Circle sample.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/circle_sample.xml:1300:5
      | 
 1296 |   }
 1297 | 
 1298 |   aggregate CheckOtherLRAUVSampleStart {
 1299 |     run in parallel
 1300 |     run while ( elapsed ( customUri "_.sampleStart" ) < elapsed ( OtherLRAUVSampleStartReceived )
      |     ^^^
 1301 |     )
 1302 |     assign in sequence  OtherLRAUVSampleStartReceived = customUri "_.sampleStart"
 1303 |     syslog important "Recieved the other LRAUV's sample start signal."
 1304 |   }
      | 
Unexpected: `run`
Possible items include (total 15):
  aggregate
  assign
  behavior
  call
  [...7 more...]
  preemptive
  }
  break
  timeout

Generated TethysL

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

  # You probably need to change these.

  arguments {
    NumSamplers = 1 count
      """
      Total number of ESP cartridges (Maximum 60).
      """

    # debug
    #     </Description><Units:count/><Value>2</Value></DefineArg>

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

    # debug
    #     </Description><Units:count/><Value>2</Value></DefineArg>

    MissionTimeout = 2 hour
      """
      Maximum duration of mission
      """

    NeedCommsTimeInTransit = 30 minute
      """
      On the way transiting to the sampling location, how often to surface for
      commumications
      """

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

    NeedCommsTimeVeryLong = 100 hour
      """
      How often to surface for commumications during sampling. Huge number to
      disable needcomms.
      """

    TrackAcousticTarget = false
      """
      Whether to track an acoustic target.
      """

    AcousticTargetContactLabel = 0 count
      """
      The acoustic address of the asset to be tracked
      """

    AcousticTargetDepth = NaN meter
      """
      Depth of acoustic target if known and fixed (or nearly fixed). For
      example, if the acoustic target is a Wave Glider, set it to zero. This
      will improve 2D projected position estimates in the Earth reference
      frame. Defaults to NaN.
      """

    AcousticTargetContactTimeout = 15 minute
      """
      Only use a sufficiently fresh handshake to update the tracking center.
      """

    ModemIDofWG = 1 enum
      """
      Modem ID of Wave Glider. Initialized to 1.
      """

    ModemIDofOtherLRAUV = 1 enum
      """
      Modem ID of the other LRAUV. Initialized to 1.
      """

    MaxWaitMustFire = 10 minute
      """
      If no firing after more than MaxWaitMustFire, fire.
      """

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

    # debug
    #     </Description><Units:hour/><Value>0.05</Value></DefineArg>

    MaxWaitNotAchievingDepth = 1 hour
      """
      Maximum wait time the vehicle cannot reach the targeted depth.
      """

    SpeedTransit = 1.0 meter_per_second
      """
      Vehicle speed when transiting to the sampling location.
      """

    SpeedSampling = 1.0 meter_per_second
      """
      Vehicle speed when sampling on circle.
      """

    DepthCircle = 10 meter
      """
      Circle depth.
      """

    MaxDepth = 50 meter
      """
      Maximum depth for the entire mission.
      """

    TransitYoYoMinDepth = 10 meter
      """
      Minimum yoyo depth while transiting to the sampling location.
      """

    TransitYoYoMaxDepth = 20 meter
      """
      Maximum yoyo depth while transiting to the sampling location.
      """

    TransitCaptureRadius = 100 meter
      """
      Waypoint capture radius for transiting to the sampling location.
      """

    CircleRadius = 20 meter
      """
      Radius of circle centered at the Wave Glider latitude and longitude.
      """

    MaxNumCircles = 1000 count
      """
      Maximum number of circles.
      """

    TransitLatitude = NaN degree
      """
      The latitude of the sampling location. If NaN, will skip transit.
      """

    # debug
    #     </Description><Units:degree/><Value>36.80</Value></DefineArg>

    TransitLongitude = NaN degree
      """
      The longitude of the sampling location. If NaN, will skip transit.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.82</Value></DefineArg>

    CenterLatitude = NaN degree
      """
      The latitude of the center of the circle. Fill this in to specify a
      start position, it will be overwritten once the vehicle receives an
      acoustic signal from the contact.
      """

    # debug
    #     </Description><Units:degree/><Value>36.80</Value></DefineArg>

    CenterLongitude = NaN degree
      """
      The longitude of the center of the circle. Fill this in to specify a
      start position, it will be overwritten once the vehicle receives an
      acoustic signal from the contact.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.82</Value></DefineArg>

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

    CartridgeType1 = -6 count
      """
      Sample 1. Cartridge type.
      """

    CartridgeType2 = -6 count
      """
      Sample 2.
      """

    CartridgeType3 = -6 count
      """
      Sample 3.
      """

    CartridgeType4 = -6 count
      """
      Sample 4.
      """

    CartridgeType5 = -6 count
      """
      Sample 5.
      """

    CartridgeType6 = -6 count
      """
      Sample 6.
      """

    CartridgeType7 = -6 count
      """
      Sample 7.
      """

    CartridgeType8 = -6 count
      """
      Sample 8.
      """

    CartridgeType9 = -6 count
      """
      Sample 9.
      """

    CartridgeType10 = -6 count
      """
      Sample 10.
      """

    CartridgeType11 = -6 count
      """
      Sample 11.
      """

    CartridgeType12 = -6 count
      """
      Sample 12.
      """

    CartridgeType13 = -6 count
      """
      Sample 13.
      """

    CartridgeType14 = -6 count
      """
      Sample 14.
      """

    CartridgeType15 = -6 count
      """
      Sample 15.
      """

    CartridgeType16 = -6 count
      """
      Sample 16.
      """

    CartridgeType17 = -6 count
      """
      Sample 17.
      """

    CartridgeType18 = -6 count
      """
      Sample 18.
      """

    CartridgeType19 = -6 count
      """
      Sample 19.
      """

    CartridgeType20 = -6 count
      """
      Sample 20.
      """

    CartridgeType21 = -6 count
      """
      Sample 21.
      """

    CartridgeType22 = -6 count
      """
      Sample 22.
      """

    CartridgeType23 = -6 count
      """
      Sample 23.
      """

    CartridgeType24 = -6 count
      """
      Sample 24.
      """

    CartridgeType25 = -6 count
      """
      Sample 25.
      """

    CartridgeType26 = -6 count
      """
      Sample 26.
      """

    CartridgeType27 = -6 count
      """
      Sample 27.
      """

    CartridgeType28 = -6 count
      """
      Sample 28.
      """

    CartridgeType29 = -6 count
      """
      Sample 29.
      """

    CartridgeType30 = -6 count
      """
      Sample 30.
      """

    CartridgeType31 = -6 count
      """
      Sample 31.
      """

    CartridgeType32 = -6 count
      """
      Sample 32.
      """

    CartridgeType33 = -6 count
      """
      Sample 33.
      """

    CartridgeType34 = -6 count
      """
      Sample 34.
      """

    CartridgeType35 = -6 count
      """
      Sample 35.
      """

    CartridgeType36 = -6 count
      """
      Sample 36.
      """

    CartridgeType37 = -6 count
      """
      Sample 37.
      """

    CartridgeType38 = -6 count
      """
      Sample 38.
      """

    CartridgeType39 = -6 count
      """
      Sample 39.
      """

    CartridgeType40 = -6 count
      """
      Sample 40.
      """

    CartridgeType41 = -6 count
      """
      Sample 41.
      """

    CartridgeType42 = -6 count
      """
      Sample 42.
      """

    CartridgeType43 = -6 count
      """
      Sample 43.
      """

    CartridgeType44 = -6 count
      """
      Sample 44.
      """

    CartridgeType45 = -6 count
      """
      Sample 45.
      """

    CartridgeType46 = -6 count
      """
      Sample 46.
      """

    CartridgeType47 = -6 count
      """
      Sample 47.
      """

    CartridgeType48 = -6 count
      """
      Sample 48.
      """

    CartridgeType49 = -6 count
      """
      Sample 49.
      """

    CartridgeType50 = -6 count
      """
      Sample 50.
      """

    CartridgeType51 = -6 count
      """
      Sample 51.
      """

    CartridgeType52 = -6 count
      """
      Sample 52.
      """

    CartridgeType53 = -6 count
      """
      Sample 53.
      """

    CartridgeType54 = -6 count
      """
      Sample 54.
      """

    CartridgeType55 = -6 count
      """
      Sample 55.
      """

    CartridgeType56 = -6 count
      """
      Sample 56.
      """

    CartridgeType57 = -6 count
      """
      Sample 57.
      """

    CartridgeType58 = -6 count
      """
      Sample 58.
      """

    CartridgeType59 = -6 count
      """
      Sample 59.
      """

    CartridgeType60 = -6 count
      """
      Sample 60.
      """

