Canon esp trianguloid.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/Science/canon_esp_trianguloid.xml:391:7
     | 
 387 | 
 388 |       assign in sequence  ElapsedSinceLastSampleStart = 0
 389 |       # Configure sampling sequance
 390 | 
 391 |       assign in sequence  Sample:SampleCANONSampler = SampleCANONSampler
     |       ^^^^^^
 392 |       assign in sequence  Sample:CANONSamplerDelay = CANONSamplerDelay
 393 |       assign in sequence  Sample:ESPCartridgeType = CartridgeType
 394 |       assign in sequence  Sample:SampleESP = SampleESP
 395 |       # Trigger sampling sequance
     | 
Unexpected: `assign`
Expecting: 'unit' <<<<

Generated TethysL

mission canon_esp_trianguloid {
  """
  This mission navigates to the CANON trianguloid waypoints and sets the
  max depth for each leg. The mission can (re)start at any point within
  this trajectory by adjusting the `leg` parameter as needed. Samples are
  triggered on a clock every SampleInterval.
  """
  # Almost every mission should start with an overall timeout and a NeedCommsTime.

  arguments {
    MissionTimeout = 42 hour
      """
      Maximum duration of mission
      """

    NeedCommsTime = 120 minute
      """
      How often to surface for commumications
      """

    # You probably need to change these.

    leg = 1 count
      """
      Leg to start at (default is start at leg 1). leg 1: C1, 40m leg 2: C1 -
      M1 Bypass 01, 50m leg 3: M1 Bypass 01 - Soquel Monterey Junction 01, 50m
      leg 4: Soquel Monterey Junction 01 - WG near MARS, 50m leg 5: WG near
      MARS - WG near Mid 1, 50m leg 6: WG near Mid 1 - M1 Bypass 01, 50m leg
      7: M1 Bypass 01 - C1, 50m leg 8: C1 - ?, 50m (spare wp)
      """

    SampleInterval = 2 hour
      """
      ESP sampling interval. Must be longer than the duration of a single ESP
      sample.
      """

    FirstSampleTimeOffset = 10 minute
      """
      When true, the mission will acquire and ESP sample at the start of the
      mission. When false, the mission will wait for the SampleInterval before
      acquiring the first sample.
      """

    SampleESP = true
      """
      When true, aqurie an ESP sample.
      """

    CartridgeType = -6 count
      """
      Specifies ESP cartridge type code (defaults to archive_bac: -6)
      """

    SampleCANONSampler = false
      """
      When true, aqurie a CANON Sampler water sample.
      """

    CANONSamplerDelay = 10 minute
      """
      How long to delay a CANON Sampler sample after an ESP sample is
      intiated.
      """

    SampleTimeout = 3 hour
      """
      Max time duration allowed for a single sample.
      """

    Lat1 = 36.797 degree
      """
      Latitude of waypoint 1 (default: C1).
      """

    Lon1 = -121.847 degree
      """
      Longitude of waypoint 1 (default: C1).
      """

    Lat2 = 36.754 degree
      """
      Latitude of waypoint 2 (default: M1 Bypass 01).
      """

    Lon2 = -122.0155 degree
      """
      Longitude of waypoint 2 (default: M1 Bypass 01).
      """

    Lat3 = 36.7825 degree
      """
      Latitude of waypoint 3 (default: Soquel Monterey Junction 01).
      """

    Lon3 = -122.018 degree
      """
      Longitude of waypoint 3 (default: Soquel Monterey Junction 01).
      """

    Lat4 = 36.7117 degree
      """
      Latitude of waypoint 4 (default: WG near MARS).
      """

    Lon4 = -122.1919 degree
      """
      Longitude of waypoint 4 (default: WG near MARS).
      """

    Lat5 = 36.6978 degree
      """
      Latitude of waypoint 5 (default: WG near Mid 1).
      """

    Lon5 = -122.0562 degree
      """
      Longitude of waypoint 5 (default: WG near Mid 1).
      """

    Lat6 = 36.754 degree
      """
      Latitude of waypoint 6 (default: M1 Bypass 01).
      """

    Lon6 = -122.0155 degree
      """
      Longitude of waypoint 6 (default: M1 Bypass 01).
      """

    Lat7 = 36.797 degree
      """
      Latitude of waypoint 7 (default: C1).
      """

    Lon7 = -121.847 degree
      """
      Longitude of waypoint 7 (default: C1).
      """

    Lat8 = NaN degree
      """
      Latitude of waypoint 8 (spare).
      """

    Lon8 = NaN degree
      """
      Longitude of waypoint 8 (spare).
      """

    Speed = 1 meter_per_second
      """
      Vehicle speed for the entire mission.
      """

    YoYoMinDepth = 5 meter
      """
      Minimum YoYo depth for the entire mission.
      """

