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:1036:5
      | 
 1032 | 
 1033 |   aggregate CheckOtherLRAUVSampleStart {
 1034 |     run in parallel
 1035 | 
 1036 |     run while ( elapsed ( customUri "_.sampleStart" ) < ( elapsed ( OtherLRAUVSampleStartReceived ) ) )
      |     ^^^
 1037 | 
 1038 |     assign in sequence OtherLRAUVSampleStartReceived = customUri "_.sampleStart"
 1039 | 
 1040 |     syslog important "Received the other LRAUV's sample start signal."
      | 
Unexpected: `run`
Possible items include (total 15):
  aggregate
  assign
  behavior
  call
  [...7 more...]
  preemptive
  }
  break
  timeout

Generated TethysL

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

    # You probably need to change these.

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

    # 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).
      """

    MissionTimeout = 24 hour
      """
      Maximum duration of mission
      """

    AcousticTrackingTimeout = 24 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 = 240 hour
      """
      How often to surface for commumications during sampling. Huge number to
      disable needcomms during sampling.
      """

    NeedCommsMissionStart = true
      """
      Whether to run NeedComms at start of mission.
      """

    UseOtherLRAUVSignals = false
      """
      Whether to use the other LRAUV's sample start and completion signals to
      trigger sampling.
      """

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

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

    AcousticTargetContactLabel = 21 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.
      """

    SendSampleResultToWG = true
      """
      Whether to send sample result to Wave Glider.
      """

    ModemIDofWG = 21 enum
      """
      Modem ID of Wave Glider. Initialized to 1.
      """

    ModemIDofOtherLRAUV = 4 enum
      """
      Modem ID of the other LRAUV. Initialized to 4.
      """

    WaitBeforeFiring = 5 minute
      """
      Wait time before firing the next sample to listen to the other LRAUV's
      sample start signal. No less than 5 minutes.
      """

    MaxWaitFirstSample = 10 minute
      """
      For the 1st sample, if not receiving the other LRAUV's sample start
      signal after longer than MaxWaitFirstSample, fire.
      """

    MaxWaitMustFire = 120 minute
      """
      For all samples, if no firing MaxWaitMustFire after the last firing,
      fire.
      """

    # debug
    #     </Description><Units:minute/><Value>20</Value></DefineArg>

    MaxWaitStopMission = 2.5 hour
      """
      If no firing after more than MaxWaitNoFiring, terminate mission.
      """

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

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

    DepthCircle = NaN meter
      """
      Circle depth.
      """

    # debug
    #     </Description><Units:meter/><Value>10</Value></DefineArg>

    CircleYoYoMinDepth = NaN meter
      """
      Minimum yoyo depth while circling when not sampling. If NaN, then LRAUV
      will circle at DepthCircle.
      """

    # debug
    #     </Description><Units:meter/><Value>5</Value></DefineArg>

    CircleYoYoMaxDepth = NaN meter
      """
      Maximum yoyo depth while circling when not sampling. If NaN, then LRAUV
      will circle at DepthCircle.
      """

    # debug
    #     </Description><Units:meter/><Value>30</Value></DefineArg>

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

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

    MaxNumCircles = 10000 count
      """
      Maximum number of circles.
      """

    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 = -1 count
      """
      Value common to all samples unless set diffently: cartridge type.
      """

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    SettleCommon = 1 minute
      """
      Settle time before firing. Value common to all samples except Sample 1.
      """

    Settle1 = 5 minute
      """
      Settle time before firing. Sample 1.
      """

    # 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.

    IntervalRestartLogs = 24 hour
      """

      """

    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
      """
  }

  output {
    # Internal variables that you should not change

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

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

    ElapsedSinceStartOrLastFiring = 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).
      """

    SettleDuration = 5.0 minute
      """
      Settle time before firing a sample. Program will set for each sampler,
      e.g., Settle1 or SettleCommon.
      """

    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).
      """

    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.
      """

    FiredOnMaxWait = false
      """

      """

    FiredOnReceivingOtherLRAUVSampleComplete = false
      """

