Cork and screw 2.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/cork_and_screw_2.xml:552:7
     | 
 548 | 
 549 |     aggregate UpdateWithContactLowpassLatLon {
 550 |       run in sequence
 551 | 
 552 |       run when (
     |       ^^^
 553 |         not ( isNaN ( ContactLatitudeLowpass ) )
 554 |         and ( not ( isNaN ( ContactLongitudeLowpass ) ) )
 555 |         and ( elapsed ( Universal:time_fix ) >= ( FromLastTimeFixToCenterUpdate + TrackingUpdatePeriod ) )
 556 |       )
     | 
Unexpected: `run`
Possible items include (total 15):
  aggregate
  assign
  behavior
  call
  [...7 more...]
  preemptive
  }
  break
  timeout

Generated TethysL

mission CorkAndScrew {
  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.

    MissionTimeout = 20 hour
      """
      Maximum duration of mission
      """

    NumRoundsWholeSet = 1 count
      """
      Number of rounds of whole set of outer cylinders and inner screws.
      """

    NumScrewsPerCylinder = 1 count
      """
      Number of inner screws per outer cylinder.
      """

    NumDepths = 10 count
      """
      Total number of inner screw depths.
      """

    # debug
    #     </Description><Units:count/><Value>3</Value></DefineArg>

    NeedCommsTimeOnCorkScrew = 60 minute
      """
      On cork and screw, how often to surface for commumications
      """

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

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

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

    MaxWaitNotAchievingDepth = 2 hour
      """
      Maximum wait time the vehicle cannot reach the targeted depth.
      """

    OuterCylinder = true
      """
      Whether to do an outer cylinder yoyo. Initialized to True.
      """

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

    InnerScrew = true
      """
      Whether to do an inner screw. Initialized to True.
      """

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

    CylinderTimeout = 240 minute
      """
      Maximum duration of cylinder yoyo.
      """

    ScrewEachDepthTimeout = 120 minute
      """
      Maximum duration at each depth on inner screw.
      """

    SpeedCylinder = 1.0 meter_per_second
      """
      Vehicle speed on cylinder.
      """

    SpeedScrew = 1.0 meter_per_second
      """
      Vehicle speed on screw.
      """

    MaxDepth = 100 meter
      """
      Maximum depth for the entire mission.
      """

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

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

    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>

    CylinderYoYoMinDep = 1.5 meter
      """
      Minimum depth while performing the YoYo behavior on outer cylinder.
      """

    CylinderYoYoMaxDep = 30 meter
      """
      Maximum depth while performing the YoYo behavior on outer cylinder.
      """

    CylinderRadius = 200 meter
      """
      Radius of outer cylinder.
      """

    MaxCirclesOnCylinder = 1 count
      """
      Maximum number of circles on cylinder.
      """

    ScrewRadius = 100 meter
      """
      Radius of inner screw.
      """

    MaxCirclesEachDepthOnScrew = 1 count
      """
      Maximum number of circles on cylinder.
      """

    Depth1 = NaN meter
      """
      Depth 1.
      """

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

    Depth2 = NaN meter
      """
      Depth 2.
      """

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

    Depth3 = NaN meter
      """
      Depth 3.
      """

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

    Depth4 = NaN meter
      """
      Depth 4.
      """

    # debug
    #     </Description><Units:meter/><Value>40</Value></DefineArg>

    Depth5 = NaN meter
      """
      Depth 5.
      """

    # debug
    #     </Description><Units:meter/><Value>50</Value></DefineArg>

    Depth6 = NaN meter
      """
      Depth 6.
      """

    # debug
    #     </Description><Units:meter/><Value>60</Value></DefineArg>

    Depth7 = NaN meter
      """
      Depth 7.
      """

    # debug
    #     </Description><Units:meter/><Value>70</Value></DefineArg>

    Depth8 = NaN meter
      """
      Depth 8.
      """

    # debug
    #     </Description><Units:meter/><Value>80</Value></DefineArg>

    Depth9 = NaN meter
      """
      Depth 9.
      """

    # debug
    #     </Description><Units:meter/><Value>90</Value></DefineArg>

    Depth10 = NaN meter
      """
      Depth 10.
      """

    # debug
    #     </Description><Units:meter/><Value>100</Value></DefineArg>

    Depth11 = NaN meter
      """
      Depth 11.
      """

    # debug
    #     </Description><Units:meter/><Value>100</Value></DefineArg>

    Depth12 = NaN meter
      """
      Depth 12.
      """