    YoYoMaxDepth1 = 40 meter
      """
      Maximum YoYo depth during leg 1.
      """

    YoYoMaxDepth2 = 50 meter
      """
      Maximum YoYo depth during leg 2.
      """

    YoYoMaxDepth3 = 50 meter
      """
      Maximum YoYo depth during leg 3.
      """

    YoYoMaxDepth4 = 50 meter
      """
      Maximum YoYo depth during leg 4.
      """

    YoYoMaxDepth5 = 50 meter
      """
      Maximum YoYo depth during leg 5.
      """

    YoYoMaxDepth6 = 50 meter
      """
      Maximum YoYo depth during leg 6.
      """

    YoYoMaxDepth7 = 50 meter
      """
      Maximum YoYo depth during leg 7.
      """

    YoYoMaxDepth8 = 50 meter
      """
      Maximum YoYo depth during leg 8.
      """

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

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

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

    # You are even less likely to need to change these.

    CaptureRadius = NaN meter
      """
      Waypoint capture radiues.
      """

    MinAltitude = 5 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 110 meter
      """
      Maximum depth for the entire mission.
      """

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

  }

  output {
    ElapsedSinceLastSampleStart = 0 minute
      """
      Mission variable (don't change). The mission sets this variable to reset
      the ESP sample timer.
      """

    ElapsedTime = 0 hour
      """
      Mission variable (don't change). The mission sets this variable to reset
      the ESP sample timer.
      """

    SampleInProgress = false
      """
      Mission variable (don't change). The mission sets this variable to while
      sampling is in progress.
      """

    FirstSample = false
      """
      Mission variable (don't change). The mission sets this variable to when
      it's time to take the first sample.
      """

  }

  # Missions should almost always start with a timeout

  timeout duration=MissionTimeout
  insert Insert/Science.xml {

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

  }


  # Most missions should use the NeedComms aggregate.

  insert Insert/NeedComms.xml id="NeedComms"

  assign in sequence  NeedComms:DiveInterval = NeedCommsTime
  # Missions should almost always start with standard safety envelopes;
  #    most missions should not expose the parameters of these envelopes.

  insert Insert/StandardEnvelopes.xml

  assign in sequence  StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence  StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence  StandardEnvelopes:MinOffshore = MinOffshore
  assign in sequence  StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence  StandardEnvelopes:MinOffshore = MinOffshore
  # Sampling directives

  aggregate CheckSamplingSettings {
    run in sequence
    syslog info "Checking sampling settings."
    aggregate CheckESP {
      run when ( SampleESP and not ( Science:ESPComponent.loadAtStartup ) )
      syslog critical "Cannot service ESP sample request. ESPComponent is not loaded."
    }

    aggregate CheckCANONSampler {
      run when ( SampleCANONSampler and not ( Science:CANONSampler.loadAtStartup ) )
      syslog critical "Cannot service CANONSampler water sample request. CANONSampler component is not loaded."
    }

  }

  insert Insert/Sample.xml {

    redefineArg SampleTimeout = SampleTimeout

  }


  # Automatically cycle logs every 24 hours

  aggregate CycleLogs {
    run in parallel
    aggregate {
      run in sequence
      behavior Guidance:Wait  {

        run in sequence


        set Guidance:Wait.duration = 24 hour

      }


      syslog important "Restarting logs."
      behavior Guidance:Execute  {

        run in sequence


        set Guidance:Execute.command = "restart logs"

      }


    }

  }

  # Acquire ESP sample every SampleInterval

  aggregate SampleTimer {
    run while ( FirstSample and SampleInProgress or elapsed ( ElapsedSinceLastSampleStart ) > SampleInterval
    )
    aggregate AcquireSample {
      run in sequence
      assign in sequence  ElapsedTime = elapsed ( ElapsedSinceLastSampleStart )
      syslog important "Pre-sample comms. Elapsed time since last water sample: " + ElapsedTime~hour
      # Surface for comms before initiating the sample sequence

      call id="PreSampleComms" refId="NeedComms"
      # Set the surface comms interval to the sample timeout to avoid interruptions while sampling

      assign in sequence  NeedComms:DiveInterval = SampleTimeout
      aggregate WaitForDepth {
        run in sequence
        break if ( Universal:depth  >= YoYoMinDepth )
        syslog info "Waiting to achieve min depth of " + YoYoMinDepth~meter
        behavior Guidance:Wait  {

          run in sequence


          set Guidance:Wait.duration = SampleTimeout

        }


      }

      # Indicate a sample is in progress

      assign in sequence  SampleInProgress = true
      # This assignment restarts the sample timer

      assign in sequence  ElapsedSinceLastSampleStart = 0
      # Configure sampling sequance

      assign in sequence  Sample:SampleCANONSampler = SampleCANONSampler
      assign in sequence  Sample:CANONSamplerDelay = CANONSamplerDelay
      assign in sequence  Sample:ESPCartridgeType = CartridgeType
      assign in sequence  Sample:SampleESP = SampleESP
      # Trigger sampling sequance

      call id="TriggerSample" refId="Sample"
      # Surface for comms after the sampling sequence completes

      call id="PostSampleComms" refId="NeedComms"
      # Reinstate nominal surface comms interval

      assign in sequence  NeedComms:DiveInterval = NeedCommsTime
      assign in sequence  SampleInProgress = false
    }

