
              Cnt == 1 count
              or ( not ( Sinking ) )
              or ( BuoyancyAdjustmentStep < ( BuoyancyAdjustmentStepMin * 2 count ) )
              or BuoyancyAdjustmentDone
            )

            assign in sequence DeltaReduced = true

            assign in sequence BuoyancyAdjustmentStepPrevious = BuoyancyAdjustmentStep

            assign in sequence NeutralBuoyancyPrevious = NeutralBuoyancy

            assign in sequence BuoyancyAdjustmentStepNew = BuoyancyAdjustmentStep / 2 count

            assign in sequence NeutralBuoyancy = NeutralBuoyancy - BuoyancyAdjustmentStepNew

            syslog important "SinkingOrFloatingRate = "
                 + SinkingOrFloatingRate ~ meter_per_second
                 + " is greater than SinkingOrFloatingRateThreshold "
                 + SinkingOrFloatingRateThreshold ~ meter_per_second
                 + ". Sinking previously but floating now. Decrease BuoyancyAdjustmentStep from "
                 + BuoyancyAdjustmentStepPrevious ~ cubic_centimeter
                 + " to "
                 + BuoyancyAdjustmentStepNew ~ cubic_centimeter
                 + ". Decrease neutral buoyancy: "
                 + NeutralBuoyancyPrevious ~ cubic_centimeter
                 + " - "
                 + BuoyancyAdjustmentStepNew ~ cubic_centimeter
                 + " = "
                 + NeutralBuoyancy ~ cubic_centimeter
                 + ". Then go back to the target depth."

            assign in sequence BuoyancyAdjustmentStep = BuoyancyAdjustmentStepNew

            assign in sequence Sinking = false

            assign in sequence BuoyancyAdjustmentDone = true
          }

          aggregate DecreaseNeutralBuoyancyDoNotChangeDelta {
            run in sequence

            break if (
              Sinking
              and ( BuoyancyAdjustmentStep >= ( BuoyancyAdjustmentStepMin * 2 count ) )
              and ( Cnt >= 2 count )
              or BuoyancyAdjustmentDone
              or DeltaReduced
            )

            assign in sequence NeutralBuoyancyPrevious = NeutralBuoyancy

            assign in sequence NeutralBuoyancy = NeutralBuoyancy - BuoyancyAdjustmentStep

            syslog important "SinkingOrFloatingRate = "
                 + SinkingOrFloatingRate ~ meter_per_second
                 + " is greater than SinkingOrFloatingRateThreshold "
                 + SinkingOrFloatingRateThreshold ~ meter_per_second
                 + ". Vehicle is a little too light. Decrease neutral buoyancy: "
                 + NeutralBuoyancyPrevious ~ cubic_centimeter
                 + " - "
                 + BuoyancyAdjustmentStep ~ cubic_centimeter
                 + " = "
                 + NeutralBuoyancy ~ cubic_centimeter
                 + ". Then go back to the target depth."

            assign in sequence Sinking = false

            assign in sequence BuoyancyAdjustmentDone = true
          }
        }
      }
    }
  }

  call id="EndingMission" refId="NeedComms"
}

Source XML

<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Units="Tethys/Units"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance"
       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/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="passive_acoustic_monitoring">

    <Description>
        The mission will dive LRAUV to the start/center depth, then hold the
        vehicle at neutral buoyancy/trim with all actuators disengaged. The
        science payload will be powered.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:minute/><Value>180</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="SurfacingIntervalDuringListening"><Description>
        When the listening depth bound is breached and the submergence time has
        surpassed SurfacingIntervalDuringListening, the vehicle will surface.
<!--debug   
    </Description><Units:minute/><Value>30</Value></DefineArg>
-->
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="NeedCommsMaxWait"><Description>
        If the submergence time has surpassed NeedCommsMaxWait, the vehicle must
        surface, to caution against drifting too close to shore during
        submergence. Can set it to a huge number to effectively disable it.
    </Description><Units:minute/><Value>180</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeInTransit"><Description>
        How often to surface for commumications during transit.
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="SkipStartComms"><Description>
        Skip communications at start of mission.
    </Description><False/></DefineArg>

<!--debug    
    </Description><True/></DefineArg>
-->

    <DefineArg Name="Depth"><Description>
        Center depth of listening drift.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="SettleTime"><Description>
        Time to wait after reaching target depth.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="DeepBound"><Description>
        Deep depth bound of listening drift. Vehicle will return to center depth
        when depth bound is exceeded.
    </Description><Units:meter/><Value>32</Value></DefineArg>

    <DefineArg Name="ShallowBound"><Description>
        Shallow depth bound of listening drift. Vehicle will return to center
        depth when depth bound is exceeded.
    </Description><Units:meter/><Value>28</Value></DefineArg>

