SampleAtPeakChlDepOrTemp.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/Insert/SampleAtPeakChlDepOrTemp.xml:475:3
     | 
 471 |       Modem ID. Set to modemId1 or modemId2. Initialized to 1.
 472 |       """
 473 |   }
 474 | 
 475 |   insert Insert/SampleAtDepth.tl {
     |   ^^^^^^
 476 |     redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth
 477 |   }
 478 | 
 479 | 
     | 
Unexpected: `insert`
Expecting: 'run' <<<<

Generated TethysL

# -   Copyright (c) 2024 MBARI
# -   MBARI Proprietary Information. Confidential. All Rights Reserved
# -   Unauthorized copying or distribution of this file via any medium is strictly
# -   prohibited.
# -
# -   WARNING - This file contains information whose export is restricted by the
# -   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# -   amended. Violations of these export laws are subject to severe civil and/or
# -   criminal penalties.

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

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

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

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

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

    modemId1 = 1 enum
      """
      Modem ID1. Initialized to 1.
      """

    modemId2 = 4 enum
      """
      Modem ID2. Initialized to 4.
      """

    SampleAtPeakChl = false
      """
      Whether to sample at peak-chl
      """

    InitialDiveDuration = 1.0 minute
      """
      On the first dive for looking for the chl max, run at SpeedInitialDive
      for this duration (e.g., 1 m/s spiral to dive fast).
      """

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

    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.
      """

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

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

    ShallowbndChl = 3 meter
      """
      Shallow depth bound for chl-peak detection.
      """

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

    CartridgeCommon = NaN 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.
      """

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

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

    DepDiffFromPeakChl = NaN meter
      """
      Depth difference (positive: deeper; negative: shallower) from the
      peak-chl depth for taking comparison samples. Initialized to NaN.
      """

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

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

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

    UpRate = -0.05 meter_per_second
      """
      Go-up depth rate (Negative depth rate means going up).
      """

    DownRate = 0.2 meter_per_second
      """
      Go-down depth rate (Positive depth rate means going down).
      """

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

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

    CANONSamplerRotateOnly = 0 bool

    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.
      """

    RiseFromTurningDep = 5 meter
      """
      The peak chl detected on the initial dive is reported when the vehicle
      has turned from the deepest depth (i.e., the turning depth) onto the
      ascending profile at a depth that is RiseFromDeepTurningPoint shallower
      than the turning depth. For robustness, RiseFromTurningDep =
      DepChangeThreshAttitudeFlip + 2 meters.
      """

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

    LPWindowLength = 20 count
      """
      Low-pass window length (based on depth sensor sampling interval 0.4
      second) for low-pass filtering.
      """

    MedianFilterLength = 5 count
      """
      Median filter length (only for chlorophyll fluorescence which tends to
      have spikes). The median-filtered signal enters the succeeding low-pass
      filter. If set to 1, then no median filtering, i.e., the raw
      fluorescence signal directly enters the low-pass filter.
      """

    GainProportional = 1 none
      """
      Proportional gain for temperature holding control loop.
      """

    GainIntegral = 0 none
      """
      Integral gain for temperature holding control loop.
      """

    GainDerivative = 0 none
      """
      Derivative gain for temperature holding control loop.
      """

    VariationPerMeter = 0.2 reciprocal_meter
      """
      Expected temperature change per meter.
      """

    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 {
    FlagGoDown = true
      """
      Go-down flag (set to true when going down. Initialized to false).
      """

    # Internal variables that you should not change

    TimeReset = false
      """
      Initialized to false.
      """

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

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

    CartridgeType = -6 count
      """
      Cartridge type. Initialized to -6.
      """

    CartridgeTypeIndividual = -6 count
      """
      Initialized to -6.
      """

    TempSet = NaN kelvin
      """
      Temperature for sampling. Initialized to NaN.
      """

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

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

    SampleCountIncreased = true
      """
      Sample count is increased.
      """

    SampleOptionsSet = false
      """
      Sample options (DepDiffFromPeakChl etc.) 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

    FlagTempSet = false
      """
      Flag of target temperature having been set. Initialized to false.
      """

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

    FlagGoUp = false
      """
      Go-up flag (set to true when going up. Initialized to false).
      """

    FlagInitialDiveCompleted = false
      """
      Flag of initial dive completed. Initialized to false.
      """

    FlagPeakChlDepthSet = false
      """
      Flag of peak-chl depth having been set (set to true when the chl-peak
      depth has been set. Initialized to false).
      """

    FlagPeakChlTempSet = false
      """
      Flag of peak-chl temperature having been set (set to true when the
      chl-peak temperature has been set. Initialized to false).
      """

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

    PeakChlDepthSet = 10.0 meter
      """
      Peak-chl depth detected on a dive. Initialized to 10 meters.
      """

    PeakChlTemperatureSet = NaN kelvin
      """
      Peak-chl temperature detected on a dive, and set for chl-peak holding.
      Initialized to NaN.
      """

    PeakChlSet = 0.0 microgram_per_liter
      """
      Peak-chl value detected on a dive.
      """

    SyslogGoUp = false
      """
      Flag of logging "GoUp" in syslog (initialized to false).
      """

    SyslogGoDown = false
      """
      Flag of logging "GoDown" in syslog (initialized to false).
      """

    CntSamples = 1 count
      """
      Count of water samples (initilized to 1).
      """

    SendDataCntSamplesCompleted = false
      """
      Initialized to false.
      """

    SendDataESPSampleNumberCompleted = false
      """
      Initialized to false.
      """

    SendDataESPCartridgeTypeCompleted = false
      """
      Initialized to false.
      """

    SendDataESPSampleVolumeCompleted = false
      """
      Initialized to false.
      """

    SendDataCANONSampleNumberCompleted = false
      """
      Initialized to false.
      """

    SendDataSampleDepCompleted = false
      """
      Initialized to false.
      """

    SendDataSampleTempCompleted = false
      """
      Initialized to false.
      """

    SendDataSampleChlCompleted = false
      """
      Initialized to false.
      """

    SendDataAllCompleted = false
      """
      Initialized to false.
      """

    CallSendData = true
      """
      Initialized to true.
      """

    ModemID = 1 enum
      """
      Modem ID. Set to modemId1 or modemId2. Initialized to 1.
      """
  }

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



  run when (
    called
  )

  aggregate ResetTime {
    run in sequence

    assign in sequence ElapsedSinceStartOrLastSample = 0 hour

    assign in sequence TimeReset = true
  }

  aggregate TriggerSampling {
    run when (
      called
    )

    aggregate TriggerESP {
      run in sequence

      break if (
        not ( UseESP )
      )

      assign in sequence DepthLogged = Universal:depth

      assign in sequence TempLogged = Universal:sea_water_temperature

      assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water

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

      behavior Science:ESPCartridgeSelect {
        run in sequence
        timeout duration=P1M
        set Science:ESPCartridgeSelect.cartridgeType = CartridgeType
      }

      readDatum {
        Science:ESPComponent.sampling
      }

      syslog important "Wait for ESP sampling to complete."