  }

  call id="StartingMission" refId="NeedComms"
  # Many missions will keep mass position and buoyancy volume fixed at defaults.

  behavior Guidance:Pitch  {

    run in parallel


    set Guidance:Pitch.massPosition = Control:VerticalControl.massDefault

  }


  behavior Guidance:Buoyancy  {

    run in parallel


    set Guidance:Buoyancy.position = Control:VerticalControl.buoyancyNeutral

  }


  behavior Guidance:SetSpeed  {

    run in parallel


    set Guidance:SetSpeed.speed = Speed

  }


  behavior Guidance:DepthEnvelope  {
      """
    Another depth envelope for the YoYo behavior. This envelope should
    fall within the limits of the standard safety envelopes in
    Insert/StandardEnvelopes.xml in order to avoid commanding high pitch
    angles for depth-terminated YoYos.
    """
    run in parallel



    set Guidance:DepthEnvelope.minDepth = YoYoMinDepth

    set Guidance:DepthEnvelope.downPitch = YoYoDownPitch

    set Guidance:DepthEnvelope.upPitch = YoYoUpPitch

  }


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



    set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude

    set Guidance:AltitudeEnvelope.upPitch = YoYoUpPitch

  }


  behavior Guidance:YoYo  {

    run in parallel


    set Guidance:YoYo.downPitch = YoYoDownPitch

    set Guidance:YoYo.upPitch = YoYoUpPitch

  }


  aggregate SetWaypointsPerLegParameter {
    """
    The following Leg2-5 aggregates adjust the Lat[] and Lon[] variables
    according to the `trajectory` parameter:
    """
    run in sequence
    aggregate Leg2 {
      run in sequence
      break if ( leg <= 1 count )
      assign in sequence  Lat1 = NaN degree
      assign in sequence  Lon1 = NaN degree
    }

    aggregate Leg3 {
      run in sequence
      break if ( leg <= 2 count )
      assign in sequence  Lat2 = NaN degree
      assign in sequence  Lon2 = NaN degree
    }

    aggregate Leg4 {
      run in sequence
      break if ( leg <= 3 count )
      assign in sequence  Lat3 = NaN degree
      assign in sequence  Lon3 = NaN degree
    }

    aggregate Leg5 {
      run in sequence
      break if ( leg <= 4 count )
      assign in sequence  Lat4 = NaN degree
      assign in sequence  Lon4 = NaN degree
    }

    aggregate Leg6 {
      run in sequence
      break if ( leg <= 5 count )
      assign in sequence  Lat5 = NaN degree
      assign in sequence  Lon5 = NaN degree
    }

    aggregate Leg7 {
      run in sequence
      break if ( leg <= 6 count )
      assign in sequence  Lat6 = NaN degree
      assign in sequence  Lon6 = NaN degree
    }

    aggregate Leg8 {
      run in sequence
      break if ( leg <= 7 count )
      assign in sequence  Lat7 = NaN degree
      assign in sequence  Lon7 = NaN degree
    }

  }

  aggregate Lap {
    run in sequence
    syslog important "Starting Lap"
    syslog important "Lat[1] = " + Lat1~degree + " Lon[1] = " + Lon1~degree
    syslog important "Lat[2] = " + Lat2~degree + " Lon[2] = " + Lon2~degree
    syslog important "Lat[3] = " + Lat3~degree + " Lon[3] = " + Lon3~degree
    syslog important "Lat[4] = " + Lat4~degree + " Lon[4] = " + Lon4~degree
    syslog important "Lat[5] = " + Lat5~degree + " Lon[5] = " + Lon5~degree
    syslog important "Lat[6] = " + Lat6~degree + " Lon[6] = " + Lon6~degree
    syslog important "Lat[7] = " + Lat7~degree + " Lon[7] = " + Lon7~degree
    syslog important "Lat[8] = " + Lat8~degree + " Lon[8] = " + Lon8~degree
    # Kick off the first ESP sample on mission start?

    aggregate SampleOnStart {
      run in sequence
      run when ( not ( FirstSample ) and elapsed ( ElapsedSinceLastSampleStart ) > FirstSampleTimeOffset )
      # Start the first ESP sample.

      syslog important "Acquiring first sample."
      assign in sequence  SampleInProgress = true
      assign in sequence  FirstSample = true
    }