    WaitCommon = 5.0 minute
      """
      Value common to all samples unless set diffently: Wait time before
      firing.
      """

    Wait1 = NaN minute
      """
      Wait time before firing. Sample 1.
      """

    Wait2 = NaN minute
      """
      Sample 2.
      """

    Wait3 = NaN minute
      """
      Sample 3.
      """

    Wait4 = NaN minute
      """
      Sample 4.
      """

    Wait5 = NaN minute
      """
      Sample 5.
      """

    Wait6 = NaN minute
      """
      Sample 6.
      """

    Wait7 = NaN minute
      """
      Sample 7.
      """

    Wait8 = NaN minute
      """
      Sample 8.
      """

    Wait9 = NaN minute
      """
      Sample 9.
      """

    Wait10 = NaN minute
      """
      Sample 10.
      """

    Wait11 = NaN minute
      """
      Sample 11.
      """

    Wait12 = NaN minute
      """
      Sample 12.
      """

    Wait13 = NaN minute
      """
      Sample 13.
      """

    Wait14 = NaN minute
      """
      Sample 14.
      """

    Wait15 = NaN minute
      """
      Sample 15.
      """

    Wait16 = NaN minute
      """
      Sample 16.
      """

    Wait17 = NaN minute
      """
      Sample 17.
      """

    Wait18 = NaN minute
      """
      Sample 18.
      """

    Wait19 = NaN minute
      """
      Sample 19.
      """

    Wait20 = NaN minute
      """
      Sample 20.
      """

    Wait21 = NaN minute
      """
      Sample 21.
      """

    Wait22 = NaN minute
      """
      Sample 22.
      """

    Wait23 = NaN minute
      """
      Sample 23.
      """

    Wait24 = NaN minute
      """
      Sample 24.
      """

    Wait25 = NaN minute
      """
      Sample 25.
      """

    Wait26 = NaN minute
      """
      Sample 26.
      """

    Wait27 = NaN minute
      """
      Sample 27.
      """

    Wait28 = NaN minute
      """
      Sample 28.
      """

    Wait29 = NaN minute
      """
      Sample 29.
      """

    Wait30 = NaN minute
      """
      Sample 30.
      """

    Wait31 = NaN minute
      """
      Sample 31.
      """

    Wait32 = NaN minute
      """
      Sample 32.
      """

    Wait33 = NaN minute
      """
      Sample 33.
      """

    Wait34 = NaN minute
      """
      Sample 34.
      """

    Wait35 = NaN minute
      """
      Sample 35.
      """

    Wait36 = NaN minute
      """
      Sample 36.
      """

    Wait37 = NaN minute
      """
      Sample 37.
      """

    Wait38 = NaN minute
      """
      Sample 38.
      """

    Wait39 = NaN minute
      """
      Sample 39.
      """

    Wait40 = NaN minute
      """
      Sample 40.
      """

    Wait41 = NaN minute
      """
      Sample 41.
      """

    Wait42 = NaN minute
      """
      Sample 42.
      """

    Wait43 = NaN minute
      """
      Sample 43.
      """

    Wait44 = NaN minute
      """
      Sample 44.
      """

    Wait45 = NaN minute
      """
      Sample 45.
      """

    Wait46 = NaN minute
      """
      Sample 46.
      """

    Wait47 = NaN minute
      """
      Sample 47.
      """

    Wait48 = NaN minute
      """
      Sample 48.
      """

    Wait49 = NaN minute
      """
      Sample 49.
      """

    Wait50 = NaN minute
      """
      Sample 50.
      """

    Wait51 = NaN minute
      """
      Sample 51.
      """

    Wait52 = NaN minute
      """
      Sample 52.
      """

    Wait53 = NaN minute
      """
      Sample 53.
      """

    Wait54 = NaN minute
      """
      Sample 54.
      """

    Wait55 = NaN minute
      """
      Sample 55.
      """

    Wait56 = NaN minute
      """
      Sample 56.
      """

    Wait57 = NaN minute
      """
      Sample 57.
      """

    Wait58 = NaN minute
      """
      Sample 58.
      """

    Wait59 = NaN minute
      """
      Sample 59.
      """

    Wait60 = NaN minute
      """
      Sample 60.
      """

    # Use caution when changing these.

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

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

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

    # You probably do not need to change these.

    TrackingUpdatePeriod = 15 second
      """
      How long to wait between acoustic queries
      """

    NumberOfPings = 1 count
      """
      Number of return pings to request with each acoustic query (more than 1
      will activate oneway mode)
      """

    NumberOfFixesLowPass = 4 count
      """
      Number of fixes to average to produce smoothed lat/lon/dep output
      (initialized to 4).
      """

    NumberOfStartingFixesToIgnore = 8 count
      """
      Number of fixes to ignore at the start of mission (as the vehicle just
      leaves surface, contact's location estimate especailly bearing can be
      erroneous. Initialized to 8, corresponding to 2 minutes if query
      interval TrackingUpdatePeriod = 15 s.
      """

    CircleMaxError = 100 meter
      """
      If this distance away from the circle, drive straight towards (or away
      from the center). Otherwise, try to reduce distance from the ideal
      circle.
      """

    CircleTurnToPort = false
      """
      If true, vehicle turns to the left around the center point. If false,
      vehicle turns to the right.
      """

    KwpHeading = 0.010 radian_per_meter
      """
      Used to relax waypoint cross-track error constant that is adjusted for
      docking. (You can override this setting by passing an argument.)
      """

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

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

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

    MassDefault = Control:VerticalControl.massDefault
      """
      Static setting for mass during the mission. Set to NaN mm for active
      mass position
      """

  }

  # Internal variables that you should not change

  output {
    WaitIndividual = NaN minute
      """
      Wait individual.
      """

    CartridgeTypeIndividual = NaN count
      """
      Cartridge type individual.
      """

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

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

    ElapsedSinceLastCenterUpdate = 0 hour
      """
      The mission sets this variable to reset the center update timer.
      """

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

    ContactLatitudeLowpass = NaN degree
      """
      Low-pass filtered latitude of contact (initialized to NaN).
      """

    ContactLongitudeLowpass = NaN degree
      """
      Low-pass filtered longitude of contact (initialized to NaN).
      """

    WaitDuration = 5.0 minute
      """
      Wait time before firing a sample. Program will set for each sampler,
      e.g., Wait1.
      """

    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


    MissionStartCommsCompleted = false
      """
      MissionStartComms is completed (initialized to false).
      """

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

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

    SampleCompleted = false
      """
      Sampling completed. Initialized to false.
      """

    SampleOptionsSet = false
      """
      Sample options (DepDiffFromPeakChl, ReportAtSurface, ReacquirePeak)
      already set. Initialized to false.
      """

    OtherLRAUVSampleStartReceived = false
      """
      Whether the other LRAUV's sample start signal is received. Initialized
      to False.
      """

    OtherLRAUVSampleCompleteReceived = false
      """
      Whether the other LRAUV's sample completed signal is received.
      Initialized to False.
      """

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

    TrueVar = true
      """
      A True boolean, defined as an arg because you can't directly place
      values in a call to SendData.
      """

  }

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

  timeout duration=MissionTimeout
  insert Insert/NeedComms.xml id="NeedComms"

  assign in sequence  NeedComms:DiveInterval = NeedCommsTimeVeryLong
  # Missions should almost always start with standard safety envelopes

  insert Insert/StandardEnvelopes.xml

  assign in sequence  StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence  StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence  StandardEnvelopes:MinOffshore = MinOffshore
  behavior Sample:AbortSample  {

    run in parallel


  }


  insert Insert/AbortDrift.xml {

    redefineArg AcousticTimeout = BeingInterrogatedTimeout

  }


  insert Insert/SampleAtDepth.xml {

    redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth

  }


  # Many missions will keep mass position fixed at the default.

  behavior Guidance:Pitch  {

    run in parallel


    set Guidance:Pitch.massPosition = MassDefault

  }


  insert Insert/Science.xml

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



    set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude

    set Guidance:AltitudeEnvelope.upPitch = YoYoUpPitch

  }


  aggregate TrackingAcousticTarget {
    run while ( TrackAcousticTarget
    )
    behavior Estimation:Tracking  {

      run in parallel


      set Estimation:Tracking.contactLabelSetting = AcousticTargetContactLabel

      set Estimation:Tracking.numberOfSamplesSetting = NumberOfPings

      set Estimation:Tracking.updatePeriodSetting = TrackingUpdatePeriod

      set Estimation:Tracking.numFixesLowPassSetting = NumberOfFixesLowPass

      set Estimation:Tracking.numStartingFixesToIgnoreSetting = NumberOfStartingFixesToIgnore

      set Estimation:Tracking.contactDepthSetting = AcousticTargetDepth

    }


  }

  aggregate SendSampleStartMessage {
    run when ( called )
    behavior Sensor:SendDirect  {

      run in sequence


      set Sensor:SendDirect.destType = "modem"

      set Sensor:SendDirect.destId = ModemIDofOtherLRAUV

      set Sensor:SendDirect.destName = "_.sampleStart"

      set Sensor:SendDirect.value = null:CircleSample.TrueVar

      set Sensor:SendDirect.unit = "bool"