      readDatum {
        Science:ESPComponent.sample_number
      }
    }

    aggregate TriggerCANON {
      run in sequence

      break if (
        not ( UseCANONSampler )
      )

      assign in sequence DepthLogged = Universal:depth

      assign in sequence TempLogged = Universal:sea_water_temperature

      assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water

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

      assign in parallel Science:CANONSampler.sampleTimeout = CANONSamplerTimeout

      assign in parallel Science:CANONSampler.rotateOnly = CANONSamplerRotateOnly

      readDatum id="TriggerCANONSampler" {
        timeout duration=CANONSamplerTriggerTimeout {
          syslog important "Timed out triggering CANONSampler. Stopping mission."
          behavior Guidance:Execute {
            run in sequence
            set Guidance:Execute.command = "stop"
          }
        }

        Science:CANONSampler.sampling
      }

      readDatum {
        timeout duration=CANONSamplerTimeout {
          syslog important "Timed out sampling with CANONSampler. Stopping mission."
          behavior Guidance:Execute {
            run in sequence
            set Guidance:Execute.command = "stop"
          }
        }

        Science:CANONSampler.sample_number
      }
    }
  }

  aggregate DampDown {
    run when (
      called
    )

    syslog important "Wait "
         + WaitDepthUndulation ~ minute
         + " for the depth undulation to damp down."

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

  aggregate DoSendDirect {
    run when (
      called
    )

    syslog important "ModemID = "
         + ModemID ~ enum

    behavior Sensor:SendDirect {
      run in sequence
      set Sensor:SendDirect.destType = "modem"
      set Sensor:SendDirect.destId = ModemID
      set Sensor:SendDirect.destName = "_.LRAUVcntSamples"
      set Sensor:SendDirect.value = --<<UNRECOGNIZED tagName=IsothermDepthSampling.CntSamples>>--

      set Sensor:SendDirect.unit = "count"
    }

    syslog important "IsothermDepthSampling.CntSamples = "
         + --<<UNRECOGNIZED tagName=IsothermDepthSampling.CntSamples>>--
     ~ count

    aggregate SendDirectESP {
      run in sequence

      break if (
        not ( UseESP )
      )

      behavior Sensor:SendDirect {
        run in sequence
        set Sensor:SendDirect.destType = "modem"
        set Sensor:SendDirect.destId = ModemID
        set Sensor:SendDirect.destName = "_.ESPsampleNumber"
        set Sensor:SendDirect.value = Science:ESPComponent.sample_number
        set Sensor:SendDirect.unit = "count"
      }

      behavior Sensor:SendDirect {
        run in sequence
        set Sensor:SendDirect.destType = "modem"
        set Sensor:SendDirect.destId = ModemID
        set Sensor:SendDirect.destName = "_.ESPcartridgeType"
        set Sensor:SendDirect.value = Science:ESPComponent.cartridge
        set Sensor:SendDirect.unit = "count"
      }

      behavior Sensor:SendDirect {
        run in sequence
        set Sensor:SendDirect.destType = "modem"
        set Sensor:SendDirect.destId = ModemID
        set Sensor:SendDirect.destName = "_.ESPsampleVolume"
        set Sensor:SendDirect.value = Science:ESPComponent.sampleVolume
        set Sensor:SendDirect.unit = "milliliter"
      }

      syslog important "Science:ESPComponent.sample_number = "
           + Science:ESPComponent.sample_number ~ count

      syslog important "Science:ESPComponent.cartridge = "
           + Science:ESPComponent.cartridge ~ count

      syslog important "Science:ESPComponent.sampleVolume = "
           + Science:ESPComponent.sampleVolume ~ milliliter
    }

    aggregate SendDirectCANON {
      run in sequence

      break if (
        not ( UseCANONSampler )
      )

      behavior Sensor:SendDirect {
        run in sequence
        set Sensor:SendDirect.destType = "modem"
        set Sensor:SendDirect.destId = ModemID
        set Sensor:SendDirect.destName = "_.CANONsampleNumber"
        set Sensor:SendDirect.value = Science:CANONSampler.sample_number
        set Sensor:SendDirect.unit = "count"
      }

      syslog important "Science:CANONSampler.sample_number = "
           + Science:CANONSampler.sample_number ~ count
    }

    behavior Sensor:SendDirect {
      run in sequence
      set Sensor:SendDirect.destType = "modem"
      set Sensor:SendDirect.destId = ModemID
      set Sensor:SendDirect.destName = "_.sampleDepth"
      set Sensor:SendDirect.value = Universal:depth
      set Sensor:SendDirect.unit = "meter"
    }

    behavior Sensor:SendDirect {
      run in sequence
      set Sensor:SendDirect.destType = "modem"
      set Sensor:SendDirect.destId = ModemID
      set Sensor:SendDirect.destName = "_.sampleTemperature"
      set Sensor:SendDirect.value = Universal:sea_water_temperature
      set Sensor:SendDirect.unit = "celsius"
    }

    behavior Sensor:SendDirect {
      run in sequence
      set Sensor:SendDirect.destType = "modem"
      set Sensor:SendDirect.destId = ModemID
      set Sensor:SendDirect.destName = "_.sampleChlorophyll"
      set Sensor:SendDirect.value = Universal:mass_concentration_of_chlorophyll_in_sea_water
      set Sensor:SendDirect.unit = "microgram_per_liter"
    }

    syslog important "Universal:depth = "
         + Universal:depth ~ meter

    syslog important "Universal:sea_water_temperature = "
         + Universal:sea_water_temperature ~ celsius

    syslog important "Universal:mass_concentration_of_chlorophyll_in_sea_water = "
         + Universal:mass_concentration_of_chlorophyll_in_sea_water ~ microgram_per_liter
  }

  aggregate SendData {
    run when (
      called
    )

    aggregate SendTo1Modem {
      run in sequence

      break if (
        SendDataToMultipleModems
      )

      assign in sequence ModemID = modemId1

      syslog important "Set ModemID to "
           + ModemID ~ enum
           + "."

      call refId="DoSendDirect"
    }

    aggregate SendTo2Modems {
      run in sequence

      break if (
        not ( SendDataToMultipleModems )
      )

      assign in sequence ModemID = modemId1

      syslog important "Set ModemID to "
           + ModemID ~ enum
           + "."

      call refId="DoSendDirect"

      assign in sequence ModemID = modemId2

      syslog important "Set ModemID to "
           + ModemID ~ enum
           + "."

      call refId="DoSendDirect"
    }

    assign in sequence SendDataAllCompleted = true
  }

  aggregate SetSampleOptions {
    run when (
      called
    )

    syslog important "CntSamples = "
         + CntSamples ~ count

    aggregate SettingCartridgeTypeIndividual {
      run in sequence

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

      assign in sequence CartridgeType = CartridgeTypeIndividual
    }

    aggregate SettingCartridgeCommon {
      run in sequence

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

      assign in sequence CartridgeType = CartridgeCommon
    }

    aggregate SettingWait1 {
      run in sequence

      break if (
        CntSamples >= 2 count
      )

      assign in sequence WaitDepthUndulation = WaitDepUndulation1
    }

    aggregate SettingWaitCommon {
      run in sequence

      break if (
        CntSamples == 1 count
      )

      assign in sequence WaitDepthUndulation = WaitDepUndulationCommon
    }

    syslog important "CntSamples = "
         + CntSamples ~ count
         + ". Set CartridgeType (if ESP), TempDiffFromPeakChl, DepDiffFromPeakChl, TempDesignated, DepDesignated, WaitDepthUndulation to "
         + CartridgeType ~ count
         + ", "
         + TempDiffFromPeakChl ~ kelvin
         + ", "
         + DepDiffFromPeakChl ~ meter
         + ", "
         + TempDesignated ~ celsius
         + ", "
         + DepDesignated ~ meter
         + ", "
         + WaitDepthUndulation ~ minute
         + "."
  }

  aggregate SetSpeedRudderAngleInitialDive {
    run when (
      not ( FlagInitialDiveCompleted )
      and ( CntSamples == 1 count )
    )

    break if (
      not ( SampleAtPeakChl )
    )