    # The following aggregates dispatch the waypoints behaviors

    aggregate Wpt1 {
      run in sequence
      syslog important "Navigating to box start WP. YoYoMaxDepth:" + YoYoMaxDepth1~meter
      behavior Guidance:DepthEnvelope  {



        set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth1

      }


      behavior Guidance:Waypoint  {

        run in sequence


        set Guidance:Waypoint.latitude = Lat1

        set Guidance:Waypoint.longitude = Lon1

      }


    }

    aggregate Wpt2 {
      run in sequence
      syslog important "Navigating to WP2. YoYoMaxDepth: " + YoYoMaxDepth2~meter
      behavior Guidance:DepthEnvelope  {



        set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth2

      }


      behavior Guidance:Waypoint  {

        run in sequence


        set Guidance:Waypoint.latitude = Lat2

        set Guidance:Waypoint.longitude = Lon2

      }


    }

    aggregate Wpt3 {
      run in sequence
      syslog important "Navigating to WP3. YoYoMaxDepth: " + YoYoMaxDepth3~meter
      behavior Guidance:DepthEnvelope  {



        set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth3

      }


      behavior Guidance:Waypoint  {

        run in sequence


        set Guidance:Waypoint.latitude = Lat3

        set Guidance:Waypoint.longitude = Lon3

      }


    }

    aggregate Wpt4 {
      run in sequence
      syslog important "Navigating to WP4. YoYoMaxDepth: " + YoYoMaxDepth4~meter
      behavior Guidance:DepthEnvelope  {



        set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth4

      }


      behavior Guidance:Waypoint  {

        run in sequence


        set Guidance:Waypoint.latitude = Lat4

        set Guidance:Waypoint.longitude = Lon4

      }


    }

    aggregate Wpt5 {
      run in sequence
      syslog important "Navigating to WP5. YoYoMaxDepth:" + YoYoMaxDepth5~meter
      behavior Guidance:DepthEnvelope  {



        set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth5

      }


      behavior Guidance:Waypoint  {

        run in sequence


        set Guidance:Waypoint.latitude = Lat5

        set Guidance:Waypoint.longitude = Lon5

      }


    }

    aggregate Wpt6 {
      run in sequence
      syslog important "Navigating to WP6. YoYoMaxDepth:" + YoYoMaxDepth6~meter
      behavior Guidance:DepthEnvelope  {



        set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth6

      }


      behavior Guidance:Waypoint  {

        run in sequence


        set Guidance:Waypoint.latitude = Lat6

        set Guidance:Waypoint.longitude = Lon6

      }


    }

    aggregate Wpt7 {
      run in sequence
      syslog important "Navigating to WP7. YoYoMaxDepth: " + YoYoMaxDepth7~meter
      behavior Guidance:DepthEnvelope  {



        set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth7

      }


      behavior Guidance:Waypoint  {

        run in sequence


        set Guidance:Waypoint.latitude = Lat7

        set Guidance:Waypoint.longitude = Lon7

      }


    }

    aggregate Wpt8 {
      run in sequence
      syslog important "Navigating to WP8. YoYoMaxDepth: " + YoYoMaxDepth8~meter
      behavior Guidance:DepthEnvelope  {



        set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth8

      }


      behavior Guidance:Waypoint  {

        run in sequence


        set Guidance:Waypoint.latitude = Lat8

        set Guidance:Waypoint.longitude = Lon8

      }


    }

    aggregate CircleWpt8 {
      run in sequence
      break if ( not ( SampleInProgress ) )
      syslog important "Circling at WP8 until sample is finished."
      behavior Guidance:DepthEnvelope  {



        set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth8

      }


      aggregate CircleWrapper {
        run in sequence repeat=4096
        assign in parallel Control:HorizontalControl.kwpHeading = 0.010 radian_per_meter
        behavior Guidance:Circle  {

          run in sequence


          set Guidance:Circle.latitude = Lat8

          set Guidance:Circle.longitude = Lon8

          set Guidance:Circle.radius = 100 meter

          set Guidance:Circle.maxError = 10 meter

          set Guidance:Circle.turnToPort = false

        }


      }

    }

  }

}

Source XML

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

    <Description>
        This mission navigates to the CANON trianguloid waypoints and sets the
        max depth for each leg. The mission can (re)start at any point within
        this trajectory by adjusting the `leg` parameter as needed. Samples are
        triggered on a clock every SampleInterval.
    </Description>

<!-- Almost every mission should start with an overall timeout and a NeedCommsTime. -->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>42</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications
    </Description><Units:minute/><Value>120</Value></DefineArg>