    }


    syslog important "Set _.sampleStart to " + null:CircleSample.TrueVar~bool
  }

  aggregate SendSampleCompleteMessage {
    run when ( called )
    behavior Sensor:SendDirect  {

      run in sequence


      set Sensor:SendDirect.destType = "modem"

      set Sensor:SendDirect.destId = ModemIDofOtherLRAUV

      set Sensor:SendDirect.destName = "_.sampleComplete"

      set Sensor:SendDirect.value = null:CircleSample.TrueVar

      set Sensor:SendDirect.unit = "bool"

    }


    syslog important "Set _.sampleComplete to " + null:CircleSample.TrueVar~bool
  }

  aggregate SendSampleInfo {
    run when ( called )
    behavior Sensor:SendDirect  {

      run in sequence


      set Sensor:SendDirect.destType = "modem"

      set Sensor:SendDirect.destId = ModemIDofWG

      set Sensor:SendDirect.destName = "_.LRAUVcntSamples"

      set Sensor:SendDirect.value = null:CircleSample.CntSamples

      set Sensor:SendDirect.unit = "count"

    }


    behavior Sensor:SendDirect  {

      run in sequence


      set Sensor:SendDirect.destType = "modem"

      set Sensor:SendDirect.destId = ModemIDofWG

      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 = ModemIDofWG

      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 = ModemIDofWG

      set Sensor:SendDirect.destName = "_.ESPsampleVolume"

      set Sensor:SendDirect.value = Science:ESPComponent.sampleVolume

      set Sensor:SendDirect.unit = "milliliter"

    }


    behavior Sensor:SendDirect  {

      run in sequence


      set Sensor:SendDirect.destType = "modem"

      set Sensor:SendDirect.destId = ModemIDofWG

      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 = ModemIDofWG

      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 = ModemIDofWG

      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 "CircleSample.CntSamples = " + null:CircleSample.CntSamples~count
    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
    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 SetSampleOptions {
    run when ( called )
    aggregate SettingCartridgeTypeIndividual {
      run in sequence
      break if ( isNaN ( CartridgeTypeIndividual ) )
      assign in sequence  CartridgeType = CartridgeTypeIndividual
    }

    aggregate SettingCartridgeTypeCommon {
      run in sequence
      break if ( not ( isNaN ( CartridgeTypeIndividual ) ) )
      assign in sequence  CartridgeType = CartridgeTypeCommon
    }

    aggregate SettingWaitIndividual {
      run in sequence
      break if ( isNaN ( WaitIndividual ) )
      assign in sequence  WaitDuration = WaitIndividual
    }

    aggregate SettingWaitCommon {
      run in sequence
      break if ( not ( isNaN ( WaitIndividual ) ) )
      assign in sequence  WaitDuration = WaitCommon
    }

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

  aggregate CheckOtherLRAUVSampleStart {
    run in parallel
    run while ( elapsed ( customUri "_.sampleStart" ) < elapsed ( OtherLRAUVSampleStartReceived )
    )
    assign in sequence  OtherLRAUVSampleStartReceived = customUri "_.sampleStart"
    syslog important "Recieved the other LRAUV's sample start signal."
  }

  aggregate CheckOtherLRAUVSampleComplete {
    run in parallel
    run while ( elapsed ( customUri "_.sampleComplete" ) < elapsed ( OtherLRAUVSampleCompleteReceived )
    )
    assign in sequence  OtherLRAUVSampleCompleteReceived = customUri "_.sampleComplete"
    syslog important "Recieved the other LRAUV's sample completed signal."
  }

  aggregate MissionStart {
    run in sequence
    call id="MissionStartComms" refId="NeedComms"
    assign in sequence  ElapsedSinceStartOrLastSample = 0 hour
    assign in sequence  MissionStartCommsCompleted = true
  }

  aggregate TransitToSamplingLocation {
    run in sequence
    break if ( isNaN ( TransitLatitude ) or isNaN ( TransitLongitude ) )
    assign in sequence  NeedComms:DiveInterval = NeedCommsTimeInTransit
    behavior Guidance:SetSpeed  {

      run in parallel


      set Guidance:SetSpeed.speed = SpeedTransit

    }


    behavior Guidance:DepthEnvelope  {

      run in parallel


      set Guidance:DepthEnvelope.minDepth = TransitYoYoMinDepth

      set Guidance:DepthEnvelope.maxDepth = TransitYoYoMaxDepth

      set Guidance:DepthEnvelope.downPitch = YoYoDownPitch

      set Guidance:DepthEnvelope.upPitch = YoYoUpPitch

    }


    behavior Guidance:YoYo  {

      run in parallel


      set Guidance:YoYo.downPitch = YoYoDownPitch

      set Guidance:YoYo.upPitch = YoYoUpPitch

    }


    behavior Guidance:Buoyancy  {

      run in parallel


      set Guidance:Buoyancy.position = BuoyancyNeutral

    }


    behavior Guidance:Waypoint  {

      run in sequence


      set Guidance:Waypoint.latitude = TransitLatitude

      set Guidance:Waypoint.longitude = TransitLongitude

      set Guidance:Waypoint.captureRadius = TransitCaptureRadius

    }


    assign in sequence  NeedComms:DiveInterval = NeedCommsTimeVeryLong
    assign in sequence  ElapsedSinceStartOrLastSample = 0 hour
    assign in sequence  TransitCompleted = true
  }

  aggregate NoTransitToSamplingLocation {
    run in sequence
    break if ( not ( isNaN ( TransitLatitude ) or isNaN ( TransitLongitude ) ) )
    assign in sequence  TransitCompleted = true
  }

  aggregate InitializeWithGPSlatlon {
    run in sequence
    break if ( not ( isNaN ( CenterLatitude ) or isNaN ( CenterLongitude ) ) )
    assign in sequence  CenterLatitude = Universal:latitude_fix
    assign in sequence  CenterLongitude = Universal:longitude_fix
    syslog important "Initialize CenterLatitude and CenterLongitude to GPS fix: " + CenterLatitude~degree + ", " + CenterLongitude~degree + "."
  }

  aggregate UpdateCenter {
    run in sequence
    run when ( elapsed ( Estimation:Tracking.range_to_contact ) < AcousticTargetContactTimeout )
    assign in sequence  ContactLatitudeLowpass = Estimation:Tracking.contact_latitude_lowpass
    assign in sequence  ContactLongitudeLowpass = Estimation:Tracking.contact_longitude_lowpass
    # debug
    #   <Syslog Severity="Important">Overwrite or update. CenterLatitude, CenterLongitude, contact_latitude, contact_longitude, contact_latitude_lowpass, contact_longitude_lowpass = <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/>, <Estimation:Tracking.contact_latitude/><Units:degree/>, <Estimation:Tracking.contact_longitude/><Units:degree/>, <Estimation:Tracking.contact_latitude_lowpass/><Units:degree/>, <Estimation:Tracking.contact_longitude_lowpass/><Units:degree/></Syslog>

    aggregate UpdateWithContactLowpassLatLon {
      run in sequence
      run when ( (not ( isNaN ( ContactLatitudeLowpass ) ) and not ( isNaN ( ContactLongitudeLowpass ) )) and ElapsedSinceLastCenterUpdate >= TrackingUpdatePeriod )
      assign in sequence  CenterLatitude = ContactLatitudeLowpass
      assign in sequence  CenterLongitude = ContactLongitudeLowpass
      assign in sequence  ElapsedTime = elapsed ( ElapsedSinceLastCenterUpdate )
      syslog info "Updating. Elapsed time since last center update, CenterLatitude, CenterLongitude = " + ElapsedTime~second + ", " + CenterLatitude~degree + ", " + CenterLongitude~degree
      assign in sequence  ElapsedSinceLastCenterUpdate = 0 hour
    }