    <DefineArg Name="FactorLooseningDepthBand"><Description>
        When the buoyancy adjustment delta drops to the minimum (meaning the
        vehicle is almost perfectly neutrally buoyant), loosen the depth
        envelope by this factor.
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="InitialYoyoToListeningLocation"><Description>
        Initial yoyo transit to the listening location.
    </Description><False/></DefineArg>

    <DefineArg Name="InitialLevelRunToListeningLocation"><Description>
        Initial level run to the listening location.
    </Description><True/></DefineArg>

    <DefineArg Name="YoyoBackToListeningLocation"><Description>
        Yoyo back to the listening location.
    </Description><False/></DefineArg>

<!--debug    
    </Description><True/></DefineArg>
-->

    <DefineArg Name="LevelRunBackToListeningLocation"><Description>
        Level run back to the listening location.
    </Description><True/></DefineArg>

<!--debug    
    </Description><False/></DefineArg>
-->

    <DefineArg Name="DepthLevelRunToListeningLocation"><Description>
        Level run depth to the listening location.
<!--debug      
    </Description><Units:meter/><Value>30</Value></DefineArg>
-->
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="SpeedTransit"><Description>
        Vehicle speed when transiting.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="ApproachSpeedFirstTime"><Description>
        Vehicle thruster speed used to reach center depth for the 1st time.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="ApproachSpeedNotFirstTime"><Description>
        Vehicle thruster speed used to reach center depth. Zero means thruster
        off.
<!--debug      
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>
-->
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="MinOffshore"><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="LatListening"><Description>
        Nominal latitude of acoustic monitoring.
    </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="LonListening"><Description>
        Nominal longitude of acoustic monitoring.
    </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="CheckDepths"><Units:bool/><Value>1</Value></DefineArg>

    <DefineArg Name="BuoyancyAdjustmentStep"><Description>
        Initial value of buoyancy adjustment step size. Adjusted during mission.
<!--debug      
    </Description><Units:cubic_centimeter/><Value>64</Value></DefineArg>
-->
    </Description><Units:cubic_centimeter/><Value>16</Value></DefineArg>

    <DefineArg Name="BuoyancyAdjustmentStepMin"><Description>
        Minimum value of buoyancy adjustment step size.
<!--debug      
    </Description><Units:cubic_centimeter/><Value>32</Value></DefineArg>
-->
    </Description><Units:cubic_centimeter/><Value>2</Value></DefineArg>

    <DefineArg Name="SinkingOrFloatingRateThreshold"><Description>
        Threshold of depth rate of sinking or floating from the target depth to
        the depth bound being violated. When this threshold is breached, adjust
        the neutral buoyancy.
    </Description><Units:meter_per_second/><Value>0.002</Value></DefineArg>

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

    <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="NeutralBuoyancy"><Description>
        Neutral buoyancy value obtained from the preceding BallastAndTrim test.
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed durnig the
        mission.
    </Description><Units:meter/><Value>0.1</Value></DefineArg>

<!-- Internal variables that you do not need to change -->

    <DefineOutput Name="SettleSpeed"><Units:meter_per_second/><Value>1</Value></DefineOutput>

    <DefineOutput Name="SinkingOrFloatingRate"><Description>
        Depth rate of sinking or floating from the target depth to the depth
        bound being violated.
    </Description><Units:meter_per_second/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="BuoyancyAdjustmentStepPrevious"><Description></Description><Units:cubic_centimeter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="NeutralBuoyancyPrevious"><Description></Description><Units:cubic_centimeter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="BuoyancyAdjustmentStepNew"><Description></Description><Units:cubic_centimeter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="DeepBoundMinusTargetDepth"><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="DepthMinusTargetDepth"><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="TargetDepthMinusShallowBound"><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="TargetDepthMinusDepth"><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="TimeTargetDepth"><Units:second/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="ElapsedSinceSettledAtTargetDepth"><Units:second/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="ElapsedSinceLastGPSfix"><Units:second/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="InitialTransitDone"><True/></DefineOutput>

    <DefineOutput Name="BuoyancyAdjustmentDone"><False/></DefineOutput>

    <DefineOutput Name="Settled"><False/></DefineOutput>

    <DefineOutput Name="DeltaReduced"><False/></DefineOutput>

    <DefineOutput Name="Sinking"><False/></DefineOutput>

    <DefineOutput Name="SurfacingStarted"><False/></DefineOutput>

    <DefineOutput Name="ApproachDepthPropOff"><False/></DefineOutput>

    <DefineOutput Name="DepthBandLoosened"><False/></DefineOutput>

    <DefineOutput Name="Cnt"><Units:count/><Value>0</Value></DefineOutput>

<!-- The timeout -->

    <Timeout Duration="MissionTimeout"/>

    <Insert Filename="Insert/Science.tl"/>

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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

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

    <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.tl">
        <RedefineArg Name="AcousticTimeout"><Arg Name="AcousticTrackingTimeout"/></RedefineArg>
    </Insert>