    # debug
    #     </Description><Units:meter/><Value>90</Value></DefineArg>

    Depth13 = NaN meter
      """
      Depth 13.
      """

    # debug
    #     </Description><Units:meter/><Value>80</Value></DefineArg>

    Depth14 = NaN meter
      """
      Depth 14.
      """

    # debug
    #     </Description><Units:meter/><Value>70</Value></DefineArg>

    Depth15 = NaN meter
      """
      Depth 15.
      """

    # debug
    #     </Description><Units:meter/><Value>60</Value></DefineArg>

    Depth16 = NaN meter
      """
      Depth 16.
      """

    # debug
    #     </Description><Units:meter/><Value>50</Value></DefineArg>

    Depth17 = NaN meter
      """
      Depth 17.
      """

    # debug
    #     </Description><Units:meter/><Value>40</Value></DefineArg>

    Depth18 = NaN meter
      """
      Depth 18.
      """

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

    Depth19 = NaN meter
      """
      Depth 19.
      """

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

    Depth20 = NaN meter
      """
      Depth 20.
      """

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

    # Use caution when changing these.

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

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

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

    # You probably do not need to change these.

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

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

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

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

    # debug
    #     </Description><Units:count/><Value>0</Value></DefineArg>

    VerticalTolerance = 0.1 meter
      """
      Depth error allowed for being considered at/near the target depth.
      """

    CylinderCircleMaxError = 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.
      """

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

    ScrewCircleMaxError = 50 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.
      """

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

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

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

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

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

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

    # Internal variables that you should not change

    YoYoMinDepth = 4.5 meter
      """
      Minimum depth while performing the YoYo behavior. Program will set to
      CylinderYoYoMinDep.
      """

    YoYoMaxDepth = 27 meter
      """
      Maximum depth while performing the YoYo behavior. Program will set to
      CylinderYoYoMaxDep.
      """

    DepthLogged = 0.0 meter
      """

      """

    TempLogged = 0.0 celsius
      """

      """

    ChlLogged = 0.0 microgram_per_liter
      """

      """

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

    StartScrew = false
      """
      Start screw (initialized to false).
      """

    DepthSet = 10.0 meter
      """
      Depth held for inner screw. Initialized to 10 meters.
      """

    DepthOptionsSet = false
      """
      Depth options for inner screw already set. Initialized to false.
      """

    DepthCompleted = false
      """
      Depth holding on inner screw completed. Initialized to false.
      """

    FromLastTimeFixToCenterUpdate = 0 minute
      """
      Elapsed time from last time-fix to center update time (initialized to
      zero).
      """

    ElapsedTimeFix = 0 minute
      """
      Elapsed time from last time-fix since last fix (initialized to zero).
      """

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

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

    CntScrews = 1 count
      """
      Count of inner screws (initilized to 1).
      """

    CntDepths = 1 count
      """
      Count of inner screw depths (initilized to 1).
      """
  }

  # 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 = NeedCommsTimeOnCorkScrew

  # Add tracking directive high in the stack (above NeedComms to enable tracking from surface).

  behavior Estimation:Tracking {
    run in parallel
    set Estimation:Tracking.contactLabelSetting = ContactLabel
    set Estimation:Tracking.numberOfSamplesSetting = NumberOfPings
    set Estimation:Tracking.updatePeriodSetting = TrackingUpdatePeriod
    set Estimation:Tracking.numFixesLowPassSetting = NumberOfFixesLowPass
    set Estimation:Tracking.numStartingFixesToIgnoreSetting = NumberOfStartingFixesToIgnore
    set Estimation:Tracking.contactDepthSetting = AcousticTargetDepth
  }

  aggregate UpdateCenter {
    run when (
      elapsed ( Estimation:Tracking.range_to_contact ) < AcousticContactTimeout
    )

    assign in sequence ContactLatitudeLowpass = Estimation:Tracking.contact_latitude_lowpass

    assign in sequence ContactLongitudeLowpass = Estimation:Tracking.contact_longitude_lowpass

    assign in sequence ElapsedTimeFix = elapsed ( Universal:time_fix )