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

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

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

    assign in sequence FlagInitialDiveCompleted = true
  }

  aggregate FindPeakChlVertical {
    run in sequence

    break if (
      CntSamples > NumSamplers
    )

    aggregate FindPeak {
      run while ( SampleAtPeakChl )

      aggregate FindPeakSpiralMode {
        run while ( SpeedSampling > 0.0 meter_per_second )

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

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

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

      aggregate FindPeakDriftMode {
        run while ( 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 SetDepthRateGoDown {
        run while ( FlagGoDown )

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

      aggregate SetDepthRateGoUp {
        run while ( FlagGoUp )

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

      aggregate LogGoDown {
        run when (
          FlagGoDown
          and ( not ( SyslogGoDown ) )
        )

        assign in sequence DepthLogged = Universal:depth

        syslog important "Go down from "
             + DepthLogged ~ meter

        assign in sequence SyslogGoDown = true
      }

      aggregate SetFlagGoUp {
        run when (
          SampleAtPeakChl
          and (
            not (
              DepDesignated >= 0 meter
              or ( DepDesignated < 0 meter )
            )
          )
          and (
            not (
              TempDesignated >= 0 celsius
              or ( TempDesignated < 0 celsius )
            )
          )
          and ( Universal:depth > DeepbndChl )
          and ( not ( FlagGoUp ) )
        )

        assign in sequence FlagGoUp = true

        assign in sequence FlagGoDown = false

        assign in sequence SyslogGoDown = false
      }

      aggregate LogGoUp {
        run when (
          FlagGoUp
          and ( not ( SyslogGoUp ) )
        )

        assign in sequence DepthLogged = Universal:depth

        syslog important "Go up from "
             + DepthLogged ~ meter

        assign in sequence SyslogGoUp = true
      }

      aggregate SetChlPeakTempDepth {
        run when (
          SampleAtPeakChl
          and ( not ( FlagPeakChlDepthSet ) )
          and FlagGoUp
          and ( Universal:depth < ( DeepbndChl - RiseFromTurningDep ) )
          and ( Science:PeakChlDepth > ShallowbndChl )
        )

        assign in sequence PeakChlDepthSet = Science:PeakChlDepth

        assign in sequence PeakChlTemperatureSet = Science:PeakChlTemperature

        assign in sequence PeakChlSet = Science:PeakChl

        assign in sequence FlagPeakChlDepthSet = true

        assign in sequence DepthLogged = Universal:depth

        assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water

        assign in sequence FlagGoUp = false

        assign in sequence FlagGoDown = false

        assign in sequence SyslogGoUp = false

        assign in sequence SyslogGoDown = false

        syslog important "Set peak-chl depth and temp. DepthLogged, ChlLogged, PeakChlDepthSet, PeakChlTemperatureSet, PeakChlSet = "
             + DepthLogged ~ meter
             + ", "
             + ChlLogged ~ microgram_per_liter
             + ", "
             + PeakChlDepthSet ~ meter
             + ", "
             + PeakChlTemperatureSet ~ celsius
             + ", "
             + PeakChlSet ~ microgram_per_liter

        assign in sequence FlagPeakChlTempSet = true
      }
    }
  }

  aggregate IsothermOrDepthHolding {
    run in parallel

    break if (
      CntSamples > NumSamplers
    )

    aggregate HoldTempInDonutMode {
      break if (
        FlagTargetDepthSet
      )

      run while (
        FlagTempSet
        and ( not ( FlagGoUp ) )
        and ( not ( FlagGoDown ) )
        and ( SpeedSampling > 0.0 meter_per_second )
      )

      behavior Guidance:DepthServo {
        run in parallel
        set Guidance:DepthServo.input = Universal:sea_water_temperature
        set Guidance:DepthServo.holdValue = TempSet
        set Guidance:DepthServo.proportionalGain = GainProportional
        set Guidance:DepthServo.integralGain = GainIntegral
        set Guidance:DepthServo.derivativeGain = GainDerivative
        set Guidance:DepthServo.changePerMeter = VariationPerMeter
      }

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

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

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

    aggregate HoldTempInDriftMode {
      break if (
        FlagTargetDepthSet
      )

      run while (
        FlagTempSet
        and ( not ( FlagGoUp ) )
        and ( not ( FlagGoDown ) )
        and ( not ( SpeedSampling > 0.0 meter_per_second ) )
      )

      behavior Guidance:DepthServo {
        run in parallel
        set Guidance:DepthServo.input = Universal:sea_water_temperature
        set Guidance:DepthServo.holdValue = TempSet
        set Guidance:DepthServo.proportionalGain = GainProportional
        set Guidance:DepthServo.integralGain = GainIntegral
        set Guidance:DepthServo.derivativeGain = GainDerivative
        set Guidance:DepthServo.changePerMeter = VariationPerMeter
      }

      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 HoldDepthInDonutMode {
      break if (
        FlagTempSet
      )

      run while (
        FlagTargetDepthSet
        and ( not ( FlagGoUp ) )
        and ( not ( FlagGoDown ) )
        and ( SpeedSampling > 0.0 meter_per_second )
      )

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

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

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

    aggregate HoldDepthInDriftMode {
      break if (
        FlagTempSet
      )

      run while (
        FlagTargetDepthSet
        and ( not ( FlagGoUp ) )
        and ( not ( FlagGoDown ) )
        and ( 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 TakeSamples {
    run in parallel

    break if (
      CntSamples > NumSamplers
      or ( not ( TimeReset ) )
      or (
        SampleAtPeakChl
        and ( not ( FlagInitialDiveCompleted ) )
      )
    )

    aggregate NoFiringForTooLong {
      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 == 1 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType1

      call id="SetOptionsForSample1" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample2 {
      run when (
        CntSamples == 2 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType2

      call id="SetOptionsForSample2" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample3 {
      run when (
        CntSamples == 3 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType3

      call id="SetOptionsForSample3" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample4 {
      run when (
        CntSamples == 4 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType4

      call id="SetOptionsForSample4" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample5 {
      run when (
        CntSamples == 5 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType5

      call id="SetOptionsForSample5" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample6 {
      run when (
        CntSamples == 6 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType6

      call id="SetOptionsForSample6" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample7 {
      run when (
        CntSamples == 7 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType7

      call id="SetOptionsForSample7" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample8 {
      run when (
        CntSamples == 8 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType8

      call id="SetOptionsForSample8" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample9 {
      run when (
        CntSamples == 9 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType9