      """
  }

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

  timeout duration=MissionTimeout

  insert Insert/NeedComms.tl id="NeedComms"


  assign in sequence NeedComms:DiveInterval = NeedCommsTimeVeryLong

  # Missions should almost always start with standard safety envelopes

  insert Insert/StandardEnvelopes.tl


  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.tl {
    redefineArg AcousticTimeout = AcousticTrackingTimeout
  }



  insert Insert/SampleAtDepth.tl {
    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.tl


  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.tl 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:TrackAcousticContact {
      run in parallel
      set Estimation:TrackAcousticContact.contactLabelSetting = AcousticTargetContactLabel
      set Estimation:TrackAcousticContact.numberOfSamplesSetting = NumberOfPings
      set Estimation:TrackAcousticContact.updatePeriodSetting = TrackingUpdatePeriod
      set Estimation:TrackAcousticContact.numFixesLowPassSetting = NumberOfFixesLowPass
      set Estimation:TrackAcousticContact.numStartingFixesToIgnoreSetting = NumberOfStartingFixesToIgnore
      set Estimation:TrackAcousticContact.contactDepthSetting = AcousticTargetDepth
    }
  }

  aggregate UpdateCenter {
    run when (
      elapsed ( Estimation:TrackAcousticContact.range_to_contact ) < AcousticTargetContactTimeout
      and ( elapsed ( ElapsedSinceLastCenterUpdate ) >= TrackingUpdatePeriod )
    )

    assign in sequence CenterLatitude = Estimation:TrackAcousticContact.contact_latitude

    assign in sequence CenterLongitude = Estimation:TrackAcousticContact.contact_longitude

    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 SendSampleStartMessage {
    run when (
      called
    )

    aggregate SampleStartSignal {
      run in sequence

      break if (
        not ( UseOtherLRAUVSignals )
      )

      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 = TrueVar
        set Sensor:SendDirect.unit = "bool"
      }

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

  aggregate SendSampleCompleteMessage {
    run when (
      called
    )

    aggregate SampleCompleteSignal {
      run in sequence

      break if (
        not ( UseOtherLRAUVSignals )
      )

      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 = TrueVar
        set Sensor:SendDirect.unit = "bool"
      }

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

  aggregate SendSampleInfo {
    run when (
      called
    )

    aggregate SampleInfo {
      run in sequence

      break if (
        not ( SendSampleResultToWG )
      )

      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 = CntSamples
        set Sensor:SendDirect.unit = "count"
      }

      # <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>

      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"
      }

      # <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 important "CntSamples = "
           + 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 SettingSettle1 {
      run in sequence

      break if (
        CntSamples >= 2 count
      )

      assign in sequence SettleDuration = Settle1
    }

    aggregate SettingSettleCommon {
      run in sequence

      break if (
        CntSamples == 1 count
      )

      assign in sequence SettleDuration = SettleCommon
    }

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

  # Automatically restart logs

  aggregate CycleLogs {
    run in parallel

    aggregate {
      run in sequence

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

      syslog important "Restarting logs."

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

  aggregate CheckOtherLRAUVSampleStart {
    run in parallel

    run while ( elapsed ( customUri "_.sampleStart" ) < ( elapsed ( OtherLRAUVSampleStartReceived ) ) )

    assign in sequence OtherLRAUVSampleStartReceived = customUri "_.sampleStart"

    syslog important "Received 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 "Received the other LRAUV's sample completed signal."
  }

  aggregate MissionStartComms {
    run in sequence

    break if (
      not ( NeedCommsMissionStart )
      or MissionStartCommsCompleted
    )

    syslog important "Mission start comms."

    call id="MissionStartComms" refId="NeedComms"

    assign in sequence ElapsedSinceStartOrLastFiring = 0 hour

    assign in sequence MissionStartCommsCompleted = true
  }

  aggregate MissionStartNoComms {
    run in sequence

    break if (
      NeedCommsMissionStart
      or MissionStartCommsCompleted
    )

    syslog important "Mission start no comms."