    <Aggregate Id="CommsAndOptionallyTransitBackToListeningLocation">

        <When>
            <Called/>
        </When>

        <Aggregate Id="CommsOnly">

            <Sequence/>

            <Break><Arg Name="YoyoBackToListeningLocation"/>
                <Or><Arg Name="LevelRunBackToListeningLocation"/></Or>
                <And><Arg Name="LatListening"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="LatListening"/><Lt><Units:degree/><Value>0</Value></Lt></Or><And><Arg Name="LonListening"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="LonListening"/><Lt><Units:degree/><Value>0</Value></Lt></Or></And></And>
            </Break>

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

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

        </Aggregate>

        <Aggregate Id="CommsAndYoYo">

            <Sequence/>

            <Break>
                <Not><Arg Name="YoyoBackToListeningLocation"/></Not>
                <Or><Not><Arg Name="LatListening"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="LatListening"/><Lt><Units:degree/><Value>0</Value></Lt></Or><And><Arg Name="LonListening"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="LonListening"/><Lt><Units:degree/><Value>0</Value></Lt></Or></And></Not></Or>
            </Break>

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

            <Syslog Severity="Important">Yoyo back to listening location LatListening = <Arg Name="LatListening"/><Units:degree/>, LonListening = <Arg Name="LonListening"/><Units:degree/>.</Syslog>

            <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="NeutralBuoyancy"/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="LatListening"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="LonListening"/></Setting>
            </Guidance:Waypoint>

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

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

        </Aggregate>

        <Aggregate Id="CommsAndLevelRun">

            <Sequence/>

            <Break>
                <Not><Arg Name="LevelRunBackToListeningLocation"/></Not>
                <Or><Not><Arg Name="LatListening"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="LatListening"/><Lt><Units:degree/><Value>0</Value></Lt></Or><And><Arg Name="LonListening"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="LonListening"/><Lt><Units:degree/><Value>0</Value></Lt></Or></And></Not></Or>
            </Break>

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

            <Syslog Severity="Important">Level run back to listening location LatListening = <Arg Name="LatListening"/><Units:degree/>, LonListening = <Arg Name="LonListening"/><Units:degree/>.</Syslog>

            <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="NeutralBuoyancy"/></Setting>
            </Guidance:Buoyancy>

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

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="LatListening"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="LonListening"/></Setting>
            </Guidance:Waypoint>

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

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

        </Aggregate>

    </Aggregate>

    <Syslog Severity="Important">NeutralBuoyancy = <Arg Name="NeutralBuoyancy"/><Units:cubic_centimeter/>.</Syslog>

    <Syslog Severity="Important">BuoyancyAdjustmentStep = <Arg Name="BuoyancyAdjustmentStep"/><Units:cubic_centimeter/>.</Syslog>

    <Syslog Severity="Important">Initial shallow bound = <Arg Name="ShallowBound"/><Units:meter/>.</Syslog>

    <Syslog Severity="Important">Initial deep bound = <Arg Name="DeepBound"/><Units:meter/>.</Syslog>

    <Assign><Sequence/><Arg Name="TargetDepthMinusShallowBound"/><Arg Name="Depth"/><Sub><Arg Name="ShallowBound"/></Sub></Assign>

    <Syslog Severity="Important">TargetDepthMinusShallowBound = <Arg Name="TargetDepthMinusShallowBound"/><Units:meter/>.</Syslog>

    <Assign><Sequence/><Arg Name="DeepBoundMinusTargetDepth"/><Arg Name="DeepBound"/><Sub><Arg Name="Depth"/></Sub></Assign>

    <Syslog Severity="Important">DeepBoundMinusTargetDepth = <Arg Name="DeepBoundMinusTargetDepth"/><Units:meter/>.</Syslog>

    <Aggregate Id="CheckTargetDepths">

        <Sequence/>

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

        <Aggregate Id="CheckDepth">

            <Sequence/>

            <Break>
                <Not><Arg Name="Depth"/><Gt><Arg Name="DeepBound"/></Gt><Or><Arg Name="Depth"/><Lt><Arg Name="ShallowBound"/></Lt></Or></Not>
            </Break>

            <Syslog Severity="Important">Aborting mission. Target depth is deeper than DeepBound or shallower than ShallowBound.</Syslog>

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

        </Aggregate>

        <Assign><Sequence/><Arg Name="CheckDepths"/><Units:bool/><Value>0</Value></Assign>

    </Aggregate>

    <Aggregate Id="StartingMission">

        <Sequence/>

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

<!-- DO NOT REMOVE the syslog entry below. The MissionManager seems to ignore the value of SkipComms, does not evaluate the Break statement properly, and always calls NeedComms. Adding the syslog call somehow fixes it. -->

        <Syslog Severity="Info">Checking for additional instructions before submerging.</Syslog>