      call id="SetOptionsForSample9" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample10 {
      run when (
        CntSamples == 10 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType10

      call id="SetOptionsForSample10" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetFiringTempRelativeToChlPeak {
      run when (
        SampleOptionsSet
        and ( not ( isNaN ( TempDiffFromPeakChl ) ) )
        and FlagPeakChlTempSet
        and ( not ( FlagTempSet ) )
      )

      assign in sequence TempSet = PeakChlTemperatureSet + TempDiffFromPeakChl

      assign in sequence FlagTempSet = true
    }

    aggregate SetFiringTempAbsolute {
      run when (
        SampleOptionsSet
        and (
          TempDesignated >= 0 celsius
          or ( TempDesignated < 0 celsius )
        )
        and ( not ( FlagTempSet ) )
      )

      assign in sequence TempSet = TempDesignated

      assign in sequence FlagTempSet = true

      assign in sequence FlagGoDown = false
    }

    aggregate SetFiringDepthRelativeToChlPeakNormal {
      run when (
        SampleOptionsSet
        and FlagPeakChlDepthSet
        and ( not ( isNaN ( DepDiffFromPeakChl ) ) )
        and ( not ( FlagTargetDepthSet ) )
        and ( PeakChlDepthSet + DepDiffFromPeakChl >= ShallowbndChl )
        and ( PeakChlDepthSet + DepDiffFromPeakChl <= DeepbndChl )
      )

      assign in sequence DepthSet = PeakChlDepthSet + DepDiffFromPeakChl

      assign in sequence FlagTargetDepthSet = true
    }

    aggregate SetFiringDepthRelativeToChlPeakClampedToShallowest {
      run when (
        SampleOptionsSet
        and FlagPeakChlDepthSet
        and ( not ( isNaN ( DepDiffFromPeakChl ) ) )
        and ( not ( FlagTargetDepthSet ) )
        and ( PeakChlDepthSet + DepDiffFromPeakChl < ShallowbndChl )
      )

      assign in sequence DepthSet = ShallowbndChl

      assign in sequence FlagTargetDepthSet = true
    }

    aggregate SetFiringDepthRelativeToChlPeakClampedToDeepest {
      run when (
        SampleOptionsSet
        and FlagPeakChlDepthSet
        and ( not ( isNaN ( DepDiffFromPeakChl ) ) )
        and ( not ( FlagTargetDepthSet ) )
        and ( PeakChlDepthSet + DepDiffFromPeakChl > DeepbndChl )
      )

      assign in sequence DepthSet = DeepbndChl

      assign in sequence FlagTargetDepthSet = true
    }

    aggregate SetFiringDepthAbsolute {
      run when (
        SampleOptionsSet
        and ( not ( isNaN ( DepDesignated ) ) )
        and ( not ( FlagTargetDepthSet ) )
      )

      assign in sequence DepthSet = DepDesignated

      assign in sequence FlagTargetDepthSet = true

      assign in sequence FlagGoDown = false
    }

    aggregate FiringOnTemp {
      run when (
        FlagTempSet
        and ( not ( FlagSamplingOngoing ) )
        and ( CntSamples <= NumSamplers )
        and SampleOptionsSet
        and ( not ( SampleCompleted ) )
      )

      assign in sequence FlagSamplingOngoing = true

      assign in sequence SampleCountIncreased = false

      syslog important "Taking sample No."
           + CntSamples ~ count
           + ". Target temp = "
           + TempSet ~ celsius
           + "."

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

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour

      aggregate TriggerOnTemp {
        run in sequence

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

        call id="WaitForDepthDampingDown" refId="DampDown"

        call id="Sampling" refId="TriggerSampling"

        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 FlagTempSet = false
      }

      aggregate SkipOnTemp {
        run in sequence

        break if (
          not ( isNaN ( CartridgeType ) )
          or UseCANONSampler
        )

        assign in sequence FlagSamplingOngoing = false

        assign in sequence SampleCompleted = true

        # Don't move the following line

        assign in sequence SampleOptionsSet = false

        assign in sequence FlagTempSet = false

        assign in sequence SendDataAllCompleted = true

        syslog important "ESP sample skipped (because cartridge type is NaN)."
      }

      aggregate FireOnTempSendData {
        run when (
          not ( isNaN ( CartridgeType ) )
          and SampleCompleted
          and SendSampleStatusAndData
          and CallSendData
        )

        call id="SendDataFireOnTemp" refId="SendData"

        assign in sequence CallSendData = false
      }
    }

    aggregate FiringOnDepth {
      run when (
        FlagTargetDepthSet
        and ( not ( FlagGoUp ) )
        and ( not ( FlagGoDown ) )
        and ( not ( FlagSamplingOngoing ) )
        and ( CntSamples <= NumSamplers )
        and SampleOptionsSet
        and ( not ( SampleCompleted ) )
      )

      assign in sequence SampleAtDepth:TargetDepth = DepthSet

      assign in sequence SampleAtDepth:SettleTime = WaitDepthUndulation

      assign in sequence FlagSamplingOngoing = true

      assign in sequence SampleCountIncreased = false

      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 SkipOnDepth {
        run in sequence

        break if (
          not ( isNaN ( CartridgeType ) )
          or UseCANONSampler
        )

        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

        assign in sequence SendDataAllCompleted = true

        syslog important "ESP sample skipped (because cartridge type is NaN)."
      }

      aggregate FireOnDepSendData {
        run when (
          not ( isNaN ( CartridgeType ) )
          and SampleCompleted
          and SendSampleStatusAndData
          and CallSendData
        )

        call id="SendDataFireOnDep" refId="SendData"

        assign in sequence CallSendData = false
      }
    }

    aggregate IncreaseSampleCount {
      run when (
        SampleCompleted
        and ( not ( SendSampleStatusAndData ) )
        or (
          SampleCompleted
          and SendSampleStatusAndData
          and SendDataAllCompleted
        )
      )

      assign in sequence CntSamples = CntSamples + 1 count

      assign in sequence SendDataCntSamplesCompleted = false

      assign in sequence SendDataESPSampleNumberCompleted = false

      assign in sequence SendDataESPCartridgeTypeCompleted = false

      assign in sequence SendDataESPSampleVolumeCompleted = false

      assign in sequence SendDataSampleDepCompleted = false

      assign in sequence SendDataSampleTempCompleted = false

      assign in sequence SendDataSampleChlCompleted = false

      assign in sequence SendDataAllCompleted = false

      assign in sequence CallSendData = true

      assign in sequence SampleCompleted = false

      assign in sequence SampleOptionsSet = false

      assign in sequence SampleCountIncreased = true
    }
  }
}

Source XML

<?xml version="1.0" encoding="UTF-8"?>
<!--
-   Copyright (c) 2024 MBARI
-   MBARI Proprietary Information. Confidential. All Rights Reserved
-   Unauthorized copying or distribution of this file via any medium is strictly
-   prohibited.
-
-   WARNING - This file contains information whose export is restricted by the
-   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
-   amended. Violations of these export laws are subject to severe civil and/or
-   criminal penalties.
-->

<Aggregate 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/Sensor 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="SampleAtPeakChlDepOrTemp">