    # debug
    #   <Syslog Severity="Important">Overwrite or update. elapsed_time_fix, FromLastTimeFixToCenterUpdate, latitude_fix, longitude_fix = <Arg Name="ElapsedTimeFix"/><Units:second/>, <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/>, <Universal:latitude_fix/><Units:degree/>, <Universal:longitude_fix/><Units:degree/></Syslog>
    #   <Syslog Severity="Important">Overwrite or update. CenterLatitude, CenterLongitude, contact_latitude, contact_longitude, contact_latitude_lowpass, contact_longitude_lowpass = <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/>, <Estimation:Tracking.contact_latitude/><Units:degree/>, <Estimation:Tracking.contact_longitude/><Units:degree/>, <Estimation:Tracking.contact_latitude_lowpass/><Units:degree/>, <Estimation:Tracking.contact_longitude_lowpass/><Units:degree/></Syslog>

    aggregate UpdateWithContactLowpassLatLon {
      run in sequence

      run when (
        not ( isNaN ( ContactLatitudeLowpass ) )
        and ( not ( isNaN ( ContactLongitudeLowpass ) ) )
        and ( elapsed ( Universal:time_fix ) >= ( FromLastTimeFixToCenterUpdate + TrackingUpdatePeriod ) )
      )

      assign in sequence CenterLatitude = Estimation:Tracking.contact_latitude_lowpass

      assign in sequence CenterLongitude = Estimation:Tracking.contact_longitude_lowpass

      # debug
      #         <Syslog Severity="Important">Updating. FromLastTimeFixToCenterUpdate, CenterLatitude, CenterLongitude = <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/>, <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/></Syslog>

      assign in sequence FromLastTimeFixToCenterUpdate = elapsed ( Universal:time_fix )
    }

    aggregate OverwriteWithGPSLatLon {
      run in sequence

      run when (
        elapsed ( Universal:time_fix ) < FromLastTimeFixToCenterUpdate
      )

      # debug
      #         <Assign><Sequence/><Arg Name="ElapsedTimeFix"/><Elapsed><Universal:time_fix/></Elapsed></Assign>
      #         <Syslog Severity="Important">To overwriteWithGPSLatLon. latitude_fix, longitude_fix, elapsed_time_fix, FromLastTimeFixToCenterUpdate = <Universal:latitude_fix/><Units:degree/>, <Universal:longitude_fix/><Units:degree/>, <Arg Name="ElapsedTimeFix"/><Units:second/>, <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/></Syslog>

      assign in sequence CenterLatitude = Universal:latitude_fix

      assign in sequence CenterLongitude = Universal:longitude_fix

      assign in sequence FromLastTimeFixToCenterUpdate = elapsed ( Universal:time_fix )
    }
  }

  # 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

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



  # Many missions will keep mass position fixed at the default. This mission allows the buoyancy volume to change to track the chlorophyll peak while drifting.

  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 MissionStart {
    run in sequence

    insert Insert/NeedComms.tl id="NeedComms"


    call id="MissionStartComms" refId="NeedComms"

    assign in sequence MissionStartCommsCompleted = true
  }

  aggregate CircleAtDesignatedDepth {
    run when (
      called
    )

    syslog important "Circle at depth "
         + DepthSet ~ meter
         + " around location "
         + CenterLatitude ~ degree
         + ","
         + CenterLongitude ~ degree
         + ", at radius = "
         + ScrewRadius ~ meter

    aggregate CircleWrapper {
      run in sequence repeat=MaxCirclesEachDepthOnScrew

      timeout duration=ScrewEachDepthTimeout

      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 = ScrewRadius
        set Guidance:Circle.maxError = ScrewCircleMaxError
        set Guidance:Circle.turnToPort = ScrewCircleTurnToPort
      }
    }
  }

  aggregate OuterCylinderAndInnerScrew {
    run in sequence repeat=NumRoundsWholeSet

    aggregate OuterCylinder {
      run in sequence

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

      behavior Guidance:DepthEnvelope {
        run in parallel
        set Guidance:DepthEnvelope.minDepth = YoYoMinDepth
        set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth
        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
      }

      aggregate OuterCylinderYoYo {
        run in sequence

        aggregate CylinderIfNonNaNLatLon {
          run in sequence

          break if (
            not ( OuterCylinder )
            or ( isNaN ( CenterLatitude ) )
            or ( isNaN ( CenterLongitude ) )
          )

          timeout duration=CylinderTimeout

          syslog important "Yoyo profile on a cylinder around location "
               + CenterLatitude ~ degree
               + ","
               + CenterLongitude ~ degree
               + ", at radius = "
               + CylinderRadius ~ meter

          assign in sequence YoYoMinDepth = CylinderYoYoMinDep

          assign in sequence YoYoMaxDepth = CylinderYoYoMaxDep

          aggregate CylinderWrapper {
            run in sequence repeat=MaxCirclesOnCylinder