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

    </Aggregate>

    <Aggregate Id="InitialTransitToListeningLocation">

        <Sequence/>

        <Aggregate Id="InitialYoYo">

            <Sequence/>

            <Break>
                <Not><Arg Name="InitialYoyoToListeningLocation"/></Not>
                <Or><Not><Arg Name="LatListening"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="LatListening"/><Lt><Units:degree/><Value>0</Value></Lt></Or><And><Arg Name="LonListening"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="LonListening"/><Lt><Units:degree/><Value>0</Value></Lt></Or></And></Not></Or>
            </Break>

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

            <Syslog Severity="Important">Initial yoyo transit to listening location LatListening = <Arg Name="LatListening"/><Units:degree/>, LonListening = <Arg Name="LonListening"/><Units:degree/>.</Syslog>

            <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="NeutralBuoyancy"/></Setting>
            </Guidance:Buoyancy>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="LatListening"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="LonListening"/></Setting>
            </Guidance:Waypoint>

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

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

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

        </Aggregate>

        <Aggregate Id="InitialLevelRun">

            <Sequence/>

            <Break>
                <Not><Arg Name="InitialLevelRunToListeningLocation"/></Not>
                <Or><Not><Arg Name="LatListening"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="LatListening"/><Lt><Units:degree/><Value>0</Value></Lt></Or><And><Arg Name="LonListening"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="LonListening"/><Lt><Units:degree/><Value>0</Value></Lt></Or></And></Not></Or>
            </Break>

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

            <Syslog Severity="Important">Initial level run transit to listening location LatListening = <Arg Name="LatListening"/><Units:degree/>, LonListening = <Arg Name="LonListening"/><Units:degree/>.</Syslog>

            <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="NeutralBuoyancy"/></Setting>
            </Guidance:Buoyancy>

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

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="LatListening"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="LonListening"/></Setting>
            </Guidance:Waypoint>

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

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

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="PAM">

        <Sequence Repeat="999"/>

        <Guidance:Pitch>
            <Parallel/>
            <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
        </Guidance:Pitch>

        <Aggregate Id="SetToNeutralBuoyancy">

            <While>
                <Not><Arg Name="ApproachDepthPropOff"/></Not>
            </While>

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

        </Aggregate>

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

        <Syslog Severity="Important">Cnt = <Arg Name="Cnt"/><Units:count/></Syslog>

        <Syslog Severity="Important">NeutralBuoyancy = <Arg Name="NeutralBuoyancy"/><Units:cubic_centimeter/>, BuoyancyAdjustmentStep = <Arg Name="BuoyancyAdjustmentStep"/><Units:cubic_centimeter/></Syslog>

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

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

        <Aggregate Id="ApproachDepthSettleAtDepth">

            <Sequence/>

            <Aggregate Id="LoosenDepthBandIfBuoyancyDeltaDropsToMinimum">

                <Sequence/>

                <Break><Arg Name="BuoyancyAdjustmentStep"/>
                    <Ge><Arg Name="BuoyancyAdjustmentStepMin"/><Mult><Units:count/><Value>2</Value></Mult></Ge>
                    <Or><Arg Name="DepthBandLoosened"/></Or>
                </Break>

                <Assign><Sequence/><Arg Name="DeepBoundMinusTargetDepth"/><Arg Name="DeepBoundMinusTargetDepth"/><Mult><Arg Name="FactorLooseningDepthBand"/></Mult></Assign>

                <Assign><Sequence/><Arg Name="TargetDepthMinusShallowBound"/><Arg Name="TargetDepthMinusShallowBound"/><Mult><Arg Name="FactorLooseningDepthBand"/></Mult></Assign>

                <Assign><Sequence/><Arg Name="DeepBound"/><Arg Name="Depth"/><Add><Arg Name="DeepBoundMinusTargetDepth"/></Add></Assign>

                <Assign><Sequence/><Arg Name="ShallowBound"/><Arg Name="Depth"/><Sub><Arg Name="TargetDepthMinusShallowBound"/></Sub></Assign>

                <Syslog Severity="Important">Loosened shallow bound = <Arg Name="ShallowBound"/><Units:meter/>.</Syslog>

                <Syslog Severity="Important">Loosened deep bound = <Arg Name="DeepBound"/><Units:meter/>.</Syslog>

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

            </Aggregate>

            <Aggregate Id="ApproachDepth">

                <Sequence/>

                <Aggregate Id="ApproachDepthPropellerOn">

                    <Break>
                        <Not><Arg Name="ApproachSpeedNotFirstTime"/><Gt><Units:meter_per_second/><Value>0</Value></Gt><Or><Arg Name="Cnt"/><Eq><Units:count/><Value>1</Value></Eq></Or></Not>
                    </Break>

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

                    <Syslog Severity="Important">Moving to <Arg Name="Depth"/><Units:meter/></Syslog>

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

                    <Guidance:Point>
                        <Parallel/>
                        <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
                    </Guidance:Point>

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

                    <Guidance:Pitch>
                        <Sequence/>
                        <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
                    </Guidance:Pitch>