  }

  aggregate Circle {
    run in sequence
    break if ( CntSamples == NumSamplers + 1 count )
    behavior Guidance:SetSpeed  {

      run in parallel


      set Guidance:SetSpeed.speed = SpeedSampling

    }


    behavior Guidance:Pitch  {

      run in parallel


      set Guidance:Pitch.depth = DepthCircle

    }


    behavior Guidance:Buoyancy  {

      run in parallel


      set Guidance:Buoyancy.position = BuoyancyNeutral

    }


    aggregate CircleAtDepth {
      run in sequence
      syslog important "Circle around location " + CenterLatitude~degree + "," + CenterLongitude~degree + ", at radius = " + CircleRadius~meter + " and depth = " + DepthCircle~meter + "."
      aggregate CircleWrapper {
        run in sequence repeat=MaxNumCircles
        assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading
        behavior Guidance:Circle  {

          run in sequence


          set Guidance:Circle.latitude = CenterLatitude

          set Guidance:Circle.longitude = CenterLongitude

          set Guidance:Circle.radius = CircleRadius

          set Guidance:Circle.maxError = CircleMaxError

          set Guidance:Circle.turnToPort = CircleTurnToPort

        }


      }

    }

  }

  aggregate Samples {
    run in parallel
    break if ( CntSamples == NumSamplers + 1 count )
    aggregate NoFiringForTooLong {
      run when ( (((MissionStartCommsCompleted and TransitCompleted) and elapsed ( ElapsedSinceStartOrLastSample ) > MaxWaitStopMission) and not ( FlagSamplingOngoing )) and not ( StoppedForNoFiringForTooLong ) )
      assign in sequence  ElapsedTime = elapsed ( ElapsedSinceStartOrLastSample )
      syslog important "No firing for too long. Stopping mission. Elapsed time since start or last sample, MaxWaitNoFiring, CntSamples = " + ElapsedTime~minute + ", " + MaxWaitStopMission~minute + ", " + CntSamples~count
      behavior Guidance:Execute  {

        run in sequence


        set Guidance:Execute.command = "stop"

      }


      assign in sequence  StoppedForNoFiringForTooLong = true
    }

    aggregate SetOptionsOfSample1 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 1 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType1
      assign in sequence  WaitIndividual = Wait1
      call id="SetOptionsForSample1" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample2 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 2 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType2
      assign in sequence  WaitIndividual = Wait2
      call id="SetOptionsForSample2" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample3 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 3 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType3
      assign in sequence  WaitIndividual = Wait3
      call id="SetOptionsForSample3" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample4 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 4 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType4
      assign in sequence  WaitIndividual = Wait4
      call id="SetOptionsForSample4" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample5 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 5 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType5
      assign in sequence  WaitIndividual = Wait5
      call id="SetOptionsForSample5" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample6 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 6 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType6
      assign in sequence  WaitIndividual = Wait6
      call id="SetOptionsForSample6" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample7 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 7 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType7
      assign in sequence  WaitIndividual = Wait7
      call id="SetOptionsForSample7" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample8 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 8 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType8
      assign in sequence  WaitIndividual = Wait8
      call id="SetOptionsForSample8" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample9 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 9 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType9
      assign in sequence  WaitIndividual = Wait9
      call id="SetOptionsForSample9" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample10 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 10 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType10
      assign in sequence  WaitIndividual = Wait10
      call id="SetOptionsForSample10" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample11 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 11 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType11
      assign in sequence  WaitIndividual = Wait11
      call id="SetOptionsForSample11" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample12 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 12 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType12
      assign in sequence  WaitIndividual = Wait12
      call id="SetOptionsForSample12" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample13 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 13 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType13
      assign in sequence  WaitIndividual = Wait13
      call id="SetOptionsForSample13" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample14 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 14 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType14
      assign in sequence  WaitIndividual = Wait14
      call id="SetOptionsForSample14" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample15 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 15 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType15
      assign in sequence  WaitIndividual = Wait15
      call id="SetOptionsForSample15" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample16 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 16 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType16
      assign in sequence  WaitIndividual = Wait16
      call id="SetOptionsForSample16" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample17 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 17 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType17
      assign in sequence  WaitIndividual = Wait17
      call id="SetOptionsForSample17" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample18 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 18 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType18
      assign in sequence  WaitIndividual = Wait18
      call id="SetOptionsForSample18" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample19 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 19 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType19
      assign in sequence  WaitIndividual = Wait19
      call id="SetOptionsForSample19" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample20 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 20 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType20
      assign in sequence  WaitIndividual = Wait20
      call id="SetOptionsForSample20" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample21 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 21 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType21
      assign in sequence  WaitIndividual = Wait21
      call id="SetOptionsForSample21" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample22 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 22 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType22
      assign in sequence  WaitIndividual = Wait22
      call id="SetOptionsForSample22" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample23 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 23 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType23
      assign in sequence  WaitIndividual = Wait23
      call id="SetOptionsForSample23" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample24 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 24 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType24
      assign in sequence  WaitIndividual = Wait24
      call id="SetOptionsForSample24" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample25 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 25 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType25
      assign in sequence  WaitIndividual = Wait25
      call id="SetOptionsForSample25" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample26 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 26 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType26
      assign in sequence  WaitIndividual = Wait26
      call id="SetOptionsForSample26" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample27 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 27 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType27
      assign in sequence  WaitIndividual = Wait27
      call id="SetOptionsForSample27" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample28 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 28 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType28
      assign in sequence  WaitIndividual = Wait28
      call id="SetOptionsForSample28" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample29 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 29 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType29
      assign in sequence  WaitIndividual = Wait29
      call id="SetOptionsForSample29" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample30 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 30 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType30
      assign in sequence  WaitIndividual = Wait30
      call id="SetOptionsForSample30" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample31 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 31 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType31
      assign in sequence  WaitIndividual = Wait31
      call id="SetOptionsForSample31" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample32 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 32 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType32
      assign in sequence  WaitIndividual = Wait32
      call id="SetOptionsForSample32" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample33 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 33 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType33
      assign in sequence  WaitIndividual = Wait33
      call id="SetOptionsForSample33" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample34 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 34 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType34
      assign in sequence  WaitIndividual = Wait34
      call id="SetOptionsForSample34" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample35 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 35 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType35
      assign in sequence  WaitIndividual = Wait35
      call id="SetOptionsForSample35" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample36 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 36 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType36
      assign in sequence  WaitIndividual = Wait36
      call id="SetOptionsForSample36" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample37 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 37 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType37
      assign in sequence  WaitIndividual = Wait37
      call id="SetOptionsForSample37" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample38 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 38 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType38
      assign in sequence  WaitIndividual = Wait38
      call id="SetOptionsForSample38" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample39 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 39 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType39
      assign in sequence  WaitIndividual = Wait39
      call id="SetOptionsForSample39" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample40 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 40 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType40
      assign in sequence  WaitIndividual = Wait40
      call id="SetOptionsForSample40" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample41 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 41 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType41
      assign in sequence  WaitIndividual = Wait41
      call id="SetOptionsForSample41" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample42 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 42 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType42
      assign in sequence  WaitIndividual = Wait42
      call id="SetOptionsForSample42" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample43 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 43 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType43
      assign in sequence  WaitIndividual = Wait43
      call id="SetOptionsForSample43" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample44 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 44 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType44
      assign in sequence  WaitIndividual = Wait44
      call id="SetOptionsForSample44" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample45 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 45 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType45
      assign in sequence  WaitIndividual = Wait45
      call id="SetOptionsForSample45" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample46 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 46 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType46
      assign in sequence  WaitIndividual = Wait46
      call id="SetOptionsForSample46" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample47 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 47 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType47
      assign in sequence  WaitIndividual = Wait47
      call id="SetOptionsForSample47" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample48 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 48 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType48
      assign in sequence  WaitIndividual = Wait48
      call id="SetOptionsForSample48" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample49 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 49 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType49
      assign in sequence  WaitIndividual = Wait49
      call id="SetOptionsForSample49" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample50 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 50 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType50
      assign in sequence  WaitIndividual = Wait50
      call id="SetOptionsForSample50" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample51 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 51 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType51
      assign in sequence  WaitIndividual = Wait51
      call id="SetOptionsForSample51" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample52 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 52 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType52
      assign in sequence  WaitIndividual = Wait52
      call id="SetOptionsForSample52" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample53 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 53 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType53
      assign in sequence  WaitIndividual = Wait53
      call id="SetOptionsForSample53" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample54 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 54 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType54
      assign in sequence  WaitIndividual = Wait54
      call id="SetOptionsForSample54" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample55 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 55 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType55
      assign in sequence  WaitIndividual = Wait55
      call id="SetOptionsForSample55" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample56 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 56 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType56
      assign in sequence  WaitIndividual = Wait56
      call id="SetOptionsForSample56" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample57 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 57 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType57
      assign in sequence  WaitIndividual = Wait57
      call id="SetOptionsForSample57" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample58 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 58 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType58
      assign in sequence  WaitIndividual = Wait58
      call id="SetOptionsForSample58" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample59 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 59 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType59
      assign in sequence  WaitIndividual = Wait59
      call id="SetOptionsForSample59" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample60 {
      run when ( ((not ( SampleOptionsSet ) and ((CntSamples + StartIndex) - 1 count) == 60 count) and CntSamples <= NumSamplers) and not ( FlagSamplingOngoing ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType60
      assign in sequence  WaitIndividual = Wait60
      call id="SetOptionsForSample60" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate FiringOnMaxWait {
      run in sequence
      run when ( (((((MissionStartCommsCompleted and TransitCompleted) and not ( FlagSamplingOngoing )) and CntSamples <= NumSamplers) and SampleOptionsSet) and not ( SampleCompleted )) and elapsed ( ElapsedSinceStartOrLastSample ) > MaxWaitMustFire )
      assign in sequence  OtherLRAUVSampleStartReceived = false
      assign in sequence  OtherLRAUVSampleCompleteReceived = false
      assign in sequence  FlagSamplingOngoing = true
      assign in sequence  ElapsedTime = elapsed ( ElapsedSinceStartOrLastSample )
      syslog important "Elapsed time since start or last sample (= " + ElapsedTime~minute + ") is longer than MaxWaitMustFire (= " + MaxWaitMustFire~minute + "). Firing sample No." + CntSamples~count
      assign in sequence  ElapsedSinceStartOrLastSample = 0 hour
      assign in sequence  SampleAtDepth:TargetDepth = DepthCircle
      assign in sequence  SampleAtDepth:SettleTime = WaitDuration
      assign in sequence  SampleAtDepth:ESPCartridgeType = CartridgeType
      call id="SampleStartSignal" refId="SendSampleStartMessage"
      call id="Sampling" refId="SampleAtDepth"
      call id="SampleCompleteSignal" refId="SendSampleCompleteMessage"
      call id="SampleInfo" refId="SendSampleInfo"
      syslog important "Sample No." + CntSamples~count + " completed."
      assign in sequence  SampleCompleted = true
      assign in sequence  ElapsedSinceStartOrLastSample = 0 hour
      assign in sequence  FlagSamplingOngoing = false
    }