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

    <DefineArg Name="leg"><Description>
        Leg to start at (default is start at leg 1). leg 1: C1, 40m leg 2: C1 -
        M1 Bypass 01, 50m leg 3: M1 Bypass 01 - Soquel Monterey Junction 01, 50m
        leg 4: Soquel Monterey Junction 01 - WG near MARS, 50m leg 5: WG near
        MARS - WG near Mid 1, 50m leg 6: WG near Mid 1 - M1 Bypass 01, 50m leg
        7: M1 Bypass 01 - C1, 50m leg 8: C1 - ?, 50m (spare wp)
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="SampleInterval"><Description>
        ESP sampling interval. Must be longer than the duration of a single ESP
        sample.
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="FirstSampleTimeOffset"><Description>
        When true, the mission will acquire and ESP sample at the start of the
        mission. When false, the mission will wait for the SampleInterval before
        acquiring the first sample.
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="SampleESP"><Description>
        When true, aqurie an ESP sample.
    </Description><True/></DefineArg>

    <DefineArg Name="CartridgeType"><Description>
        Specifies ESP cartridge type code (defaults to archive_bac: -6)
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="SampleCANONSampler"><Description>
        When true, aqurie a CANON Sampler water sample.
    </Description><False/></DefineArg>

    <DefineArg Name="CANONSamplerDelay"><Description>
        How long to delay a CANON Sampler sample after an ESP sample is
        intiated.
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="SampleTimeout"><Description>
        Max time duration allowed for a single sample.
    </Description><Units:hour/><Value>3</Value></DefineArg>

    <DefineArg Name="Lat1"><Description>
        Latitude of waypoint 1 (default: C1).
    </Description><Units:degree/><Value>36.797</Value></DefineArg>

    <DefineArg Name="Lon1"><Description>
        Longitude of waypoint 1 (default: C1).
    </Description><Units:degree/><Value>-121.847</Value></DefineArg>

    <DefineArg Name="Lat2"><Description>
        Latitude of waypoint 2 (default: M1 Bypass 01).
    </Description><Units:degree/><Value>36.754</Value></DefineArg>

    <DefineArg Name="Lon2"><Description>
        Longitude of waypoint 2 (default: M1 Bypass 01).
    </Description><Units:degree/><Value>-122.0155</Value></DefineArg>

    <DefineArg Name="Lat3"><Description>
        Latitude of waypoint 3 (default: Soquel Monterey Junction 01).
    </Description><Units:degree/><Value>36.7825</Value></DefineArg>

    <DefineArg Name="Lon3"><Description>
        Longitude of waypoint 3 (default: Soquel Monterey Junction 01).
    </Description><Units:degree/><Value>-122.018</Value></DefineArg>

    <DefineArg Name="Lat4"><Description>
        Latitude of waypoint 4 (default: WG near MARS).
    </Description><Units:degree/><Value>36.7117</Value></DefineArg>

    <DefineArg Name="Lon4"><Description>
        Longitude of waypoint 4 (default: WG near MARS).
    </Description><Units:degree/><Value>-122.1919</Value></DefineArg>

    <DefineArg Name="Lat5"><Description>
        Latitude of waypoint 5 (default: WG near Mid 1).
    </Description><Units:degree/><Value>36.6978</Value></DefineArg>

    <DefineArg Name="Lon5"><Description>
        Longitude of waypoint 5 (default: WG near Mid 1).
    </Description><Units:degree/><Value>-122.0562</Value></DefineArg>

    <DefineArg Name="Lat6"><Description>
        Latitude of waypoint 6 (default: M1 Bypass 01).
    </Description><Units:degree/><Value>36.754</Value></DefineArg>

    <DefineArg Name="Lon6"><Description>
        Longitude of waypoint 6 (default: M1 Bypass 01).
    </Description><Units:degree/><Value>-122.0155</Value></DefineArg>

    <DefineArg Name="Lat7"><Description>
        Latitude of waypoint 7 (default: C1).
    </Description><Units:degree/><Value>36.797</Value></DefineArg>

    <DefineArg Name="Lon7"><Description>
        Longitude of waypoint 7 (default: C1).
    </Description><Units:degree/><Value>-121.847</Value></DefineArg>

    <DefineArg Name="Lat8"><Description>
        Latitude of waypoint 8 (spare).
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon8"><Description>
        Longitude of waypoint 8 (spare).
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed for the entire mission.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum YoYo depth for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth1"><Description>
        Maximum YoYo depth during leg 1.
    </Description><Units:meter/><Value>40</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth2"><Description>
        Maximum YoYo depth during leg 2.
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth3"><Description>
        Maximum YoYo depth during leg 3.
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth4"><Description>
        Maximum YoYo depth during leg 4.
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth5"><Description>
        Maximum YoYo depth during leg 5.
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth6"><Description>
        Maximum YoYo depth during leg 6.
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth7"><Description>
        Maximum YoYo depth during leg 7.
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth8"><Description>
        Maximum YoYo depth during leg 8.
    </Description><Units:meter/><Value>50</Value></DefineArg>