                </Aggregate>

                <Aggregate Id="ApproachDepthPropellerOff">

                    <Break><Arg Name="ApproachSpeedNotFirstTime"/>
                        <Gt><Units:meter_per_second/><Value>0</Value></Gt>
                        <Or><Arg Name="Cnt"/><Eq><Units:count/><Value>1</Value></Eq></Or>
                    </Break>

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

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

                    <Syslog Severity="Important">Moving to <Arg Name="Depth"/><Units:meter/></Syslog>

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

                    <Guidance:Pitch>
                        <Sequence/>
                        <Setting><Guidance:Pitch.depth/><Arg Name="Depth"/></Setting>
                    </Guidance:Pitch>

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

                </Aggregate>

            </Aggregate>

            <Aggregate Id="Settle">

                <Sequence/>

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

                <Aggregate Id="VBSDepthLimit">

                    <Description>
                        Check if the vehicle can settle using the VBS.
                    </Description>

                    <Sequence/>

                    <Aggregate Id="ShallowerThanVBSDepthLimit">

                        <Sequence/>

                        <Break>
                            <Universal:depth/>
                            <Gt><Control:VerticalControl.buoyancyPumpDepth/></Gt>
                        </Break>

                        <Assign><Sequence/><Arg Name="SettleSpeed"/><Units:meter_per_second/><Value>0</Value></Assign>

                    </Aggregate>

                    <Aggregate Id="DeeperThanVBSDepthLimit">

                        <Sequence/>

                        <Break>
                            <Universal:depth/>
                            <Le><Control:VerticalControl.buoyancyPumpDepth/></Le>
                        </Break>

                        <Assign><Sequence/><Arg Name="SettleSpeed"/><Units:meter_per_second/><Value>1</Value></Assign>

                    </Aggregate>

                </Aggregate>

                <Aggregate Id="settle_at_depth">

                    <Sequence/>

                    <Syslog Severity="Important">Reached <Universal:depth/><Units:meter/>, settling for <Arg Name="SettleTime"/><Units:minute/>at<Arg Name="SettleSpeed"/><Units:meter_per_second/></Syslog>

                    <Aggregate Id="SettleAtDepthPropellerOn">

                        <Break>
                            <Not><Arg Name="SettleSpeed"/><Gt><Units:meter_per_second/><Value>0</Value></Gt></Not>
                        </Break>

                        <Guidance:Point>
                            <Parallel/>
                            <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>13</Value></Setting>
                        </Guidance:Point>

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

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

                        <Assign><Sequence/><Arg Name="TimeTargetDepth"/><Units:second/><Value>0</Value></Assign>

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

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

                    </Aggregate>

                    <Aggregate Id="SettleAtDepthPropellerOff">

                        <Break><Arg Name="SettleSpeed"/>
                            <Gt><Units:meter_per_second/><Value>0</Value></Gt>
                        </Break>

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

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

                        <Assign><Sequence/><Arg Name="TimeTargetDepth"/><Units:second/><Value>0</Value></Assign>

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

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

                    </Aggregate>

                </Aggregate>

            </Aggregate>

            <Aggregate Id="Hover">

                <Description>
                    Hover neutral within depth bound.
                </Description>

                <Sequence/>

                <Break>
                    <Universal:depth/>
                    <Gt><Arg Name="DeepBound"/></Gt>
                    <Or><Universal:depth/><Lt><Arg Name="ShallowBound"/></Lt></Or>
                </Break>

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

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.elevatorAngle/><Units:degree/><Value>0</Value></Setting>
                </Guidance:Pitch>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>0</Value></Setting>
                </Guidance:Point>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0</Value></Setting>
                </Guidance:SetSpeed>

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

            </Aggregate>

            <Aggregate Id="DeeperThanDeepBound">

                <Sequence/>

                <While>
                    <Universal:depth/>
                    <Gt><Arg Name="DeepBound"/></Gt>
                    <And><Arg Name="Settled"/></And>
                </While>

                <Break>
                    <Universal:depth/>
                    <Le><Arg Name="DeepBound"/><Sub><Arg Name="DepthDeadband"/></Sub></Le>
                </Break>

                <Assign><Sequence/><Arg Name="DepthMinusTargetDepth"/><Universal:depth/><Sub><Arg Name="Depth"/></Sub></Assign>

                <Assign><Sequence/><Arg Name="ElapsedSinceSettledAtTargetDepth"/><Elapsed><Arg Name="TimeTargetDepth"/></Elapsed></Assign>

                <Assign><Sequence/><Arg Name="SinkingOrFloatingRate"/><Arg Name="DepthMinusTargetDepth"/><Div><Arg Name="ElapsedSinceSettledAtTargetDepth"/></Div></Assign>