    aggregate FiringOnNotReceivingOtherLRAUVSampleStart {
      run in sequence
      run when ( (((((MissionStartCommsCompleted and TransitCompleted) and not ( FlagSamplingOngoing )) and CntSamples <= NumSamplers) and SampleOptionsSet) and not ( SampleCompleted )) and not ( OtherLRAUVSampleStartReceived ) )
      # debug
      #             <Syslog Severity="Important">OtherLRAUVSampleStartReceived = <Arg Name="OtherLRAUVSampleStartReceived"/><Units:bool/>.</Syslog>

      assign in sequence  OtherLRAUVSampleStartReceived = false
      assign in sequence  OtherLRAUVSampleCompleteReceived = false
      assign in sequence  FlagSamplingOngoing = true
      syslog important "Taking sample No." + CntSamples~count + "."
      assign in sequence  ElapsedSinceStartOrLastSample = 0 hour
      assign in sequence  SampleAtDepth:TargetDepth = DepthCircle
      assign in sequence  SampleAtDepth:SettleTime = WaitDuration
      assign in sequence  SampleAtDepth:ESPCartridgeType = CartridgeType
      call id="SampleStartSignal" refId="SendSampleStartMessage"
      call id="Sampling" refId="SampleAtDepth"
      call id="SampleCompleteSignal" refId="SendSampleCompleteMessage"
      call id="SampleInfo" refId="SendSampleInfo"
      syslog important "Sample No." + CntSamples~count + " completed."
      assign in sequence  SampleCompleted = true
      assign in sequence  ElapsedSinceStartOrLastSample = 0 hour
      assign in sequence  FlagSamplingOngoing = false
    }

    aggregate FiringOnReceivingOtherLRAUVSampleComplete {
      run in sequence
      run when ( ((((((MissionStartCommsCompleted and TransitCompleted) and not ( FlagSamplingOngoing )) and CntSamples <= NumSamplers) and SampleOptionsSet) and not ( SampleCompleted )) and OtherLRAUVSampleCompleteReceived) and elapsed ( OtherLRAUVSampleStartReceived ) > elapsed ( OtherLRAUVSampleCompleteReceived ) )
      assign in sequence  OtherLRAUVSampleStartReceived = false
      assign in sequence  OtherLRAUVSampleCompleteReceived = false
      assign in sequence  FlagSamplingOngoing = true
      syslog important "Other LRAUV sample completed. Firing sample No." + CntSamples~count + "."
      assign in sequence  ElapsedSinceStartOrLastSample = 0 hour
      assign in sequence  SampleAtDepth:TargetDepth = DepthCircle
      assign in sequence  SampleAtDepth:SettleTime = WaitDuration
      assign in sequence  SampleAtDepth:ESPCartridgeType = CartridgeType
      call id="SampleStartSignal" refId="SendSampleStartMessage"
      call id="Sampling" refId="SampleAtDepth"
      call id="SampleCompleteSignal" refId="SendSampleCompleteMessage"
      call id="SampleInfo" refId="SendSampleInfo"
      syslog important "Sample No." + CntSamples~count + " completed."
      assign in sequence  SampleCompleted = true
      assign in sequence  ElapsedSinceStartOrLastSample = 0 hour
      assign in sequence  FlagSamplingOngoing = false
    }

    aggregate IncrementSampleCounter {
      run when ( SampleCompleted )
      assign in sequence  CntSamples = CntSamples + 1 count
      assign in sequence  SampleOptionsSet = false
      assign in sequence  SampleCompleted = false
    }

  }

}

Source XML

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

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

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

    <DefineArg Name="NumSamplers"><Description>
        Total number of ESP cartridges (Maximum 60).
    </Description><Units:count/><Value>1</Value></DefineArg>

<!--debug    
    </Description><Units:count/><Value>2</Value></DefineArg>
-->

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

<!--debug
    </Description><Units:count/><Value>2</Value></DefineArg>
-->

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeInTransit"><Description>
        On the way transiting to the sampling location, how often to surface for
        commumications
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="BeingInterrogatedTimeout"><Description>
        If the vehicle does not receive an acoustic signal for more than this
        length of time, it will surface for communications. Set longer than
        MissionTimeout to effectively disable.
    </Description><Units:hour/><Value>21</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeVeryLong"><Description>
        How often to surface for commumications during sampling. Huge number to
        disable needcomms.
    </Description><Units:hour/><Value>100</Value></DefineArg>

    <DefineArg Name="TrackAcousticTarget"><Description>
        Whether to track an acoustic target.
<!--debug
    </Description><True/></DefineArg>
-->
    </Description><False/></DefineArg>

    <DefineArg Name="AcousticTargetContactLabel"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="AcousticTargetDepth"><Description>
        Depth of acoustic target if known and fixed (or nearly fixed). For
        example, if the acoustic target is a Wave Glider, set it to zero. This
        will improve 2D projected position estimates in the Earth reference
        frame. Defaults to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="AcousticTargetContactTimeout"><Description>
        Only use a sufficiently fresh handshake to update the tracking center.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="ModemIDofWG"><Description>
        Modem ID of Wave Glider. Initialized to 1.
    </Description><Units:enum/><Value>1</Value></DefineArg>

    <DefineArg Name="ModemIDofOtherLRAUV"><Description>
        Modem ID of the other LRAUV. Initialized to 1.
    </Description><Units:enum/><Value>1</Value></DefineArg>

    <DefineArg Name="MaxWaitMustFire"><Description>
        If no firing after more than MaxWaitMustFire, fire.
<!--debug
    </Description><Units:hour/><Value>1</Value></DefineArg>
-->
    </Description><Units:minute/><Value>10</Value></DefineArg>

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

<!--debug
    </Description><Units:hour/><Value>0.05</Value></DefineArg>
-->

    <DefineArg Name="MaxWaitNotAchievingDepth"><Description>
        Maximum wait time the vehicle cannot reach the targeted depth.
    </Description><Units:hour/><Value>1</Value></DefineArg>

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

    <DefineArg Name="SpeedSampling"><Description>
        Vehicle speed when sampling on circle.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="DepthCircle"><Description>
        Circle depth.
<!--debug      
    </Description><Units:meter/><Value>NaN</Value></DefineArg>
-->
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="TransitYoYoMinDepth"><Description>
        Minimum yoyo depth while transiting to the sampling location.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="TransitYoYoMaxDepth"><Description>
        Maximum yoyo depth while transiting to the sampling location.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="TransitCaptureRadius"><Description>
        Waypoint capture radius for transiting to the sampling location.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleRadius"><Description>
        Radius of circle centered at the Wave Glider latitude and longitude.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="MaxNumCircles"><Description>
        Maximum number of circles.
    </Description><Units:count/><Value>1000</Value></DefineArg>