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

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

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

<!-- You are even less likely to need to change these. -->

    <DefineArg Name="CaptureRadius"><Description>
        Waypoint capture radiues.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>110</Value></DefineArg>

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

    <DefineOutput Name="ElapsedSinceLastSampleStart"><Description>
        Mission variable (don't change). The mission sets this variable to reset
        the ESP sample timer.
    </Description><Units:minute/><Value>0</Value></DefineOutput>

    <DefineOutput Name="ElapsedTime"><Description>
        Mission variable (don't change). The mission sets this variable to reset
        the ESP sample timer.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

    <DefineOutput Name="SampleInProgress"><Description>
        Mission variable (don't change). The mission sets this variable to while
        sampling is in progress.
    </Description><False/></DefineOutput>

    <DefineOutput Name="FirstSample"><Description>
        Mission variable (don't change). The mission sets this variable to when
        it's time to take the first sample.
    </Description><False/></DefineOutput>

<!-- Missions should almost always start with a timeout -->

    <Timeout Duration="MissionTimeout"/>

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

<!-- Most missions should use the NeedComms aggregate. -->

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

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

<!-- Missions should almost always start with standard safety envelopes;
    most missions should not expose the parameters of these envelopes.
    -->

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

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

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

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

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

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

<!-- Sampling directives -->

    <Aggregate Id="CheckSamplingSettings">

        <Sequence/>

        <Syslog Severity="Info">Checking sampling settings.</Syslog>

        <Aggregate Id="CheckESP">

            <When>
                <Arg Name="SampleESP"/>
                <And><Not><Science:ESPComponent.loadAtStartup/></Not></And>
            </When>

            <Syslog Severity="Critical">Cannot service ESP sample request. ESPComponent is not loaded.</Syslog>

        </Aggregate>

        <Aggregate Id="CheckCANONSampler">

            <When>
                <Arg Name="SampleCANONSampler"/>
                <And><Not><Science:CANONSampler.loadAtStartup/></Not></And>
            </When>

            <Syslog Severity="Critical">Cannot service CANONSampler water sample request. CANONSampler component is not loaded.</Syslog>

        </Aggregate>

    </Aggregate>

    <Insert Filename="Insert/Sample.xml">
        <RedefineArg Name="SampleTimeout"><Arg Name="SampleTimeout"/></RedefineArg>
    </Insert>

<!-- Automatically cycle logs every 24 hours -->

    <Aggregate Id="CycleLogs">

        <Parallel/>

        <Aggregate>

            <Sequence/>

            <Guidance:Wait>
                <Sequence/>
                <Setting><Guidance:Wait.duration/><Units:hour/><Value>24</Value></Setting>
            </Guidance:Wait>

            <Syslog Severity="Important">Restarting logs.</Syslog>

            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>restart logs</String></Setting>
            </Guidance:Execute>

        </Aggregate>

    </Aggregate>

<!-- Acquire ESP sample every SampleInterval -->

    <Aggregate Id="SampleTimer">

        <While>
            <Arg Name="FirstSample"/>
            <And>
                <Arg Name="SampleInProgress"/>
                <Or><Elapsed><Arg Name="ElapsedSinceLastSampleStart"/></Elapsed><Gt><Arg Name="SampleInterval"/></Gt></Or>
            </And>
        </While>

        <Aggregate Id="AcquireSample">

            <Sequence/>

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

            <Syslog Severity="Important">Pre-sample comms. Elapsed time since last water sample: <Arg Name="ElapsedTime"/><Units:hour/></Syslog>

<!-- Surface for comms before initiating the sample sequence -->

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

<!-- Set the surface comms interval to the sample timeout to avoid interruptions while sampling -->

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

            <Aggregate Id="WaitForDepth">

                <Sequence/>

                <Break>
                    <Universal:depth/>
                    <Ge><Arg Name="YoYoMinDepth"/></Ge>
                </Break>

                <Syslog Severity="Info">Waiting to achieve min depth of <Arg Name="YoYoMinDepth"/><Units:meter/></Syslog>

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

            </Aggregate>

<!-- Indicate a sample is in progress -->

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

<!-- This assignment restarts the sample timer -->

            <Assign><Sequence/><Arg Name="ElapsedSinceLastSampleStart"/><Value>0</Value></Assign>

<!-- Configure sampling sequance -->

            <Assign><Sequence/><Arg Name="Sample:SampleCANONSampler"/><Arg Name="SampleCANONSampler"/></Assign>

            <Assign><Sequence/><Arg Name="Sample:CANONSamplerDelay"/><Arg Name="CANONSamplerDelay"/></Assign>

            <Assign><Sequence/><Arg Name="Sample:ESPCartridgeType"/><Arg Name="CartridgeType"/></Assign>