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

    <DefineArg Name="MaxWaitNoFiring"><Description>
        If no firing after more than MaxWaitNoFiring, terminate mission.
    </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>0.5</Value></DefineArg>

    <DefineArg Name="SendSampleStatusAndData"><Description>
        Whether to senddata to acoustic modem.
    </Description><False/></DefineArg>

    <DefineArg Name="SendDataToMultipleModems"><Description>
        Whether to senddata to more than one modem.
    </Description><False/></DefineArg>

    <DefineArg Name="modemId1"><Description>
        Modem ID1. Initialized to 1.
    </Description><Units:enum/><Value>1</Value></DefineArg>

    <DefineArg Name="modemId2"><Description>
        Modem ID2. Initialized to 4.
    </Description><Units:enum/><Value>4</Value></DefineArg>

    <DefineArg Name="SampleAtPeakChl"><Description>
        Whether to sample at peak-chl
    </Description><False/></DefineArg>

    <DefineArg Name="InitialDiveDuration"><Description>
        On the first dive for looking for the chl max, run at SpeedInitialDive
        for this duration (e.g., 1 m/s spiral to dive fast).
    </Description><Units:minute/><Value>1.0</Value></DefineArg>

    <DefineArg Name="SpeedInitialDive"><Description>
        Vehicle speed during initial dive (for looking for the chl max). 0.0 for
        drift mode (prop off); 1.0 for spiral mode (prop on). Initialized to 1
        m/s.
    </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>

    <DefineArg Name="RudderAngleInitialDive"><Description>
        Rudder angle in initial spiral-down to leave surface. Initialized to 9
        degrees.
    </Description><Units:degree/><Value>9</Value></DefineArg>

    <DefineArg Name="RudderAngleDonutSampling"><Description>
        Rudder angle during donut sampling.
    </Description><Units:degree/><Value>13</Value></DefineArg>

    <DefineArg Name="ShallowbndChl"><Description>
        Shallow depth bound for chl-peak detection.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="DeepbndChl"><Description>
        Deep depth bound for chl-peak detection.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="CartridgeCommon"><Description>
        Value common to all samples unless set diffently: cartridge type.
    </Description><Units:count/><Value>NaN</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="TempDiffFromPeakChl"><Description>
        Target temperature difference from the peak-chl temperature.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDesignated"><Description>
        Pre-designated temperature.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl"><Description>
        Depth difference (positive: deeper; negative: shallower) from the
        peak-chl depth for taking comparison samples. Initialized to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDesignated"><Description>
        Pre-designated depth.
    </Description><Units:meter/><Value>NaN</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>
        Wait duration for the depth undulation to damp down.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

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

    <DefineArg Name="UpRate"><Description>
        Go-up depth rate (Negative depth rate means going up).
    </Description><Units:meter_per_second/><Value>-0.05</Value></DefineArg>

    <DefineArg Name="DownRate"><Description>
        Go-down depth rate (Positive depth rate means going down).
    </Description><Units:meter_per_second/><Value>0.2</Value></DefineArg>

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

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

    <DefineArg Name="CANONSamplerRotateOnly"><Units:bool/><Value>0</Value></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="RiseFromTurningDep"><Description>
        The peak chl detected on the initial dive is reported when the vehicle
        has turned from the deepest depth (i.e., the turning depth) onto the
        ascending profile at a depth that is RiseFromDeepTurningPoint shallower
        than the turning depth. For robustness, RiseFromTurningDep =
        DepChangeThreshAttitudeFlip + 2 meters.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="DepChangeThreshAttitudeFlip"><Description>
        Depth change threshold for determining vehicle attitude flip.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="LPWindowLength"><Description>
        Low-pass window length (based on depth sensor sampling interval 0.4
        second) for low-pass filtering.
    </Description><Units:count/><Value>20</Value></DefineArg>

    <DefineArg Name="MedianFilterLength"><Description>
        Median filter length (only for chlorophyll fluorescence which tends to
        have spikes). The median-filtered signal enters the succeeding low-pass
        filter. If set to 1, then no median filtering, i.e., the raw
        fluorescence signal directly enters the low-pass filter.
    </Description><Units:count/><Value>5</Value></DefineArg>

    <DefineArg Name="GainProportional"><Description>
        Proportional gain for temperature holding control loop.
    </Description><Units:none/><Value>1</Value></DefineArg>

    <DefineArg Name="GainIntegral"><Description>
        Integral gain for temperature holding control loop.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="GainDerivative"><Description>
        Derivative gain for temperature holding control loop.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="VariationPerMeter"><Description>
        Expected temperature change per meter.
    </Description><Units:reciprocal_meter/><Value>0.2</Value></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc
        for active buoyancy
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Set to NaN mm for active
        mass position
    </Description><Control:VerticalControl.massDefault/></DefineArg>

<!-- Internal variables that you should not change -->

    <DefineOutput Name="TimeReset"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <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 -6.
    </Description><Units:count/><Value>-6</Value></DefineOutput>

    <DefineOutput Name="CartridgeTypeIndividual"><Description>
        Initialized to -6.
    </Description><Units:count/><Value>-6</Value></DefineOutput>

    <DefineOutput Name="TempSet"><Description>
        Temperature for sampling. Initialized to NaN.
    </Description><Units:kelvin/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="DepthSet"><Description>
        Depth for sampling. Initialized to 10 m.
    </Description><Units:meter/><Value>10.0</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="SampleCountIncreased"><Description>
        Sample count is increased.
    </Description><True/></DefineOutput>

    <DefineOutput Name="SampleOptionsSet"><Description>
        Sample options (DepDiffFromPeakChl etc.) 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"><Units:meter/><Value>0.0</Value></DefineOutput>

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

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

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

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

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

    <DefineOutput Name="FlagInitialDiveCompleted"><Description>
        Flag of initial dive completed. Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="FlagPeakChlDepthSet"><Description>
        Flag of peak-chl depth having been set (set to true when the chl-peak
        depth has been set. Initialized to false).
    </Description><False/></DefineOutput>

    <DefineOutput Name="FlagPeakChlTempSet"><Description>
        Flag of peak-chl temperature having been set (set to true when the
        chl-peak temperature has 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="PeakChlDepthSet"><Description>
        Peak-chl depth detected on a dive. Initialized to 10 meters.
    </Description><Units:meter/><Value>10.0</Value></DefineOutput>

    <DefineOutput Name="PeakChlTemperatureSet"><Description>
        Peak-chl temperature detected on a dive, and set for chl-peak holding.
        Initialized to NaN.
    </Description><Units:kelvin/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PeakChlSet"><Description>
        Peak-chl value detected on a dive.
    </Description><Units:microgram_per_liter/><Value>0.0</Value></DefineOutput>

    <DefineOutput Name="SyslogGoUp"><Description>
        Flag of logging "GoUp" in syslog (initialized to false).
    </Description><False/></DefineOutput>

    <DefineOutput Name="SyslogGoDown"><Description>
        Flag of logging "GoDown" in syslog (initialized to false).
    </Description><False/></DefineOutput>

    <DefineOutput Name="CntSamples"><Description>
        Count of water samples (initilized to 1).
    </Description><Units:count/><Value>1</Value></DefineOutput>