    <DefineArg Name="TransitLatitude"><Description>
        The latitude of the sampling location. If NaN, will skip transit.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>36.80</Value></DefineArg>
-->

    <DefineArg Name="TransitLongitude"><Description>
        The longitude of the sampling location. If NaN, will skip transit.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>-121.82</Value></DefineArg>
-->

    <DefineArg Name="CenterLatitude"><Description>
        The latitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>36.80</Value></DefineArg>
-->

    <DefineArg Name="CenterLongitude"><Description>
        The longitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>-121.82</Value></DefineArg>
-->

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

    <DefineArg Name="CartridgeType1"><Description>
        Sample 1. Cartridge type.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType2"><Description>
        Sample 2.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType3"><Description>
        Sample 3.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType4"><Description>
        Sample 4.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType5"><Description>
        Sample 5.
    </Description><Units:count/><Value>-6</Value></DefineArg>

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

    <DefineArg Name="CartridgeType7"><Description>
        Sample 7.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType8"><Description>
        Sample 8.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType9"><Description>
        Sample 9.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType10"><Description>
        Sample 10.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType11"><Description>
        Sample 11.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType12"><Description>
        Sample 12.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType13"><Description>
        Sample 13.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType14"><Description>
        Sample 14.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType15"><Description>
        Sample 15.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType16"><Description>
        Sample 16.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType17"><Description>
        Sample 17.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType18"><Description>
        Sample 18.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType19"><Description>
        Sample 19.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType20"><Description>
        Sample 20.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType21"><Description>
        Sample 21.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType22"><Description>
        Sample 22.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType23"><Description>
        Sample 23.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType24"><Description>
        Sample 24.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType25"><Description>
        Sample 25.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType26"><Description>
        Sample 26.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType27"><Description>
        Sample 27.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType28"><Description>
        Sample 28.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType29"><Description>
        Sample 29.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType30"><Description>
        Sample 30.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType31"><Description>
        Sample 31.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType32"><Description>
        Sample 32.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType33"><Description>
        Sample 33.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType34"><Description>
        Sample 34.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType35"><Description>
        Sample 35.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType36"><Description>
        Sample 36.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType37"><Description>
        Sample 37.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType38"><Description>
        Sample 38.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType39"><Description>
        Sample 39.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType40"><Description>
        Sample 40.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType41"><Description>
        Sample 41.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType42"><Description>
        Sample 42.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType43"><Description>
        Sample 43.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType44"><Description>
        Sample 44.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType45"><Description>
        Sample 45.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType46"><Description>
        Sample 46.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType47"><Description>
        Sample 47.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType48"><Description>
        Sample 48.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType49"><Description>
        Sample 49.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType50"><Description>
        Sample 50.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType51"><Description>
        Sample 51.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType52"><Description>
        Sample 52.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType53"><Description>
        Sample 53.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType54"><Description>
        Sample 54.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType55"><Description>
        Sample 55.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType56"><Description>
        Sample 56.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType57"><Description>
        Sample 57.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType58"><Description>
        Sample 58.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType59"><Description>
        Sample 59.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType60"><Description>
        Sample 60.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="WaitCommon"><Description>
        Value common to all samples unless set diffently: Wait time before
        firing.
    </Description><Units:minute/><Value>5.0</Value></DefineArg>

    <DefineArg Name="Wait1"><Description>
        Wait time before firing. Sample 1.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait2"><Description>
        Sample 2.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait3"><Description>
        Sample 3.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait4"><Description>
        Sample 4.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait5"><Description>
        Sample 5.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait6"><Description>
        Sample 6.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait7"><Description>
        Sample 7.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait8"><Description>
        Sample 8.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait9"><Description>
        Sample 9.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait10"><Description>
        Sample 10.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait11"><Description>
        Sample 11.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait12"><Description>
        Sample 12.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait13"><Description>
        Sample 13.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait14"><Description>
        Sample 14.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait15"><Description>
        Sample 15.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait16"><Description>
        Sample 16.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait17"><Description>
        Sample 17.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait18"><Description>
        Sample 18.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait19"><Description>
        Sample 19.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait20"><Description>
        Sample 20.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait21"><Description>
        Sample 21.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait22"><Description>
        Sample 22.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait23"><Description>
        Sample 23.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait24"><Description>
        Sample 24.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait25"><Description>
        Sample 25.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait26"><Description>
        Sample 26.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait27"><Description>
        Sample 27.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait28"><Description>
        Sample 28.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait29"><Description>
        Sample 29.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait30"><Description>
        Sample 30.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait31"><Description>
        Sample 31.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait32"><Description>
        Sample 32.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait33"><Description>
        Sample 33.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait34"><Description>
        Sample 34.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait35"><Description>
        Sample 35.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait36"><Description>
        Sample 36.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait37"><Description>
        Sample 37.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait38"><Description>
        Sample 38.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait39"><Description>
        Sample 39.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait40"><Description>
        Sample 40.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait41"><Description>
        Sample 41.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait42"><Description>
        Sample 42.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait43"><Description>
        Sample 43.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait44"><Description>
        Sample 44.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait45"><Description>
        Sample 45.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait46"><Description>
        Sample 46.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait47"><Description>
        Sample 47.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait48"><Description>
        Sample 48.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait49"><Description>
        Sample 49.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait50"><Description>
        Sample 50.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait51"><Description>
        Sample 51.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait52"><Description>
        Sample 52.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait53"><Description>
        Sample 53.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait54"><Description>
        Sample 54.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait55"><Description>
        Sample 55.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait56"><Description>
        Sample 56.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait57"><Description>
        Sample 57.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait58"><Description>
        Sample 58.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait59"><Description>
        Sample 59.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait60"><Description>
        Sample 60.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

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

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

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

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

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

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>15</Value></DefineArg>

    <DefineArg Name="NumberOfPings"><Description>
        Number of return pings to request with each acoustic query (more than 1
        will activate oneway mode)
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="NumberOfFixesLowPass"><Description>
        Number of fixes to average to produce smoothed lat/lon/dep output
        (initialized to 4).
    </Description><Units:count/><Value>4</Value></DefineArg>

    <DefineArg Name="NumberOfStartingFixesToIgnore"><Description>
        Number of fixes to ignore at the start of mission (as the vehicle just
        leaves surface, contact's location estimate especailly bearing can be
        erroneous. Initialized to 8, corresponding to 2 minutes if query
        interval TrackingUpdatePeriod = 15 s.
    </Description><Units:count/><Value>8</Value></DefineArg>

    <DefineArg Name="CircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</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>

    <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="WaitIndividual"><Description>
        Wait individual.
    </Description><Units:minute/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="CartridgeTypeIndividual"><Description>
        Cartridge type individual.
    </Description><Units:count/><Value>NaN</Value></DefineOutput>

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

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

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

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

    <DefineOutput Name="ContactLatitudeLowpass"><Description>
        Low-pass filtered latitude of contact (initialized to NaN).
    </Description><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="ContactLongitudeLowpass"><Description>
        Low-pass filtered longitude of contact (initialized to NaN).
    </Description><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="WaitDuration"><Description>
        Wait time before firing a sample. Program will set for each sampler,
        e.g., Wait1.
    </Description><Units:minute/><Value>5.0</Value></DefineOutput>

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

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

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

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

    <DefineOutput Name="MissionStartCommsCompleted"><Description>
        MissionStartComms is completed (initialized to false).
    </Description><False/></DefineOutput>

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

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

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

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

    <DefineOutput Name="OtherLRAUVSampleStartReceived"><Description>
        Whether the other LRAUV's sample start signal is received. Initialized
        to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="OtherLRAUVSampleCompleteReceived"><Description>
        Whether the other LRAUV's sample completed signal is received.
        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="TrueVar"><Description>
        A True boolean, defined as an arg because you can't directly place
        values in a call to SendData.
    </Description><True/></DefineOutput>