            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 = CylinderRadius
              set Guidance:Circle.maxError = CylinderCircleMaxError
              set Guidance:Circle.turnToPort = CylinderCircleTurnToPort
            }
          }
        }

        syslog "Outer cylinder completed."

        assign in sequence StartScrew = true

        assign in sequence DepthCompleted = false

        assign in sequence CntScrews = 1 count

        assign in sequence CntDepths = 1 count
      }
    }

    aggregate InnerScrew {
      run in sequence

      break if (
        not ( InnerScrew )
        or ( isNaN ( CenterLatitude ) )
        or ( isNaN ( CenterLongitude ) )
        or ( CntScrews == ( NumScrewsPerCylinder + 1 count ) )
      )

      aggregate DepthHolding {
        run while (
          MissionStartCommsCompleted
          and StartScrew
        )

        behavior Guidance:Pitch {
          run in parallel
          set Control:VerticalControl.depthDeadband = VerticalTolerance
          set Guidance:Pitch.depth = DepthSet
        }

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

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

      aggregate ScrewThroughDepths {
        run in parallel

        aggregate SetOptionsOfDepth1 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 1 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth1

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth2 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 2 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth2

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth3 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 3 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth3

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth4 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 4 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth4

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth5 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 5 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth5

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth6 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 6 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth6

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth7 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 7 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth7

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth8 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 8 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth8

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth9 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 9 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth9

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth10 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 10 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth10

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth11 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 11 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth11

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth12 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 12 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth12

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth13 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 13 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth13

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth14 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 14 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth14

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth15 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 15 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth15

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth16 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 16 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth16

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth17 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 17 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth17

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth18 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 18 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth18

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth19 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 19 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth19

          assign in sequence DepthOptionsSet = true
        }

        aggregate SetOptionsOfDepth20 {
          run when (
            not ( DepthOptionsSet )
            and ( CntDepths == 20 count )
            and ( CntDepths <= NumDepths )
          )

          assign in sequence DepthSet = Depth20

          assign in sequence DepthOptionsSet = true
        }

        aggregate CircleAtDepth {
          run when (
            MissionStartCommsCompleted
            and StartScrew
            and DepthOptionsSet
            and ( not ( DepthCompleted ) )
          )

          syslog important "Go to depth "
               + DepthSet ~ meter
               + "."

          behavior Guidance:Circle {
            run in progression
            set Guidance:Circle.latitude = CenterLatitude
            set Guidance:Circle.longitude = CenterLongitude
            set Guidance:Circle.radius = ScrewRadius
            set Guidance:Circle.maxError = ScrewCircleMaxError
            set Guidance:Circle.turnToPort = ScrewCircleTurnToPort
          }

          behavior Guidance:Pitch {
            run in progression
            timeout duration=MaxWaitNotAchievingDepth {
              syslog important "Timed out trying to reach the targeted depth. Stopping mission."
              behavior Guidance:Execute {
                run in sequence
                set Guidance:Execute.command = "stop"
              }
            }

            set Guidance:Pitch.depth = DepthSet
          }

          call id="Hold" refId="CircleAtDesignatedDepth"

          assign in sequence DepthCompleted = true

          assign in sequence DepthOptionsSet = false
        }

        aggregate IncrementDepthCounter {
          run when (
            DepthCompleted
          )

          assign in sequence CntDepths = CntDepths + 1 count

          syslog important "CntDepths = "
               + CntDepths ~ count
               + "."

          assign in sequence DepthCompleted = false
        }

        aggregate IncrementScrewCounter {
          run when (
            DepthCompleted
            and ( CntDepths == ( NumDepths + 1 count ) )
          )

          assign in sequence CntDepths = 1 count

          assign in sequence CntScrews = CntScrews + 1 count

          syslog important "CntScrews = "
               + CntScrews ~ count
               + "."
        }
      }
    }
  }

  aggregate MissionCompleted {
    run in sequence

    syslog important "Completed outer cylinders and inner screws. Stopping mission."