                <Syslog Severity="Important">Now depth <Universal:depth/><Units:meter/> is deeper than DeepBound <Arg Name="DeepBound"/><Units:meter/>. SinkingOrFloatingRate = DepthMinusTargetDepth <Arg Name="DepthMinusTargetDepth"/><Units:meter/> divided by <Arg Name="ElapsedSinceSettledAtTargetDepth"/><Units:second/> = <Arg Name="SinkingOrFloatingRate"/><Units:meter_per_second/></Syslog>

                <Aggregate Id="SurfacingDeeperThanDeepBound">

                    <Sequence/>

                    <When>
                        <Elapsed><Universal:time_fix/></Elapsed>
                        <Gt><Arg Name="SurfacingIntervalDuringListening"/></Gt>
                    </When>

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

                    <Syslog Severity="Important">Elapsed time since the last GPS fix <Arg Name="ElapsedSinceLastGPSfix"/><Units:minute/> is longer than SurfacingIntervalDuringListening <Arg Name="SurfacingIntervalDuringListening"/><Units:minute/>. Surface and optionally transit back to listening location.</Syslog>

                    <Assign><Sequence/><Arg Name="Cnt"/><Units:count/><Value>0</Value></Assign>

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

                    <Call Id="CommsAndOptionalTransitBack" RefId="CommsAndOptionallyTransitBackToListeningLocation"/>

                </Aggregate>

                <Aggregate Id="DoNotIncreaseNeutralBuoyancy">

                    <Sequence/>

                    <Break><Arg Name="SinkingOrFloatingRate"/>
                        <Ge><Arg Name="SinkingOrFloatingRateThreshold"/></Ge>
                        <Or><Arg Name="BuoyancyAdjustmentDone"/></Or>
                        <And><Not><Arg Name="SurfacingStarted"/></Not></And>
                    </Break>

                    <Syslog Severity="Important">But SinkingOrFloatingRate = <Arg Name="SinkingOrFloatingRate"/><Units:meter_per_second/> is less than SinkingOrFloatingRateThreshold <Arg Name="SinkingOrFloatingRateThreshold"/><Units:meter_per_second/>, or the vehicle is surfacing. Do not increase neutral buoyancy. Just go back to the target depth.</Syslog>

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

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

                </Aggregate>

                <Aggregate Id="IncreaseNeutralBuoyancy">

                    <Sequence/>

                    <Break><Arg Name="SinkingOrFloatingRate"/>
                        <Lt><Arg Name="SinkingOrFloatingRateThreshold"/></Lt>
                        <Or><Arg Name="SurfacingStarted"/></Or>
                    </Break>

                    <Aggregate Id="IncreaseNeutralBuoyancyDecreaseDelta">

                        <Sequence/>

                        <Break><Arg Name="Cnt"/>
                            <Eq><Units:count/><Value>1</Value></Eq>
                            <Or><Arg Name="Sinking"/></Or>
                            <Or><Arg Name="BuoyancyAdjustmentStep"/><Lt><Arg Name="BuoyancyAdjustmentStepMin"/><Mult><Units:count/><Value>2</Value></Mult></Lt></Or>
                            <Or><Arg Name="BuoyancyAdjustmentDone"/></Or>
                        </Break>

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

                        <Assign><Sequence/><Arg Name="BuoyancyAdjustmentStepPrevious"/><Arg Name="BuoyancyAdjustmentStep"/></Assign>

                        <Assign><Sequence/><Arg Name="NeutralBuoyancyPrevious"/><Arg Name="NeutralBuoyancy"/></Assign>

                        <Assign><Sequence/><Arg Name="BuoyancyAdjustmentStepNew"/><Arg Name="BuoyancyAdjustmentStep"/><Div><Units:count/><Value>2</Value></Div></Assign>

                        <Assign><Sequence/><Arg Name="NeutralBuoyancy"/><Arg Name="NeutralBuoyancy"/><Add><Arg Name="BuoyancyAdjustmentStepNew"/></Add></Assign>

                        <Syslog Severity="Important">SinkingOrFloatingRate = <Arg Name="SinkingOrFloatingRate"/><Units:meter_per_second/> is greater than SinkingOrFloatingRateThreshold <Arg Name="SinkingOrFloatingRateThreshold"/><Units:meter_per_second/>. Floating previously but sinking now. Decrease BuoyancyAdjustmentStep from <Arg Name="BuoyancyAdjustmentStepPrevious"/><Units:cubic_centimeter/> to <Arg Name="BuoyancyAdjustmentStepNew"/><Units:cubic_centimeter/>. Increase neutral buoyancy: <Arg Name="NeutralBuoyancyPrevious"/><Units:cubic_centimeter/> + <Arg Name="BuoyancyAdjustmentStepNew"/><Units:cubic_centimeter/> = <Arg Name="NeutralBuoyancy"/><Units:cubic_centimeter/>. Then go back to the target depth.</Syslog>

                        <Assign><Sequence/><Arg Name="BuoyancyAdjustmentStep"/><Arg Name="BuoyancyAdjustmentStepNew"/></Assign>