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

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

<!-- Many missions will keep mass position fixed at the default. -->

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

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

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

    <Aggregate Id="TrackingAcousticTarget">

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

        <Estimation:Tracking>
            <Parallel/>
            <Setting><Estimation:Tracking.contactLabelSetting/><Arg Name="AcousticTargetContactLabel"/></Setting>
            <Setting><Estimation:Tracking.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:Tracking.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
            <Setting><Estimation:Tracking.numFixesLowPassSetting/><Arg Name="NumberOfFixesLowPass"/></Setting>
            <Setting><Estimation:Tracking.numStartingFixesToIgnoreSetting/><Arg Name="NumberOfStartingFixesToIgnore"/></Setting>
            <Setting><Estimation:Tracking.contactDepthSetting/><Arg Name="AcousticTargetDepth"/></Setting>
        </Estimation:Tracking>

    </Aggregate>

    <Aggregate Id="SendSampleStartMessage">

        <When>
            <Called/>
        </When>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemIDofOtherLRAUV"/></Setting>
            <Setting><Sensor:SendDirect.destName/><String>_.sampleStart</String></Setting>
            <Setting><Sensor:SendDirect.value/><CircleSample.TrueVar/></Setting>
            <Setting><Sensor:SendDirect.unit/><String>bool</String></Setting>
        </Sensor:SendDirect>

        <Syslog Severity="Important">Set _.sampleStart to <CircleSample.TrueVar/><Units:bool/></Syslog>

    </Aggregate>

    <Aggregate Id="SendSampleCompleteMessage">

        <When>
            <Called/>
        </When>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemIDofOtherLRAUV"/></Setting>
            <Setting><Sensor:SendDirect.destName/><String>_.sampleComplete</String></Setting>
            <Setting><Sensor:SendDirect.value/><CircleSample.TrueVar/></Setting>
            <Setting><Sensor:SendDirect.unit/><String>bool</String></Setting>
        </Sensor:SendDirect>

        <Syslog Severity="Important">Set _.sampleComplete to <CircleSample.TrueVar/><Units:bool/></Syslog>

    </Aggregate>

    <Aggregate Id="SendSampleInfo">

        <When>
            <Called/>
        </When>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemIDofWG"/></Setting>
            <Setting><Sensor:SendDirect.destName/><String>_.LRAUVcntSamples</String></Setting>
            <Setting><Sensor:SendDirect.value/><CircleSample.CntSamples/></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="ModemIDofWG"/></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="ModemIDofWG"/></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="ModemIDofWG"/></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>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemIDofWG"/></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="ModemIDofWG"/></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="ModemIDofWG"/></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">CircleSample.CntSamples = <CircleSample.CntSamples/><Units:count/></Syslog>

        <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>

        <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="SetSampleOptions">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SettingCartridgeTypeIndividual">

            <Sequence/>

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

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

        </Aggregate>

        <Aggregate Id="SettingCartridgeTypeCommon">

            <Sequence/>

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

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

        </Aggregate>

        <Aggregate Id="SettingWaitIndividual">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="WaitDuration"/><Arg Name="WaitIndividual"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingWaitCommon">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="WaitDuration"/><Arg Name="WaitCommon"/></Assign>

        </Aggregate>

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

    </Aggregate>

    <Aggregate Id="CheckOtherLRAUVSampleStart">

        <Parallel/>

        <While>
            <Elapsed><CustomUri Uri="_.sampleStart"/></Elapsed>
            <Lt><Elapsed><Arg Name="OtherLRAUVSampleStartReceived"/></Elapsed></Lt>
        </While>

        <Assign><Sequence/><Arg Name="OtherLRAUVSampleStartReceived"/><CustomUri Uri="_.sampleStart"/></Assign>

        <Syslog Severity="Important">Recieved the other LRAUV's sample start signal.</Syslog>

    </Aggregate>

    <Aggregate Id="CheckOtherLRAUVSampleComplete">

        <Parallel/>

        <While>
            <Elapsed><CustomUri Uri="_.sampleComplete"/></Elapsed>
            <Lt><Elapsed><Arg Name="OtherLRAUVSampleCompleteReceived"/></Elapsed></Lt>
        </While>

        <Assign><Sequence/><Arg Name="OtherLRAUVSampleCompleteReceived"/><CustomUri Uri="_.sampleComplete"/></Assign>

        <Syslog Severity="Important">Recieved the other LRAUV's sample completed signal.</Syslog>

    </Aggregate>

    <Aggregate Id="MissionStart">

        <Sequence/>

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

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

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

    </Aggregate>

    <Aggregate Id="TransitToSamplingLocation">

        <Sequence/>

        <Break>
            <IsNaN><Arg Name="TransitLatitude"/>
            </IsNaN>
            <Or><IsNaN><Arg Name="TransitLongitude"/>
            </IsNaN></Or>
        </Break>

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

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

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

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

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

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="TransitLatitude"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="TransitLongitude"/></Setting>
            <Setting><Guidance:Waypoint.captureRadius/><Arg Name="TransitCaptureRadius"/></Setting>
        </Guidance:Waypoint>

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

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

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

    </Aggregate>

    <Aggregate Id="NoTransitToSamplingLocation">

        <Sequence/>

        <Break>
            <Not><IsNaN><Arg Name="TransitLatitude"/>
            </IsNaN><Or><IsNaN><Arg Name="TransitLongitude"/>
            </IsNaN></Or></Not>
        </Break>

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

    </Aggregate>

    <Aggregate Id="InitializeWithGPSlatlon">

        <Sequence/>

        <Break>
            <Not><IsNaN><Arg Name="CenterLatitude"/>
            </IsNaN><Or><IsNaN><Arg Name="CenterLongitude"/>
            </IsNaN></Or></Not>
        </Break>

        <Assign><Sequence/><Arg Name="CenterLatitude"/><Universal:latitude_fix/></Assign>

        <Assign><Sequence/><Arg Name="CenterLongitude"/><Universal:longitude_fix/></Assign>

        <Syslog Severity="Important">Initialize CenterLatitude and CenterLongitude to GPS fix: <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/>.</Syslog>

    </Aggregate>

    <Aggregate Id="UpdateCenter">

        <Sequence/>

        <When>
            <Elapsed><Estimation:Tracking.range_to_contact/></Elapsed>
            <Lt><Arg Name="AcousticTargetContactTimeout"/></Lt>
        </When>

        <Assign><Sequence/><Arg Name="ContactLatitudeLowpass"/><Estimation:Tracking.contact_latitude_lowpass/></Assign>

        <Assign><Sequence/><Arg Name="ContactLongitudeLowpass"/><Estimation:Tracking.contact_longitude_lowpass/></Assign>

<!--debug
    <Syslog Severity="Important">Overwrite or update. CenterLatitude, CenterLongitude, contact_latitude, contact_longitude, contact_latitude_lowpass, contact_longitude_lowpass = <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/>, <Estimation:Tracking.contact_latitude/><Units:degree/>, <Estimation:Tracking.contact_longitude/><Units:degree/>, <Estimation:Tracking.contact_latitude_lowpass/><Units:degree/>, <Estimation:Tracking.contact_longitude_lowpass/><Units:degree/></Syslog>
-->

        <Aggregate Id="UpdateWithContactLowpassLatLon">

            <Sequence/>

            <When>
                <Not><IsNaN><Arg Name="ContactLatitudeLowpass"/>
                </IsNaN></Not>
                <And><Not><IsNaN><Arg Name="ContactLongitudeLowpass"/>
                </IsNaN></Not></And>
                <And><Arg Name="ElapsedSinceLastCenterUpdate"/><Ge><Arg Name="TrackingUpdatePeriod"/></Ge></And>
            </When>

            <Assign><Sequence/><Arg Name="CenterLatitude"/><Arg Name="ContactLatitudeLowpass"/></Assign>

            <Assign><Sequence/><Arg Name="CenterLongitude"/><Arg Name="ContactLongitudeLowpass"/></Assign>

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

            <Syslog Severity="Info">Updating. Elapsed time since last center update, CenterLatitude, CenterLongitude = <Arg Name="ElapsedTime"/><Units:second/>, <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/></Syslog>

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="Circle">

        <Sequence/>

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

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

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

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

        <Aggregate Id="CircleAtDepth">

            <Sequence/>

            <Syslog Severity="Important">Circle around location <Arg Name="CenterLatitude"/><Units:degree/>,<Arg Name="CenterLongitude"/><Units:degree/>, at radius = <Arg Name="CircleRadius"/><Units:meter/> and depth = <Arg Name="DepthCircle"/><Units:meter/>.</Syslog>

            <Aggregate Id="CircleWrapper">

                <Sequence Repeat="MaxNumCircles"/>

                <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

                <Guidance:Circle>
                    <Sequence/>
                    <Setting><Guidance:Circle.latitude/><Arg Name="CenterLatitude"/></Setting>
                    <Setting><Guidance:Circle.longitude/><Arg Name="CenterLongitude"/></Setting>
                    <Setting><Guidance:Circle.radius/><Arg Name="CircleRadius"/></Setting>
                    <Setting><Guidance:Circle.maxError/><Arg Name="CircleMaxError"/></Setting>
                    <Setting><Guidance:Circle.turnToPort/><Arg Name="CircleTurnToPort"/></Setting>
                </Guidance:Circle>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="Samples">