    <DefineOutput Name="SendDataCntSamplesCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataESPSampleNumberCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataESPCartridgeTypeCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataESPSampleVolumeCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataCANONSampleNumberCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataSampleDepCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataSampleTempCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataSampleChlCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataAllCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="CallSendData"><Description>
        Initialized to true.
    </Description><True/></DefineOutput>

    <DefineOutput Name="ModemID"><Description>
        Modem ID. Set to modemId1 or modemId2. Initialized to 1.
    </Description><Units:enum/><Value>1</Value></DefineOutput>

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

    <When>
        <Called/>
    </When>

    <Aggregate Id="ResetTime">

        <Sequence/>

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

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

    </Aggregate>

    <Aggregate Id="TriggerSampling">

        <When>
            <Called/>
        </When>

        <Aggregate Id="TriggerESP">

            <Sequence/>

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

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

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

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

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

            <Science:ESPCartridgeSelect>
                <Sequence/>
                <Timeout Duration="P1M"/>
                <Setting><Science:ESPCartridgeSelect.cartridgeType/><Arg Name="CartridgeType"/></Setting>
            </Science:ESPCartridgeSelect>

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

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

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

        </Aggregate>

        <Aggregate Id="TriggerCANON">

            <Sequence/>

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

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

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

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

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

            <Assign><Parallel/><Science:CANONSampler.sampleTimeout/><Arg Name="CANONSamplerTimeout"/></Assign>

            <Assign><Parallel/><Science:CANONSampler.rotateOnly/><Arg Name="CANONSamplerRotateOnly"/></Assign>

            <ReadDatum Id="TriggerCANONSampler">
                <Timeout Duration="CANONSamplerTriggerTimeout">
                    <Syslog Severity="Important">Timed out triggering CANONSampler. Stopping mission.</Syslog>
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                    </Guidance:Execute>
                </Timeout>
                <Science:CANONSampler.sampling/>
            </ReadDatum>

            <ReadDatum>
                <Timeout Duration="CANONSamplerTimeout">
                    <Syslog Severity="Important">Timed out sampling with CANONSampler. Stopping mission.</Syslog>
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                    </Guidance:Execute>
                </Timeout>
                <Science:CANONSampler.sample_number/>
            </ReadDatum>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="DampDown">

        <When>
            <Called/>
        </When>

        <Syslog Severity="Important">Wait <Arg Name="WaitDepthUndulation"/><Units:minute/> for the depth undulation to damp down.</Syslog>

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

    </Aggregate>

    <Aggregate Id="DoSendDirect">

        <When>
            <Called/>
        </When>

        <Syslog Severity="Important">ModemID = <Arg Name="ModemID"/><Units:enum/></Syslog>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
            <Setting><Sensor:SendDirect.destName/><String>_.LRAUVcntSamples</String></Setting>
            <Setting><Sensor:SendDirect.value/><IsothermDepthSampling.CntSamples/></Setting>
            <Setting><Sensor:SendDirect.unit/><String>count</String></Setting>
        </Sensor:SendDirect>

        <Syslog Severity="Important">IsothermDepthSampling.CntSamples = <IsothermDepthSampling.CntSamples/><Units:count/></Syslog>

        <Aggregate Id="SendDirectESP">

            <Sequence/>

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

            <Sensor:SendDirect>
                <Sequence/>
                <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
                <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
                <Setting><Sensor:SendDirect.destName/><String>_.ESPsampleNumber</String></Setting>
                <Setting><Sensor:SendDirect.value/><Science:ESPComponent.sample_number/></Setting>
                <Setting><Sensor:SendDirect.unit/><String>count</String></Setting>
            </Sensor:SendDirect>

            <Sensor:SendDirect>
                <Sequence/>
                <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
                <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
                <Setting><Sensor:SendDirect.destName/><String>_.ESPcartridgeType</String></Setting>
                <Setting><Sensor:SendDirect.value/><Science:ESPComponent.cartridge/></Setting>
                <Setting><Sensor:SendDirect.unit/><String>count</String></Setting>
            </Sensor:SendDirect>

            <Sensor:SendDirect>
                <Sequence/>
                <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
                <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
                <Setting><Sensor:SendDirect.destName/><String>_.ESPsampleVolume</String></Setting>
                <Setting><Sensor:SendDirect.value/><Science:ESPComponent.sampleVolume/></Setting>
                <Setting><Sensor:SendDirect.unit/><String>milliliter</String></Setting>
            </Sensor:SendDirect>

            <Syslog Severity="Important">Science:ESPComponent.sample_number = <Science:ESPComponent.sample_number/><Units:count/></Syslog>

            <Syslog Severity="Important">Science:ESPComponent.cartridge = <Science:ESPComponent.cartridge/><Units:count/></Syslog>

            <Syslog Severity="Important">Science:ESPComponent.sampleVolume = <Science:ESPComponent.sampleVolume/><Units:milliliter/></Syslog>

        </Aggregate>

        <Aggregate Id="SendDirectCANON">

            <Sequence/>

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

            <Sensor:SendDirect>
                <Sequence/>
                <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
                <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
                <Setting><Sensor:SendDirect.destName/><String>_.CANONsampleNumber</String></Setting>
                <Setting><Sensor:SendDirect.value/><Science:CANONSampler.sample_number/></Setting>
                <Setting><Sensor:SendDirect.unit/><String>count</String></Setting>
            </Sensor:SendDirect>

            <Syslog Severity="Important">Science:CANONSampler.sample_number = <Science:CANONSampler.sample_number/><Units:count/></Syslog>

        </Aggregate>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
            <Setting><Sensor:SendDirect.destName/><String>_.sampleDepth</String></Setting>
            <Setting><Sensor:SendDirect.value/><Universal:depth/></Setting>
            <Setting><Sensor:SendDirect.unit/><String>meter</String></Setting>
        </Sensor:SendDirect>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
            <Setting><Sensor:SendDirect.destName/><String>_.sampleTemperature</String></Setting>
            <Setting><Sensor:SendDirect.value/><Universal:sea_water_temperature/></Setting>
            <Setting><Sensor:SendDirect.unit/><String>celsius</String></Setting>
        </Sensor:SendDirect>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
            <Setting><Sensor:SendDirect.destName/><String>_.sampleChlorophyll</String></Setting>
            <Setting><Sensor:SendDirect.value/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Setting>
            <Setting><Sensor:SendDirect.unit/><String>microgram_per_liter</String></Setting>
        </Sensor:SendDirect>

        <Syslog Severity="Important">Universal:depth = <Universal:depth/><Units:meter/></Syslog>

        <Syslog Severity="Important">Universal:sea_water_temperature = <Universal:sea_water_temperature/><Units:celsius/></Syslog>

        <Syslog Severity="Important">Universal:mass_concentration_of_chlorophyll_in_sea_water = <Universal:mass_concentration_of_chlorophyll_in_sea_water/><Units:microgram_per_liter/></Syslog>

    </Aggregate>

    <Aggregate Id="SendData">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SendTo1Modem">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="ModemID"/><Arg Name="modemId1"/></Assign>

            <Syslog Severity="Important">Set ModemID to <Arg Name="ModemID"/><Units:enum/>.</Syslog>