    assign in sequence ElapsedSinceStartOrLastFiring = 0 hour

    assign in sequence MissionStartCommsCompleted = true
  }

  aggregate CircleAndSample {
    run in sequence

    break if (
      CntSamples == ( NumSamplers + 1 count )
      or ( isNaN ( DepthCircle ) )
      or ( not ( MissionStartCommsCompleted ) )
    )

    syslog important "Circle around location "
         + CenterLatitude ~ degree
         + ","
         + CenterLongitude ~ degree
         + ", at radius = "
         + CircleRadius ~ meter
         + " and depth = "
         + DepthCircle ~ meter
         + "."

    aggregate Circle {
      run in sequence repeat=MaxNumCircles

      break if (
        CntSamples == ( NumSamplers + 1 count )
      )

      syslog info "Circle around location "
           + CenterLatitude ~ degree
           + ","
           + CenterLongitude ~ degree
           + "."

      aggregate CircleAtDepthWhenSampling {
        break if (
          not ( FlagSamplingOngoing )
          or ( isNaN ( DepthCircle ) )
        )

        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
        }

        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 WhenNotSampling {
        break if (
          FlagSamplingOngoing
        )

        aggregate CircleAtDepthWhenNotSampling {
          break if (
            not (
              isNaN ( CircleYoYoMinDepth )
              or ( isNaN ( CircleYoYoMaxDepth ) )
            )
            or ( isNaN ( DepthCircle ) )
          )

          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
          }

          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 CircleAndYoyoWhenNotSampling {
          break if (
            isNaN ( CircleYoYoMinDepth )
            or ( isNaN ( CircleYoYoMaxDepth ) )
          )

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

          behavior Guidance:DepthEnvelope {
            run in parallel
            set Guidance:DepthEnvelope.minDepth = CircleYoYoMinDepth
            set Guidance:DepthEnvelope.maxDepth = CircleYoYoMaxDepth
            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
          }

          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 Sampling {
      run in parallel

      aggregate NoFiringForTooLong {
        run when (
          MissionStartCommsCompleted
          and ( elapsed ( ElapsedSinceStartOrLastFiring ) > MaxWaitStopMission )
          and ( not ( FlagSamplingOngoing ) )
          and ( not ( StoppedForNoFiringForTooLong ) )
        )

        assign in sequence ElapsedTime = elapsed ( ElapsedSinceStartOrLastFiring )

        syslog important "No firing for too long. Stopping mission. Elapsed time since start or last firing, MaxWaitStopMission, 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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        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

        call id="SetOptionsForSample60" refId="SetSampleOptions"

        assign in sequence SampleOptionsSet = true
      }

      aggregate FiringOnMaxWaitOrNotReceivingOtherLRAUVSampleStartFirstSample {
        run in sequence

        run when (
          MissionStartCommsCompleted
          and ( not ( FlagSamplingOngoing ) )
          and ( CntSamples <= NumSamplers )
          and SampleOptionsSet
          and ( not ( SampleCompleted ) )
          and (
            CntSamples == 1 count
            and (
              UseOtherLRAUVSignals
              and ( not ( OtherLRAUVSampleStartReceived ) )
              and ( elapsed ( ElapsedSinceStartOrLastFiring ) > MaxWaitFirstSample )
              or (
                not ( UseOtherLRAUVSignals )
                and ( elapsed ( ElapsedSinceStartOrLastFiring ) > MaxWaitFirstSample )
              )
            )
            or ( elapsed ( ElapsedSinceStartOrLastFiring ) > MaxWaitMustFire )
          )
        )

        assign in sequence FiredOnMaxWait = true

        assign in sequence OtherLRAUVSampleStartReceived = false

        assign in sequence OtherLRAUVSampleCompleteReceived = false

        assign in sequence FlagSamplingOngoing = true

        assign in sequence ElapsedTime = elapsed ( ElapsedSinceStartOrLastFiring )