            <Assign><Sequence/><Arg Name="Sample:SampleESP"/><Arg Name="SampleESP"/></Assign>

<!-- Trigger sampling sequance -->

            <Call Id="TriggerSample" RefId="Sample"/>

<!-- Surface for comms after the sampling sequence completes -->

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

<!-- Reinstate nominal surface comms interval -->

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

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

        </Aggregate>

    </Aggregate>

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

<!-- Many missions will keep mass position and buoyancy volume fixed at defaults. -->

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

    <Guidance:Buoyancy>
        <Parallel/>
        <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
    </Guidance:Buoyancy>

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

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

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

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

    <Aggregate Id="SetWaypointsPerLegParameter">

        <Description>
            The following Leg2-5 aggregates adjust the Lat[] and Lon[] variables
            according to the `trajectory` parameter:
        </Description>

        <Sequence/>

        <Aggregate Id="Leg2">

            <Sequence/>

            <Break><Arg Name="leg"/>
                <Le><Units:count/><Value>1</Value></Le>
            </Break>

            <Assign><Sequence/><Arg Name="Lat1"/><Units:degree/><Value>NaN</Value></Assign>

            <Assign><Sequence/><Arg Name="Lon1"/><Units:degree/><Value>NaN</Value></Assign>

        </Aggregate>

        <Aggregate Id="Leg3">

            <Sequence/>

            <Break><Arg Name="leg"/>
                <Le><Units:count/><Value>2</Value></Le>
            </Break>

            <Assign><Sequence/><Arg Name="Lat2"/><Units:degree/><Value>NaN</Value></Assign>

            <Assign><Sequence/><Arg Name="Lon2"/><Units:degree/><Value>NaN</Value></Assign>

        </Aggregate>

        <Aggregate Id="Leg4">

            <Sequence/>

            <Break><Arg Name="leg"/>
                <Le><Units:count/><Value>3</Value></Le>
            </Break>

            <Assign><Sequence/><Arg Name="Lat3"/><Units:degree/><Value>NaN</Value></Assign>

            <Assign><Sequence/><Arg Name="Lon3"/><Units:degree/><Value>NaN</Value></Assign>

        </Aggregate>

        <Aggregate Id="Leg5">

            <Sequence/>

            <Break><Arg Name="leg"/>
                <Le><Units:count/><Value>4</Value></Le>
            </Break>

            <Assign><Sequence/><Arg Name="Lat4"/><Units:degree/><Value>NaN</Value></Assign>

            <Assign><Sequence/><Arg Name="Lon4"/><Units:degree/><Value>NaN</Value></Assign>

        </Aggregate>

        <Aggregate Id="Leg6">

            <Sequence/>

            <Break><Arg Name="leg"/>
                <Le><Units:count/><Value>5</Value></Le>
            </Break>

            <Assign><Sequence/><Arg Name="Lat5"/><Units:degree/><Value>NaN</Value></Assign>

            <Assign><Sequence/><Arg Name="Lon5"/><Units:degree/><Value>NaN</Value></Assign>

        </Aggregate>

        <Aggregate Id="Leg7">

            <Sequence/>

            <Break><Arg Name="leg"/>
                <Le><Units:count/><Value>6</Value></Le>
            </Break>

            <Assign><Sequence/><Arg Name="Lat6"/><Units:degree/><Value>NaN</Value></Assign>

            <Assign><Sequence/><Arg Name="Lon6"/><Units:degree/><Value>NaN</Value></Assign>

        </Aggregate>

        <Aggregate Id="Leg8">

            <Sequence/>

            <Break><Arg Name="leg"/>
                <Le><Units:count/><Value>7</Value></Le>
            </Break>

            <Assign><Sequence/><Arg Name="Lat7"/><Units:degree/><Value>NaN</Value></Assign>

            <Assign><Sequence/><Arg Name="Lon7"/><Units:degree/><Value>NaN</Value></Assign>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="Lap">

        <Sequence/>

        <Syslog Severity="Important">Starting Lap</Syslog>

        <Syslog Severity="Important">Lat[1] = <Arg Name="Lat1"/><Units:degree/> Lon[1] = <Arg Name="Lon1"/><Units:degree/></Syslog>

        <Syslog Severity="Important">Lat[2] = <Arg Name="Lat2"/><Units:degree/> Lon[2] = <Arg Name="Lon2"/><Units:degree/></Syslog>

        <Syslog Severity="Important">Lat[3] = <Arg Name="Lat3"/><Units:degree/> Lon[3] = <Arg Name="Lon3"/><Units:degree/></Syslog>

        <Syslog Severity="Important">Lat[4] = <Arg Name="Lat4"/><Units:degree/> Lon[4] = <Arg Name="Lon4"/><Units:degree/></Syslog>