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

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

                    </Aggregate>

                    <Aggregate Id="IncreaseNeutralBuoyancyDoNotChangeDelta">

                        <Sequence/>

                        <Break>
                            <Not><Arg Name="Sinking"/></Not>
                            <And><Arg Name="BuoyancyAdjustmentStep"/><Ge><Arg Name="BuoyancyAdjustmentStepMin"/><Mult><Units:count/><Value>2</Value></Mult></Ge></And>
                            <And><Arg Name="Cnt"/><Ge><Units:count/><Value>2</Value></Ge></And>
                            <Or><Arg Name="BuoyancyAdjustmentDone"/></Or>
                            <Or><Arg Name="DeltaReduced"/></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="NeutralBuoyancyPrevious"/><Arg Name="NeutralBuoyancy"/></Assign>

                        <Assign><Sequence/><Arg Name="NeutralBuoyancy"/><Arg Name="NeutralBuoyancy"/><Add><Arg Name="BuoyancyAdjustmentStep"/></Add></Assign>

                        <Syslog Severity="Important">SinkingOrFloatingRate = <Arg Name="SinkingOrFloatingRate"/><Units:meter_per_second/> is greater than SinkingOrFloatingRateThreshold <Arg Name="SinkingOrFloatingRateThreshold"/><Units:meter_per_second/>. Vehicle is a little too heavy. Increase neutral buoyancy: <Arg Name="NeutralBuoyancyPrevious"/><Units:cubic_centimeter/> + <Arg Name="BuoyancyAdjustmentStep"/><Units:cubic_centimeter/> = <Arg Name="NeutralBuoyancy"/><Units:cubic_centimeter/>. Then go back to the target depth.</Syslog>

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

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

                    </Aggregate>

                </Aggregate>

            </Aggregate>

            <Aggregate Id="ShallowerThanShallowBound">

                <Sequence/>

                <While>
                    <Universal:depth/>
                    <Lt><Arg Name="ShallowBound"/></Lt>
                    <And><Arg Name="Settled"/></And>
                </While>

                <Break>
                    <Universal:depth/>
                    <Ge><Arg Name="ShallowBound"/><Add><Arg Name="DepthDeadband"/></Add></Ge>
                    <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="NeedCommsMaxWait"/></Gt></Or>
                    <Or><Arg Name="SurfacingStarted"/></Or>
                </Break>

                <Assign><Sequence/><Arg Name="TargetDepthMinusDepth"/><Arg Name="Depth"/><Sub><Universal:depth/></Sub></Assign>

                <Assign><Sequence/><Arg Name="ElapsedSinceSettledAtTargetDepth"/><Elapsed><Arg Name="TimeTargetDepth"/></Elapsed></Assign>

                <Assign><Sequence/><Arg Name="SinkingOrFloatingRate"/><Arg Name="TargetDepthMinusDepth"/><Div><Arg Name="ElapsedSinceSettledAtTargetDepth"/></Div></Assign>

                <Syslog Severity="Important">Now depth <Universal:depth/><Units:meter/> is shallower than ShallowBound <Arg Name="ShallowBound"/><Units:meter/>. SinkingOrFloatingRate = TargetDepthMinusDepth <Arg Name="TargetDepthMinusDepth"/><Units:meter/> divided by <Arg Name="ElapsedSinceSettledAtTargetDepth"/><Units:second/> = <Arg Name="SinkingOrFloatingRate"/><Units:meter_per_second/>.</Syslog>

                <Aggregate Id="SurfacingShallowerThanShallowBound">

                    <Sequence/>

                    <When>
                        <Elapsed><Universal:time_fix/></Elapsed>
                        <Gt><Arg Name="SurfacingIntervalDuringListening"/></Gt>
                    </When>

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

                    <Syslog Severity="Important">Elapsed time since the last GPS fix <Arg Name="ElapsedSinceLastGPSfix"/><Units:minute/> is longer than SurfacingIntervalDuringListening <Arg Name="SurfacingIntervalDuringListening"/><Units:minute/>. Surface and optionally transit back to listening location.</Syslog>

                    <Assign><Sequence/><Arg Name="Cnt"/><Units:count/><Value>0</Value></Assign>

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

                    <Call Id="CommsAndOptionalTransitBack" RefId="CommsAndOptionallyTransitBackToListeningLocation"/>

                </Aggregate>

                <Aggregate Id="DoNotDecreaseNeutralBuoyancy">

                    <Sequence/>

                    <Break><Arg Name="SinkingOrFloatingRate"/>
                        <Ge><Arg Name="SinkingOrFloatingRateThreshold"/></Ge>
                        <Or><Arg Name="BuoyancyAdjustmentDone"/></Or>
                    </Break>