            <Call RefId="DoSendDirect"/>

        </Aggregate>

        <Aggregate Id="SendTo2Modems">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="ModemID"/><Arg Name="modemId1"/></Assign>

            <Syslog Severity="Important">Set ModemID to <Arg Name="ModemID"/><Units:enum/>.</Syslog>

            <Call RefId="DoSendDirect"/>

            <Assign><Sequence/><Arg Name="ModemID"/><Arg Name="modemId2"/></Assign>

            <Syslog Severity="Important">Set ModemID to <Arg Name="ModemID"/><Units:enum/>.</Syslog>

            <Call RefId="DoSendDirect"/>

        </Aggregate>

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

    </Aggregate>

    <Aggregate Id="SetSampleOptions">

        <When>
            <Called/>
        </When>

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

        <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="SettingCartridgeCommon">

            <Sequence/>

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

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

        </Aggregate>

        <Aggregate Id="SettingWait1">

            <Sequence/>

            <Break><Arg Name="CntSamples"/>
                <Ge><Units:count/><Value>2</Value></Ge>
            </Break>

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

        </Aggregate>

        <Aggregate Id="SettingWaitCommon">

            <Sequence/>

            <Break><Arg Name="CntSamples"/>
                <Eq><Units:count/><Value>1</Value></Eq>
            </Break>

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

        </Aggregate>

        <Syslog Severity="Important">CntSamples = <Arg Name="CntSamples"/><Units:count/>. Set CartridgeType (if ESP), TempDiffFromPeakChl, DepDiffFromPeakChl, TempDesignated, DepDesignated, WaitDepthUndulation to <Arg Name="CartridgeType"/><Units:count/>, <Arg Name="TempDiffFromPeakChl"/><Units:kelvin/>, <Arg Name="DepDiffFromPeakChl"/><Units:meter/>, <Arg Name="TempDesignated"/><Units:celsius/>, <Arg Name="DepDesignated"/><Units:meter/>, <Arg Name="WaitDepthUndulation"/><Units:minute/>.</Syslog>

    </Aggregate>

    <Aggregate Id="SetSpeedRudderAngleInitialDive">

        <Sequence/>

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

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

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

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

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

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

    </Aggregate>

    <Aggregate Id="FindPeakChlVertical">

        <Sequence/>

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

        <Aggregate Id="FindPeak">

            <Sequence/>

            <While>
                <Arg Name="SampleAtPeakChl"/>
            </While>

            <Aggregate Id="FindPeakSpiralMode">

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

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

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

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

            </Aggregate>

            <Aggregate Id="FindPeakDriftMode">

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

                <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="SetDepthRateGoDown">

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

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

            </Aggregate>

            <Aggregate Id="SetDepthRateGoUp">

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

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

            </Aggregate>

            <Aggregate Id="LogGoDown">

                <When>
                    <Arg Name="FlagGoDown"/>
                    <And><Not><Arg Name="SyslogGoDown"/></Not></And>
                </When>

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

                <Syslog Severity="Important">Go down from <Arg Name="DepthLogged"/><Units:meter/></Syslog>

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

            </Aggregate>

            <Aggregate Id="SetFlagGoUp">

                <When>
                    <Arg Name="SampleAtPeakChl"/>
                    <And><Not><Arg Name="DepDesignated"/><Ge><Units:meter/><Value>0</Value></Ge><Or><Arg Name="DepDesignated"/><Lt><Units:meter/><Value>0</Value></Lt></Or></Not></And>
                    <And><Not><Arg Name="TempDesignated"/><Ge><Units:celsius/><Value>0</Value></Ge><Or><Arg Name="TempDesignated"/><Lt><Units:celsius/><Value>0</Value></Lt></Or></Not></And>
                    <And><Universal:depth/><Gt><Arg Name="DeepbndChl"/></Gt></And>
                    <And><Not><Arg Name="FlagGoUp"/></Not></And>
                </When>

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

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

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

            </Aggregate>

            <Aggregate Id="LogGoUp">

                <When>
                    <Arg Name="FlagGoUp"/>
                    <And><Not><Arg Name="SyslogGoUp"/></Not></And>
                </When>

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

                <Syslog Severity="Important">Go up from <Arg Name="DepthLogged"/><Units:meter/></Syslog>

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

            </Aggregate>

            <Aggregate Id="SetChlPeakTempDepth">

                <When>
                    <Arg Name="SampleAtPeakChl"/>
                    <And><Not><Arg Name="FlagPeakChlDepthSet"/></Not></And>
                    <And><Arg Name="FlagGoUp"/></And>
                    <And><Universal:depth/><Lt><Arg Name="DeepbndChl"/><Sub><Arg Name="RiseFromTurningDep"/></Sub></Lt></And>
                    <And><Arg Name="Science:PeakChlDepth"/><Gt><Arg Name="ShallowbndChl"/></Gt></And>
                </When>

                <Assign><Sequence/><Arg Name="PeakChlDepthSet"/><Arg Name="Science:PeakChlDepth"/></Assign>

                <Assign><Sequence/><Arg Name="PeakChlTemperatureSet"/><Arg Name="Science:PeakChlTemperature"/></Assign>

                <Assign><Sequence/><Arg Name="PeakChlSet"/><Arg Name="Science:PeakChl"/></Assign>

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

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

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

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

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

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

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

                <Syslog Severity="Important">Set peak-chl depth and temp. DepthLogged, ChlLogged, PeakChlDepthSet, PeakChlTemperatureSet, PeakChlSet = <Arg Name="DepthLogged"/><Units:meter/>, <Arg Name="ChlLogged"/><Units:microgram_per_liter/>, <Arg Name="PeakChlDepthSet"/><Units:meter/>, <Arg Name="PeakChlTemperatureSet"/><Units:celsius/>, <Arg Name="PeakChlSet"/><Units:microgram_per_liter/></Syslog>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="IsothermOrDepthHolding">

        <Parallel/>

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

        <Aggregate Id="HoldTempInDonutMode">

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

            <While>
                <Arg Name="FlagTempSet"/>
                <And><Not><Arg Name="FlagGoUp"/></Not></And>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Arg Name="SpeedSampling"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></And>
            </While>

            <Guidance:DepthServo>
                <Parallel/>
                <Setting><Guidance:DepthServo.input/><Universal:sea_water_temperature/></Setting>
                <Setting><Guidance:DepthServo.holdValue/><Arg Name="TempSet"/></Setting>
                <Setting><Guidance:DepthServo.proportionalGain/><Arg Name="GainProportional"/></Setting>
                <Setting><Guidance:DepthServo.integralGain/><Arg Name="GainIntegral"/></Setting>
                <Setting><Guidance:DepthServo.derivativeGain/><Arg Name="GainDerivative"/></Setting>
                <Setting><Guidance:DepthServo.changePerMeter/><Arg Name="VariationPerMeter"/></Setting>
            </Guidance:DepthServo>

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

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

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

        </Aggregate>

        <Aggregate Id="HoldTempInDriftMode">

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

            <While>
                <Arg Name="FlagTempSet"/>
                <And><Not><Arg Name="FlagGoUp"/></Not></And>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Not><Arg Name="SpeedSampling"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></Not></And>
            </While>