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

Source XML

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

<!-- 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="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>20</Value></DefineArg>

    <DefineArg Name="NumRoundsWholeSet"><Description>
        Number of rounds of whole set of outer cylinders and inner screws.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="NumScrewsPerCylinder"><Description>
        Number of inner screws per outer cylinder.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="NumDepths"><Description>
        Total number of inner screw depths.
    </Description><Units:count/><Value>10</Value></DefineArg>

<!--debug
    </Description><Units:count/><Value>3</Value></DefineArg>
-->

    <DefineArg Name="NeedCommsTimeOnCorkScrew"><Description>
        On cork and screw, how often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

<!--debug
    </Description><Units:minute/><Value>20</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>21</Value></DefineArg>

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

    <DefineArg Name="MaxWaitNotAchievingDepth"><Description>
        Maximum wait time the vehicle cannot reach the targeted depth.
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="OuterCylinder"><Description>
        Whether to do an outer cylinder yoyo. Initialized to True.
    </Description><True/></DefineArg>

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

    <DefineArg Name="InnerScrew"><Description>
        Whether to do an inner screw. Initialized to True.
    </Description><True/></DefineArg>

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

    <DefineArg Name="CylinderTimeout"><Description>
        Maximum duration of cylinder yoyo.
    </Description><Units:minute/><Value>240</Value></DefineArg>

    <DefineArg Name="ScrewEachDepthTimeout"><Description>
        Maximum duration at each depth on inner screw.
    </Description><Units:minute/><Value>120</Value></DefineArg>

    <DefineArg Name="SpeedCylinder"><Description>
        Vehicle speed on cylinder.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="SpeedScrew"><Description>
        Vehicle speed on screw.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>100</Value></DefineArg>

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

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

    <DefineArg Name="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="CylinderYoYoMinDep"><Description>
        Minimum depth while performing the YoYo behavior on outer cylinder.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="CylinderYoYoMaxDep"><Description>
        Maximum depth while performing the YoYo behavior on outer cylinder.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="CylinderRadius"><Description>
        Radius of outer cylinder.
    </Description><Units:meter/><Value>200</Value></DefineArg>

    <DefineArg Name="MaxCirclesOnCylinder"><Description>
        Maximum number of circles on cylinder.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="ScrewRadius"><Description>
        Radius of inner screw.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="MaxCirclesEachDepthOnScrew"><Description>
        Maximum number of circles on cylinder.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Depth1"><Description>
        Depth 1.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="Depth2"><Description>
        Depth 2.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="Depth3"><Description>
        Depth 3.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="Depth4"><Description>
        Depth 4.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>40</Value></DefineArg>
-->

    <DefineArg Name="Depth5"><Description>
        Depth 5.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>50</Value></DefineArg>
-->

    <DefineArg Name="Depth6"><Description>
        Depth 6.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>60</Value></DefineArg>
-->

    <DefineArg Name="Depth7"><Description>
        Depth 7.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>70</Value></DefineArg>
-->

    <DefineArg Name="Depth8"><Description>
        Depth 8.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>80</Value></DefineArg>
-->

    <DefineArg Name="Depth9"><Description>
        Depth 9.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>90</Value></DefineArg>
-->

    <DefineArg Name="Depth10"><Description>
        Depth 10.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>100</Value></DefineArg>
-->

    <DefineArg Name="Depth11"><Description>
        Depth 11.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>100</Value></DefineArg>
-->

    <DefineArg Name="Depth12"><Description>
        Depth 12.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>90</Value></DefineArg>
-->

    <DefineArg Name="Depth13"><Description>
        Depth 13.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>80</Value></DefineArg>
-->

    <DefineArg Name="Depth14"><Description>
        Depth 14.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>70</Value></DefineArg>
-->

    <DefineArg Name="Depth15"><Description>
        Depth 15.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>60</Value></DefineArg>
-->

    <DefineArg Name="Depth16"><Description>
        Depth 16.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>50</Value></DefineArg>
-->

    <DefineArg Name="Depth17"><Description>
        Depth 17.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>40</Value></DefineArg>
-->

    <DefineArg Name="Depth18"><Description>
        Depth 18.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="Depth19"><Description>
        Depth 19.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="Depth20"><Description>
        Depth 20.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

<!--debug
    </Description><Units:count/><Value>0</Value></DefineArg>
-->

    <DefineArg Name="VerticalTolerance"><Description>
        Depth error allowed for being considered at/near the target depth.
    </Description><Units:meter/><Value>0.1</Value></DefineArg>

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

    <DefineArg Name="ScrewCircleMaxError"><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>50</Value></DefineArg>

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

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior. Program will set to
        CylinderYoYoMinDep.
    </Description><Units:meter/><Value>4.5</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior. Program will set to
        CylinderYoYoMaxDep.
    </Description><Units:meter/><Value>27</Value></DefineArg>