        syslog important "Elapsed time since start or last firing(= "
             + ElapsedTime ~ minute
             + ") is longer than MaxWaitFirstSample (= "
             + MaxWaitFirstSample ~ minute
             + ") for the 1st sample, or longer than MaxWaitMustFire (= "
             + MaxWaitMustFire ~ minute
             + ") for non-1st samples. Firing sample No."
             + CntSamples ~ count

        assign in sequence ElapsedSinceStartOrLastFiring = 0 hour

        assign in sequence SampleAtDepth:TargetDepth = DepthCircle

        assign in sequence SampleAtDepth:SettleTime = SettleDuration

        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

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

        assign in sequence FlagSamplingOngoing = false
      }

      aggregate FiringOnNotReceivingOtherLRAUVSampleStartNotFirstSample {
        run in sequence

        run when (
          UseOtherLRAUVSignals
          and MissionStartCommsCompleted
          and ( not ( FlagSamplingOngoing ) )
          and ( CntSamples <= NumSamplers )
          and ( CntSamples >= 2 count )
          and SampleOptionsSet
          and ( not ( SampleCompleted ) )
          and ( not ( OtherLRAUVSampleStartReceived ) )
          and ( not ( FiredOnMaxWait ) )
          and ( not ( FiredOnReceivingOtherLRAUVSampleComplete ) )
        )

        assign in sequence OtherLRAUVSampleStartReceived = false

        assign in sequence OtherLRAUVSampleCompleteReceived = false

        assign in sequence FlagSamplingOngoing = true

        syslog important "Not receiving other LRAUV sample start. Firing sample No."
             + CntSamples ~ count
             + "."

        assign in sequence ElapsedSinceStartOrLastFiring = 0 hour

        assign in sequence SampleAtDepth:TargetDepth = DepthCircle

        assign in sequence SampleAtDepth:SettleTime = SettleDuration

        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

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

        assign in sequence FlagSamplingOngoing = false
      }

      aggregate FiringOnReceivingOtherLRAUVSampleComplete {
        run in sequence

        run when (
          UseOtherLRAUVSignals
          and MissionStartCommsCompleted
          and ( not ( FlagSamplingOngoing ) )
          and ( CntSamples <= NumSamplers )
          and SampleOptionsSet
          and ( not ( SampleCompleted ) )
          and OtherLRAUVSampleStartReceived
          and OtherLRAUVSampleCompleteReceived
          and ( elapsed ( OtherLRAUVSampleStartReceived ) > ( elapsed ( OtherLRAUVSampleCompleteReceived ) ) )
        )

        assign in sequence FiredOnReceivingOtherLRAUVSampleComplete = true

        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 ElapsedSinceStartOrLastFiring = 0 hour

        assign in sequence SampleAtDepth:TargetDepth = DepthCircle

        assign in sequence SampleAtDepth:SettleTime = SettleDuration

        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

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

        assign in sequence FlagSamplingOngoing = false
      }

      aggregate IncrementSampleCounter {
        run when (
          SampleCompleted
        )

        assign in sequence CntSamples = CntSamples + 1 count

        assign in sequence FiredOnMaxWait = false

        assign in sequence FiredOnReceivingOtherLRAUVSampleComplete = false

        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/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Sample http://okeanids.mbari.org/tethys/Xml/Sample.xsd
                           Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="circle_sample">

<!-- 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>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>24</Value></DefineArg>

    <DefineArg Name="AcousticTrackingTimeout"><Description>
        If the vehicle does not receive an acoustic signal for more than this
        length of time, it will surface for communications. Set longer than
        MissionTimeout to effectively disable.
    </Description><Units:hour/><Value>24</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeVeryLong"><Description>
        How often to surface for commumications during sampling. Huge number to
        disable needcomms during sampling.
    </Description><Units:hour/><Value>240</Value></DefineArg>

    <DefineArg Name="NeedCommsMissionStart"><Description>
        Whether to run NeedComms at start of mission.
    </Description><True/></DefineArg>

    <DefineArg Name="UseOtherLRAUVSignals"><Description>
        Whether to use the other LRAUV's sample start and completion signals to
        trigger sampling.
<!--debug      
    </Description><True/></DefineArg>
-->
    </Description><False/></DefineArg>