        <Syslog Severity="Important">Lat[5] = <Arg Name="Lat5"/><Units:degree/> Lon[5] = <Arg Name="Lon5"/><Units:degree/></Syslog>

        <Syslog Severity="Important">Lat[6] = <Arg Name="Lat6"/><Units:degree/> Lon[6] = <Arg Name="Lon6"/><Units:degree/></Syslog>

        <Syslog Severity="Important">Lat[7] = <Arg Name="Lat7"/><Units:degree/> Lon[7] = <Arg Name="Lon7"/><Units:degree/></Syslog>

        <Syslog Severity="Important">Lat[8] = <Arg Name="Lat8"/><Units:degree/> Lon[8] = <Arg Name="Lon8"/><Units:degree/></Syslog>

<!-- Kick off the first ESP sample on mission start? -->

        <Aggregate Id="SampleOnStart">

            <Sequence/>

            <When>
                <Not><Arg Name="FirstSample"/></Not>
                <And>
                    <Elapsed><Arg Name="ElapsedSinceLastSampleStart"/></Elapsed><Gt><Arg Name="FirstSampleTimeOffset"/></Gt>
                </And>
            </When>

<!-- Start the first ESP sample. -->
            <Syslog Severity="Important">Acquiring first sample.</Syslog>

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

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

        </Aggregate>

<!-- The following aggregates dispatch the waypoints behaviors -->

        <Aggregate Id="Wpt1">

            <Sequence/>

            <Syslog Severity="Important">Navigating to box start WP. YoYoMaxDepth:<Arg Name="YoYoMaxDepth1"/><Units:meter/></Syslog>

            <Guidance:DepthEnvelope>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth1"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat1"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon1"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="Wpt2">

            <Sequence/>

            <Syslog Severity="Important">Navigating to WP2. YoYoMaxDepth: <Arg Name="YoYoMaxDepth2"/><Units:meter/></Syslog>

            <Guidance:DepthEnvelope>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth2"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat2"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon2"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="Wpt3">

            <Sequence/>

            <Syslog Severity="Important">Navigating to WP3. YoYoMaxDepth: <Arg Name="YoYoMaxDepth3"/><Units:meter/></Syslog>

            <Guidance:DepthEnvelope>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth3"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat3"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon3"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="Wpt4">

            <Sequence/>

            <Syslog Severity="Important">Navigating to WP4. YoYoMaxDepth: <Arg Name="YoYoMaxDepth4"/><Units:meter/></Syslog>

            <Guidance:DepthEnvelope>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth4"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat4"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon4"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="Wpt5">

            <Sequence/>

            <Syslog Severity="Important">Navigating to WP5. YoYoMaxDepth:<Arg Name="YoYoMaxDepth5"/><Units:meter/></Syslog>

            <Guidance:DepthEnvelope>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth5"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat5"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon5"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="Wpt6">

            <Sequence/>

            <Syslog Severity="Important">Navigating to WP6. YoYoMaxDepth:<Arg Name="YoYoMaxDepth6"/><Units:meter/></Syslog>

            <Guidance:DepthEnvelope>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth6"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat6"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon6"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="Wpt7">

            <Sequence/>

            <Syslog Severity="Important">Navigating to WP7. YoYoMaxDepth: <Arg Name="YoYoMaxDepth7"/><Units:meter/></Syslog>

            <Guidance:DepthEnvelope>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth7"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat7"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon7"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="Wpt8">

            <Sequence/>

            <Syslog Severity="Important">Navigating to WP8. YoYoMaxDepth: <Arg Name="YoYoMaxDepth8"/><Units:meter/></Syslog>

            <Guidance:DepthEnvelope>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth8"/></Setting>
            </Guidance:DepthEnvelope>

            <Guidance:Waypoint>
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="Lat8"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="Lon8"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

        <Aggregate Id="CircleWpt8">

            <Sequence/>

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

            <Syslog Severity="Important">Circling at WP8 until sample is finished.</Syslog>

            <Guidance:DepthEnvelope>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth8"/></Setting>
            </Guidance:DepthEnvelope>

            <Aggregate Id="CircleWrapper">

                <Sequence Repeat="4096"/>

                <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Units:radian_per_meter/><Value>0.010</Value></Assign>

                <Guidance:Circle>
                    <Sequence/>
                    <Setting><Guidance:Circle.latitude/><Arg Name="Lat8"/></Setting>
                    <Setting><Guidance:Circle.longitude/><Arg Name="Lon8"/></Setting>
                    <Setting><Guidance:Circle.radius/><Units:meter/><Value>100</Value></Setting>
                    <Setting><Guidance:Circle.maxError/><Units:meter/><Value>10</Value></Setting>
                    <Setting><Guidance:Circle.turnToPort/><False/></Setting>
                </Guidance:Circle>

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>