        <Parallel/>

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

        <Aggregate Id="NoFiringForTooLong">

            <When>
                <Arg Name="MissionStartCommsCompleted"/>
                <And><Arg Name="TransitCompleted"/></And>
                <And><Elapsed><Arg Name="ElapsedSinceStartOrLastSample"/></Elapsed><Gt><Arg Name="MaxWaitStopMission"/></Gt></And>
                <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. Elapsed time since start or last sample, MaxWaitNoFiring, CntSamples = <Arg Name="ElapsedTime"/><Units:minute/>, <Arg Name="MaxWaitStopMission"/><Units:minute/>, <Arg Name="CntSamples"/><Units:count/></Syslog>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample1">

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

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait1"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample2">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>2</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait2"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample3">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>3</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait3"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample4">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>4</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait4"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample5">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>5</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait5"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample6">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>6</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait6"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample7">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>7</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait7"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample8">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>8</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait8"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample9">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>9</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait9"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample10">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>10</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait10"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample11">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>11</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait11"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample12">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>12</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait12"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample13">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>13</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait13"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample14">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>14</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait14"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample15">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>15</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait15"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample16">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>16</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait16"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample17">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>17</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait17"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample18">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>18</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait18"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample19">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>19</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait19"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample20">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>20</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait20"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample21">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>21</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait21"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample22">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>22</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait22"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample23">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>23</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait23"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample24">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>24</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait24"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample25">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>25</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType25"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait25"/></Assign>

            <Call Id="SetOptionsForSample25" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample26">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>26</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType26"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait26"/></Assign>

            <Call Id="SetOptionsForSample26" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample27">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>27</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType27"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait27"/></Assign>

            <Call Id="SetOptionsForSample27" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample28">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>28</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType28"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait28"/></Assign>

            <Call Id="SetOptionsForSample28" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample29">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>29</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType29"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait29"/></Assign>

            <Call Id="SetOptionsForSample29" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample30">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>30</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType30"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait30"/></Assign>

            <Call Id="SetOptionsForSample30" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample31">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>31</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType31"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait31"/></Assign>

            <Call Id="SetOptionsForSample31" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample32">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>32</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType32"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait32"/></Assign>

            <Call Id="SetOptionsForSample32" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample33">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>33</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType33"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait33"/></Assign>

            <Call Id="SetOptionsForSample33" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample34">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>34</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType34"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait34"/></Assign>

            <Call Id="SetOptionsForSample34" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample35">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>35</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType35"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait35"/></Assign>

            <Call Id="SetOptionsForSample35" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample36">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>36</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType36"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait36"/></Assign>

            <Call Id="SetOptionsForSample36" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample37">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>37</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType37"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait37"/></Assign>

            <Call Id="SetOptionsForSample37" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample38">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>38</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType38"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait38"/></Assign>

            <Call Id="SetOptionsForSample38" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample39">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>39</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType39"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait39"/></Assign>

            <Call Id="SetOptionsForSample39" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample40">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>40</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType40"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait40"/></Assign>

            <Call Id="SetOptionsForSample40" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample41">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>41</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType41"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait41"/></Assign>

            <Call Id="SetOptionsForSample41" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample42">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>42</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType42"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait42"/></Assign>

            <Call Id="SetOptionsForSample42" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample43">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>43</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType43"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait43"/></Assign>

            <Call Id="SetOptionsForSample43" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample44">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>44</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType44"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait44"/></Assign>

            <Call Id="SetOptionsForSample44" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample45">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>45</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType45"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait45"/></Assign>

            <Call Id="SetOptionsForSample45" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample46">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>46</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType46"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait46"/></Assign>

            <Call Id="SetOptionsForSample46" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample47">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>47</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType47"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait47"/></Assign>

            <Call Id="SetOptionsForSample47" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample48">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>48</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType48"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait48"/></Assign>

            <Call Id="SetOptionsForSample48" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample49">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>49</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType49"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait49"/></Assign>

            <Call Id="SetOptionsForSample49" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample50">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>50</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType50"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait50"/></Assign>

            <Call Id="SetOptionsForSample50" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample51">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>51</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType51"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait51"/></Assign>

            <Call Id="SetOptionsForSample51" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample52">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>52</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType52"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait52"/></Assign>

            <Call Id="SetOptionsForSample52" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample53">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>53</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType53"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait53"/></Assign>

            <Call Id="SetOptionsForSample53" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample54">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>54</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType54"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait54"/></Assign>

            <Call Id="SetOptionsForSample54" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample55">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>55</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType55"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait55"/></Assign>

            <Call Id="SetOptionsForSample55" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample56">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>56</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType56"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait56"/></Assign>

            <Call Id="SetOptionsForSample56" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample57">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>57</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType57"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait57"/></Assign>

            <Call Id="SetOptionsForSample57" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample58">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>58</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType58"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait58"/></Assign>

            <Call Id="SetOptionsForSample58" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample59">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>59</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType59"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait59"/></Assign>

            <Call Id="SetOptionsForSample59" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample60">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>60</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType60"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait60"/></Assign>

            <Call Id="SetOptionsForSample60" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="FiringOnMaxWait">

            <Sequence/>

            <When>
                <Arg Name="MissionStartCommsCompleted"/>
                <And><Arg Name="TransitCompleted"/></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>
                <And><Elapsed><Arg Name="ElapsedSinceStartOrLastSample"/></Elapsed><Gt><Arg Name="MaxWaitMustFire"/></Gt></And>
            </When>

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

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

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

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

            <Syslog Severity="Important">Elapsed time since start or last sample (= <Arg Name="ElapsedTime"/><Units:minute/>) is longer than MaxWaitMustFire (= <Arg Name="MaxWaitMustFire"/><Units:minute/>). Firing sample No.<Arg Name="CntSamples"/><Units:count/></Syslog>

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

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

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

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

            <Call Id="SampleStartSignal" RefId="SendSampleStartMessage"/>

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

            <Call Id="SampleCompleteSignal" RefId="SendSampleCompleteMessage"/>

            <Call Id="SampleInfo" RefId="SendSampleInfo"/>

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

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

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

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

        </Aggregate>

        <Aggregate Id="FiringOnNotReceivingOtherLRAUVSampleStart">

            <Sequence/>

            <When>
                <Arg Name="MissionStartCommsCompleted"/>
                <And><Arg Name="TransitCompleted"/></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>
                <And><Not><Arg Name="OtherLRAUVSampleStartReceived"/></Not></And>
            </When>

<!--debug
            <Syslog Severity="Important">OtherLRAUVSampleStartReceived = <Arg Name="OtherLRAUVSampleStartReceived"/><Units:bool/>.</Syslog>
-->

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

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

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

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

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

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

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

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

            <Call Id="SampleStartSignal" RefId="SendSampleStartMessage"/>

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

            <Call Id="SampleCompleteSignal" RefId="SendSampleCompleteMessage"/>

            <Call Id="SampleInfo" RefId="SendSampleInfo"/>

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

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

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

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

        </Aggregate>

        <Aggregate Id="FiringOnReceivingOtherLRAUVSampleComplete">

            <Sequence/>

            <When>
                <Arg Name="MissionStartCommsCompleted"/>
                <And><Arg Name="TransitCompleted"/></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>
                <And><Arg Name="OtherLRAUVSampleCompleteReceived"/></And>
                <And><Elapsed><Arg Name="OtherLRAUVSampleStartReceived"/></Elapsed><Gt><Elapsed><Arg Name="OtherLRAUVSampleCompleteReceived"/></Elapsed></Gt></And>
            </When>

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

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

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

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

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

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

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

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

            <Call Id="SampleStartSignal" RefId="SendSampleStartMessage"/>

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

            <Call Id="SampleCompleteSignal" RefId="SendSampleCompleteMessage"/>

            <Call Id="SampleInfo" RefId="SendSampleInfo"/>

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

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

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

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

        </Aggregate>

        <Aggregate Id="IncrementSampleCounter">

            <When>
                <Arg Name="SampleCompleted"/>
            </When>

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

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

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

        </Aggregate>

    </Aggregate>

</Mission>