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

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

    <DefineArg Name="AcousticTargetContactLabel"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>21</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="SendSampleResultToWG"><Description>
        Whether to send sample result to Wave Glider.
    </Description><True/></DefineArg>

    <DefineArg Name="ModemIDofWG"><Description>
        Modem ID of Wave Glider. Initialized to 1.
    </Description><Units:enum/><Value>21</Value></DefineArg>

    <DefineArg Name="ModemIDofOtherLRAUV"><Description>
        Modem ID of the other LRAUV. Initialized to 4.
    </Description><Units:enum/><Value>4</Value></DefineArg>

    <DefineArg Name="WaitBeforeFiring"><Description>
        Wait time before firing the next sample to listen to the other LRAUV's
        sample start signal. No less than 5 minutes.
    </Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="MaxWaitFirstSample"><Description>
        For the 1st sample, if not receiving the other LRAUV's sample start
        signal after longer than MaxWaitFirstSample, fire.
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="MaxWaitMustFire"><Description>
        For all samples, if no firing MaxWaitMustFire after the last firing,
        fire.
    </Description><Units:minute/><Value>120</Value></DefineArg>

<!--debug    
    </Description><Units:minute/><Value>20</Value></DefineArg>
-->

    <DefineArg Name="MaxWaitStopMission"><Description>
        If no firing after more than MaxWaitNoFiring, terminate mission.
    </Description><Units:hour/><Value>2.5</Value></DefineArg>

    <DefineArg Name="MaxWaitNotAchievingDepth"><Description>
        Maximum wait time the vehicle cannot reach the targeted depth.
    </Description><Units:hour/><Value>0.5</Value></DefineArg>

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

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

<!--debug    
    </Description><Units:meter/><Value>10</Value></DefineArg>
-->

    <DefineArg Name="CircleYoYoMinDepth"><Description>
        Minimum yoyo depth while circling when not sampling. If NaN, then LRAUV
        will circle at DepthCircle.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:meter/><Value>5</Value></DefineArg>
-->

    <DefineArg Name="CircleYoYoMaxDepth"><Description>
        Maximum yoyo depth while circling when not sampling. If NaN, then LRAUV
        will circle at DepthCircle.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:meter/><Value>30</Value></DefineArg>
-->

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>50</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>10000</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>-1</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    <DefineArg Name="SettleCommon"><Description>
        Settle time before firing. Value common to all samples except Sample 1.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="Settle1"><Description>
        Settle time before firing. Sample 1.
    </Description><Units:minute/><Value>5</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="IntervalRestartLogs"><Description></Description><Units:hour/><Value>24</Value></DefineArg>

    <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="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="ElapsedSinceStartOrLastFiring"><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="SettleDuration"><Description>
        Settle time before firing a sample. Program will set for each sampler,
        e.g., Settle1 or SettleCommon.
    </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="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>

    <DefineOutput Name="FiredOnMaxWait"><Description></Description><False/></DefineOutput>

    <DefineOutput Name="FiredOnReceivingOtherLRAUVSampleComplete"><Description></Description><False/></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.tl" 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.tl"/>

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

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

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

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

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

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

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

    </Aggregate>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><Estimation:TrackAcousticContact.range_to_contact/></Elapsed>
            <Lt><Arg Name="AcousticTargetContactTimeout"/></Lt>
            <And><Elapsed><Arg Name="ElapsedSinceLastCenterUpdate"/></Elapsed><Ge><Arg Name="TrackingUpdatePeriod"/></Ge></And>
        </When>

        <Assign><Sequence/><Arg Name="CenterLatitude"/><Estimation:TrackAcousticContact.contact_latitude/></Assign>

        <Assign><Sequence/><Arg Name="CenterLongitude"/><Estimation:TrackAcousticContact.contact_longitude/></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 Id="SendSampleStartMessage">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SampleStartSignal">

            <Sequence/>

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

            <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/><Arg Name="TrueVar"/></Setting>
                <Setting><Sensor:SendDirect.unit/><String>bool</String></Setting>
            </Sensor:SendDirect>