            <Guidance:DepthServo>
                <Parallel/>
                <Setting><Guidance:DepthServo.input/><Universal:sea_water_temperature/></Setting>
                <Setting><Guidance:DepthServo.holdValue/><Arg Name="TempSet"/></Setting>
                <Setting><Guidance:DepthServo.proportionalGain/><Arg Name="GainProportional"/></Setting>
                <Setting><Guidance:DepthServo.integralGain/><Arg Name="GainIntegral"/></Setting>
                <Setting><Guidance:DepthServo.derivativeGain/><Arg Name="GainDerivative"/></Setting>
                <Setting><Guidance:DepthServo.changePerMeter/><Arg Name="VariationPerMeter"/></Setting>
            </Guidance:DepthServo>

            <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="HoldDepthInDonutMode">

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

            <While>
                <Arg Name="FlagTargetDepthSet"/>
                <And><Not><Arg Name="FlagGoUp"/></Not></And>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Arg Name="SpeedSampling"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></And>
            </While>

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

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

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

        </Aggregate>

        <Aggregate Id="HoldDepthInDriftMode">

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

            <While>
                <Arg Name="FlagTargetDepthSet"/>
                <And><Not><Arg Name="FlagGoUp"/></Not></And>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Not><Arg Name="SpeedSampling"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></Not></And>
            </While>

            <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>

    <Aggregate Id="TakeSamples">

        <Parallel/>

        <Break><Arg Name="CntSamples"/>
            <Gt><Arg Name="NumSamplers"/></Gt>
            <Or><Not><Arg Name="TimeReset"/></Not></Or>
            <Or><Arg Name="SampleAtPeakChl"/><And><Not><Arg Name="FlagInitialDiveCompleted"/></Not></And></Or>
        </Break>

        <Aggregate Id="NoFiringForTooLong">

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

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

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample2">

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

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

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample3">

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

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

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample4">

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

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

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample5">

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

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

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample6">

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

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

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample7">

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

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

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample8">

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

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

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample9">

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

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

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample10">

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

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

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

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

        </Aggregate>

        <Aggregate Id="SetFiringTempRelativeToChlPeak">

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Not><IsNaN><Arg Name="TempDiffFromPeakChl"/>
                </IsNaN></Not></And>
                <And><Arg Name="FlagPeakChlTempSet"/></And>
                <And><Not><Arg Name="FlagTempSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TempSet"/><Arg Name="PeakChlTemperatureSet"/><Add><Arg Name="TempDiffFromPeakChl"/></Add></Assign>

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

        </Aggregate>

        <Aggregate Id="SetFiringTempAbsolute">

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Arg Name="TempDesignated"/><Ge><Units:celsius/><Value>0</Value></Ge><Or><Arg Name="TempDesignated"/><Lt><Units:celsius/><Value>0</Value></Lt></Or></And>
                <And><Not><Arg Name="FlagTempSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="TempSet"/><Arg Name="TempDesignated"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetFiringDepthRelativeToChlPeakNormal">

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Arg Name="FlagPeakChlDepthSet"/></And>
                <And><Not><IsNaN><Arg Name="DepDiffFromPeakChl"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagTargetDepthSet"/></Not></And>
                <And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Ge><Arg Name="ShallowbndChl"/></Ge></And>
                <And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Le><Arg Name="DeepbndChl"/></Le></And>
            </When>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add></Assign>

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

        </Aggregate>

        <Aggregate Id="SetFiringDepthRelativeToChlPeakClampedToShallowest">

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Arg Name="FlagPeakChlDepthSet"/></And>
                <And><Not><IsNaN><Arg Name="DepDiffFromPeakChl"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagTargetDepthSet"/></Not></And>
                <And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Lt><Arg Name="ShallowbndChl"/></Lt></And>
            </When>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="ShallowbndChl"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetFiringDepthRelativeToChlPeakClampedToDeepest">

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Arg Name="FlagPeakChlDepthSet"/></And>
                <And><Not><IsNaN><Arg Name="DepDiffFromPeakChl"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagTargetDepthSet"/></Not></And>
                <And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Gt><Arg Name="DeepbndChl"/></Gt></And>
            </When>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="DeepbndChl"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetFiringDepthAbsolute">

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Not><IsNaN><Arg Name="DepDesignated"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagTargetDepthSet"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="DepDesignated"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="FiringOnTemp">

            <When>
                <Arg Name="FlagTempSet"/>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Arg Name="SampleOptionsSet"/></And>
                <And><Not><Arg Name="SampleCompleted"/></Not></And>
            </When>

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

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

            <Syslog Severity="Important">Taking sample No.<Arg Name="CntSamples"/><Units:count/>. Target temp = <Arg Name="TempSet"/><Units:celsius/>.</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="TriggerOnTemp">

                <Sequence/>

                <Break><Arg Name="UseESP"/>
                    <And><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></And>
                </Break>

                <Call Id="WaitForDepthDampingDown" RefId="DampDown"/>

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

                <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="FlagTempSet"/><False/></Assign>

            </Aggregate>

            <Aggregate Id="SkipOnTemp">

                <Sequence/>

                <Break>
                    <Not><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></Not>
                    <Or><Arg Name="UseCANONSampler"/></Or>
                </Break>

                <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="FlagTempSet"/><False/></Assign>

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

                <Syslog Severity="Important">ESP sample skipped (because cartridge type is NaN).</Syslog>

            </Aggregate>

            <Aggregate Id="FireOnTempSendData">

                <Sequence/>

                <When>
                    <Not><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></Not>
                    <And><Arg Name="SampleCompleted"/></And>
                    <And><Arg Name="SendSampleStatusAndData"/></And>
                    <And><Arg Name="CallSendData"/></And>
                </When>

                <Call Id="SendDataFireOnTemp" RefId="SendData"/>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="FiringOnDepth">

            <When>
                <Arg Name="FlagTargetDepthSet"/>
                <And><Not><Arg Name="FlagGoUp"/></Not></And>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Arg Name="SampleOptionsSet"/></And>
                <And><Not><Arg Name="SampleCompleted"/></Not></And>
            </When>

            <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>

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

            <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">

                <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 Id="SkipOnDepth">

                <Break>
                    <Not><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></Not>
                    <Or><Arg Name="UseCANONSampler"/></Or>
                </Break>

                <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>

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

                <Syslog Severity="Important">ESP sample skipped (because cartridge type is NaN).</Syslog>

            </Aggregate>

            <Aggregate Id="FireOnDepSendData">

                <Sequence/>

                <When>
                    <Not><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></Not>
                    <And><Arg Name="SampleCompleted"/></And>
                    <And><Arg Name="SendSampleStatusAndData"/></And>
                    <And><Arg Name="CallSendData"/></And>
                </When>

                <Call Id="SendDataFireOnDep" RefId="SendData"/>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="IncreaseSampleCount">

            <When>
                <Arg Name="SampleCompleted"/>
                <And><Not><Arg Name="SendSampleStatusAndData"/></Not></And>
                <Or><Arg Name="SampleCompleted"/><And><Arg Name="SendSampleStatusAndData"/></And><And><Arg Name="SendDataAllCompleted"/></And></Or>
            </When>

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

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

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

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

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

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

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

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

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

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

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

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

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

        </Aggregate>

    </Aggregate>

</Aggregate>