                    <Syslog Severity="Important">But SinkingOrFloatingRate = <Arg Name="SinkingOrFloatingRate"/><Units:meter_per_second/> is less than SinkingOrFloatingRateThreshold <Arg Name="SinkingOrFloatingRateThreshold"/><Units:meter_per_second/>, or the vehicle is surfacing. Do not decrease neutral buoyancy. Just go back to the target depth.</Syslog>

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

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

                </Aggregate>

                <Aggregate Id="DecreaseNeutralBuoyancy">

                    <Sequence/>

                    <Break><Arg Name="SinkingOrFloatingRate"/>
                        <Lt><Arg Name="SinkingOrFloatingRateThreshold"/></Lt>
                    </Break>

                    <Aggregate Id="DecreaseNeutralBuoyancyDecreaseDelta">

                        <Sequence/>

                        <Break><Arg Name="Cnt"/>
                            <Eq><Units:count/><Value>1</Value></Eq>
                            <Or><Not><Arg Name="Sinking"/></Not></Or>
                            <Or><Arg Name="BuoyancyAdjustmentStep"/><Lt><Arg Name="BuoyancyAdjustmentStepMin"/><Mult><Units:count/><Value>2</Value></Mult></Lt></Or>
                            <Or><Arg Name="BuoyancyAdjustmentDone"/></Or>
                        </Break>

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

                        <Assign><Sequence/><Arg Name="BuoyancyAdjustmentStepPrevious"/><Arg Name="BuoyancyAdjustmentStep"/></Assign>

                        <Assign><Sequence/><Arg Name="NeutralBuoyancyPrevious"/><Arg Name="NeutralBuoyancy"/></Assign>

                        <Assign><Sequence/><Arg Name="BuoyancyAdjustmentStepNew"/><Arg Name="BuoyancyAdjustmentStep"/><Div><Units:count/><Value>2</Value></Div></Assign>

                        <Assign><Sequence/><Arg Name="NeutralBuoyancy"/><Arg Name="NeutralBuoyancy"/><Sub><Arg Name="BuoyancyAdjustmentStepNew"/></Sub></Assign>

                        <Syslog Severity="Important">SinkingOrFloatingRate = <Arg Name="SinkingOrFloatingRate"/><Units:meter_per_second/> is greater than SinkingOrFloatingRateThreshold <Arg Name="SinkingOrFloatingRateThreshold"/><Units:meter_per_second/>. Sinking previously but floating now. Decrease BuoyancyAdjustmentStep from <Arg Name="BuoyancyAdjustmentStepPrevious"/><Units:cubic_centimeter/> to <Arg Name="BuoyancyAdjustmentStepNew"/><Units:cubic_centimeter/>. Decrease neutral buoyancy: <Arg Name="NeutralBuoyancyPrevious"/><Units:cubic_centimeter/> - <Arg Name="BuoyancyAdjustmentStepNew"/><Units:cubic_centimeter/> = <Arg Name="NeutralBuoyancy"/><Units:cubic_centimeter/>. Then go back to the target depth.</Syslog>

                        <Assign><Sequence/><Arg Name="BuoyancyAdjustmentStep"/><Arg Name="BuoyancyAdjustmentStepNew"/></Assign>

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

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

                    </Aggregate>

                    <Aggregate Id="DecreaseNeutralBuoyancyDoNotChangeDelta">

                        <Sequence/>

                        <Break><Arg Name="Sinking"/>
                            <And><Arg Name="BuoyancyAdjustmentStep"/><Ge><Arg Name="BuoyancyAdjustmentStepMin"/><Mult><Units:count/><Value>2</Value></Mult></Ge></And>
                            <And><Arg Name="Cnt"/><Ge><Units:count/><Value>2</Value></Ge></And>
                            <Or><Arg Name="BuoyancyAdjustmentDone"/></Or>
                            <Or><Arg Name="DeltaReduced"/></Or>
                        </Break>

                        <Assign><Sequence/><Arg Name="NeutralBuoyancyPrevious"/><Arg Name="NeutralBuoyancy"/></Assign>

                        <Assign><Sequence/><Arg Name="NeutralBuoyancy"/><Arg Name="NeutralBuoyancy"/><Sub><Arg Name="BuoyancyAdjustmentStep"/></Sub></Assign>

                        <Syslog Severity="Important">SinkingOrFloatingRate = <Arg Name="SinkingOrFloatingRate"/><Units:meter_per_second/> is greater than SinkingOrFloatingRateThreshold <Arg Name="SinkingOrFloatingRateThreshold"/><Units:meter_per_second/>. Vehicle is a little too light. Decrease neutral buoyancy: <Arg Name="NeutralBuoyancyPrevious"/><Units:cubic_centimeter/> - <Arg Name="BuoyancyAdjustmentStep"/><Units:cubic_centimeter/> = <Arg Name="NeutralBuoyancy"/><Units:cubic_centimeter/>. Then go back to the target depth.</Syslog>

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

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

                    </Aggregate>

                </Aggregate>

            </Aggregate>

        </Aggregate>

    </Aggregate>

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

</Mission>