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SendSampleCompleteMessage">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SampleCompleteSignal">

            <Sequence/>

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

            <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/><Arg Name="TrueVar"/></Setting>
                <Setting><Sensor:SendDirect.unit/><String>bool</String></Setting>
            </Sensor:SendDirect>

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SendSampleInfo">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SampleInfo">

            <Sequence/>

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

            <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/><Arg Name="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">CntSamples = <Arg Name="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>

    <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="SettingSettle1">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="SettleDuration"/><Arg Name="Settle1"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingSettleCommon">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="SettleDuration"/><Arg Name="SettleCommon"/></Assign>

        </Aggregate>

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

    </Aggregate>

<!-- Automatically restart logs -->

    <Aggregate Id="CycleLogs">

        <Parallel/>

        <Aggregate>

            <Sequence/>

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

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

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

        </Aggregate>

    </Aggregate>

    <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">Received 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">Received the other LRAUV's sample completed signal.</Syslog>

    </Aggregate>

    <Aggregate Id="MissionStartComms">

        <Sequence/>

        <Break>
            <Not><Arg Name="NeedCommsMissionStart"/></Not>
            <Or><Arg Name="MissionStartCommsCompleted"/></Or>
        </Break>

        <Syslog Severity="Important">Mission start comms.</Syslog>

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

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

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

    </Aggregate>

    <Aggregate Id="MissionStartNoComms">

        <Sequence/>

        <Break><Arg Name="NeedCommsMissionStart"/>
            <Or><Arg Name="MissionStartCommsCompleted"/></Or>
        </Break>

        <Syslog Severity="Important">Mission start no comms.</Syslog>

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

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

    </Aggregate>

    <Aggregate Id="CircleAndSample">

        <Sequence/>

        <Break><Arg Name="CntSamples"/>
            <Eq><Arg Name="NumSamplers"/> <Add><Units:count/> <Value>1</Value></Add></Eq>
            <Or><IsNaN><Arg Name="DepthCircle"/>
            </IsNaN></Or>
            <Or><Not><Arg Name="MissionStartCommsCompleted"/></Not></Or>
        </Break>

        <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="Circle">

            <Sequence Repeat="MaxNumCircles"/>

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

            <Syslog Severity="Info">Circle around location <Arg Name="CenterLatitude"/><Units:degree/>,<Arg Name="CenterLongitude"/><Units:degree/>.</Syslog>

            <Aggregate Id="CircleAtDepthWhenSampling">

                <Break>
                    <Not><Arg Name="FlagSamplingOngoing"/></Not>
                    <Or><IsNaN><Arg Name="DepthCircle"/>
                    </IsNaN></Or>
                </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>

                <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 Id="WhenNotSampling">

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

                <Aggregate Id="CircleAtDepthWhenNotSampling">

                    <Break>
                        <Not><IsNaN><Arg Name="CircleYoYoMinDepth"/>
                        </IsNaN><Or><IsNaN><Arg Name="CircleYoYoMaxDepth"/>
                        </IsNaN></Or></Not>
                        <Or><IsNaN><Arg Name="DepthCircle"/>
                        </IsNaN></Or>
                    </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>

                    <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 Id="CircleAndYoyoWhenNotSampling">

                    <Break>
                        <IsNaN><Arg Name="CircleYoYoMinDepth"/>
                        </IsNaN>
                        <Or><IsNaN><Arg Name="CircleYoYoMaxDepth"/>
                        </IsNaN></Or>
                    </Break>

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

                    <Guidance:DepthEnvelope>
                        <Parallel/>
                        <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="CircleYoYoMinDepth"/></Setting>
                        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="CircleYoYoMaxDepth"/></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>

                    <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="Sampling">

            <Parallel/>

            <Aggregate Id="NoFiringForTooLong">

                <When>
                    <Arg Name="MissionStartCommsCompleted"/>
                    <And><Elapsed><Arg Name="ElapsedSinceStartOrLastFiring"/></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="ElapsedSinceStartOrLastFiring"/></Elapsed></Assign>

                <Syslog Severity="Important">No firing for too long. Stopping mission. Elapsed time since start or last firing, MaxWaitStopMission, 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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <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>

                <Call Id="SetOptionsForSample60" RefId="SetSampleOptions"/>

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

            </Aggregate>

            <Aggregate Id="FiringOnMaxWaitOrNotReceivingOtherLRAUVSampleStartFirstSample">

                <Sequence/>

                <When>
                    <Arg Name="MissionStartCommsCompleted"/>
                    <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="CntSamples"/><Eq><Units:count/><Value>1</Value></Eq><And><Arg Name="UseOtherLRAUVSignals"/><And><Not><Arg Name="OtherLRAUVSampleStartReceived"/></Not></And><And><Elapsed><Arg Name="ElapsedSinceStartOrLastFiring"/></Elapsed><Gt><Arg Name="MaxWaitFirstSample"/></Gt></And><Or><Not><Arg Name="UseOtherLRAUVSignals"/></Not><And><Elapsed><Arg Name="ElapsedSinceStartOrLastFiring"/></Elapsed><Gt><Arg Name="MaxWaitFirstSample"/></Gt></And></Or></And><Or><Elapsed><Arg Name="ElapsedSinceStartOrLastFiring"/></Elapsed><Gt><Arg Name="MaxWaitMustFire"/></Gt></Or></And>
                </When>

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

                <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="ElapsedSinceStartOrLastFiring"/></Elapsed></Assign>

                <Syslog Severity="Important">Elapsed time since start or last firing(= <Arg Name="ElapsedTime"/><Units:minute/>) is longer than MaxWaitFirstSample (= <Arg Name="MaxWaitFirstSample"/><Units:minute/>) for the 1st sample, or longer than MaxWaitMustFire (= <Arg Name="MaxWaitMustFire"/><Units:minute/>) for non-1st samples. Firing sample No.<Arg Name="CntSamples"/><Units:count/></Syslog>

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

                <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="DepthCircle"/></Assign>

                <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="SettleDuration"/></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>

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

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

            </Aggregate>

            <Aggregate Id="FiringOnNotReceivingOtherLRAUVSampleStartNotFirstSample">

                <Sequence/>

                <When>
                    <Arg Name="UseOtherLRAUVSignals"/>
                    <And><Arg Name="MissionStartCommsCompleted"/></And>
                    <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                    <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                    <And><Arg Name="CntSamples"/><Ge><Units:count/><Value>2</Value></Ge></And>
                    <And><Arg Name="SampleOptionsSet"/></And>
                    <And><Not><Arg Name="SampleCompleted"/></Not></And>
                    <And><Not><Arg Name="OtherLRAUVSampleStartReceived"/></Not></And>
                    <And><Not><Arg Name="FiredOnMaxWait"/></Not></And>
                    <And><Not><Arg Name="FiredOnReceivingOtherLRAUVSampleComplete"/></Not></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">Not receiving other LRAUV sample start. Firing sample No.<Arg Name="CntSamples"/><Units:count/>.</Syslog>

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

                <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="DepthCircle"/></Assign>

                <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="SettleDuration"/></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>

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

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

            </Aggregate>

            <Aggregate Id="FiringOnReceivingOtherLRAUVSampleComplete">

                <Sequence/>

                <When>
                    <Arg Name="UseOtherLRAUVSignals"/>
                    <And><Arg Name="MissionStartCommsCompleted"/></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="OtherLRAUVSampleStartReceived"/></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="FiredOnReceivingOtherLRAUVSampleComplete"/><True/></Assign>

                <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="ElapsedSinceStartOrLastFiring"/><Units:hour/><Value>0</Value></Assign>

                <Assign><Sequence/><Arg Name="SampleAtDepth:TargetDepth"/><Arg Name="DepthCircle"/></Assign>

                <Assign><Sequence/><Arg Name="SampleAtDepth:SettleTime"/><Arg Name="SettleDuration"/></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>

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

                <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="FiredOnMaxWait"/><False/></Assign>

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

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>