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

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

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

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

    <DefineArg Name="StartScrew"><Description>
        Start screw (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="DepthSet"><Description>
        Depth held for inner screw. Initialized to 10 meters.
    </Description><Units:meter/><Value>10.0</Value></DefineArg>

    <DefineArg Name="DepthOptionsSet"><Description>
        Depth options for inner screw already set. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="DepthCompleted"><Description>
        Depth holding on inner screw completed. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="FromLastTimeFixToCenterUpdate"><Description>
        Elapsed time from last time-fix to center update time (initialized to
        zero).
    </Description><Units:minute/><Value>0</Value></DefineArg>

    <DefineArg Name="ElapsedTimeFix"><Description>
        Elapsed time from last time-fix since last fix (initialized to zero).
    </Description><Units:minute/><Value>0</Value></DefineArg>

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

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

    <DefineArg Name="CntScrews"><Description>
        Count of inner screws (initilized to 1).
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="CntDepths"><Description>
        Count of inner screw depths (initilized to 1).
    </Description><Units:count/><Value>1</Value></DefineArg>

<!-- 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="NeedCommsTimeOnCorkScrew"/></Assign>

<!-- Add tracking directive high in the stack (above NeedComms to enable tracking from surface). -->

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

    <Aggregate Id="UpdateCenter">

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

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

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

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

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

        <Aggregate Id="UpdateWithContactLowpassLatLon">

            <Sequence/>

            <When>
                <Not><IsNaN><Arg Name="ContactLatitudeLowpass"/>
                </IsNaN></Not>
                <And><Not><IsNaN><Arg Name="ContactLongitudeLowpass"/>
                </IsNaN></Not></And>
                <And><Elapsed><Universal:time_fix/></Elapsed><Ge><Arg Name="FromLastTimeFixToCenterUpdate"/><Add><Arg Name="TrackingUpdatePeriod"/></Add></Ge></And>
            </When>

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

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

<!--debug
        <Syslog Severity="Important">Updating. FromLastTimeFixToCenterUpdate, CenterLatitude, CenterLongitude = <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/>, <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/></Syslog>
-->

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

        </Aggregate>

        <Aggregate Id="OverwriteWithGPSLatLon">

            <Sequence/>

            <When>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Lt><Arg Name="FromLastTimeFixToCenterUpdate"/></Lt>
            </When>

<!--debug
        <Assign><Sequence/><Arg Name="ElapsedTimeFix"/><Elapsed><Universal:time_fix/></Elapsed></Assign>
        <Syslog Severity="Important">To overwriteWithGPSLatLon. latitude_fix, longitude_fix, elapsed_time_fix, FromLastTimeFixToCenterUpdate = <Universal:latitude_fix/><Units:degree/>, <Universal:longitude_fix/><Units:degree/>, <Arg Name="ElapsedTimeFix"/><Units:second/>, <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/></Syslog>
-->

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

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

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

<!--debug
        <Syslog Severity="Important">Overwriting. FromLastTimeFixToCenterUpdate, CenterLatitude, CenterLongitude = <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/>, <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/></Syslog>
-->

        </Aggregate>

    </Aggregate>

<!-- 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>

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

<!-- Many missions will keep mass position fixed at the default. This mission allows the buoyancy volume to change to track the chlorophyll peak while drifting. -->

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

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

    <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="MissionStart">

        <Sequence/>

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

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

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

    </Aggregate>

    <Aggregate Id="CircleAtDesignatedDepth">

        <When>
            <Called/>
        </When>

        <Syslog Severity="Important">Circle at depth <Arg Name="DepthSet"/><Units:meter/> around location <Arg Name="CenterLatitude"/><Units:degree/>,<Arg Name="CenterLongitude"/><Units:degree/>, at radius = <Arg Name="ScrewRadius"/><Units:meter/></Syslog>

        <Aggregate Id="CircleWrapper">

            <Sequence Repeat="MaxCirclesEachDepthOnScrew"/>

            <Timeout Duration="ScrewEachDepthTimeout"/>

            <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="ScrewRadius"/></Setting>
                <Setting><Guidance:Circle.maxError/><Arg Name="ScrewCircleMaxError"/></Setting>
                <Setting><Guidance:Circle.turnToPort/><Arg Name="ScrewCircleTurnToPort"/></Setting>
            </Guidance:Circle>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="OuterCylinderAndInnerScrew">

        <Sequence Repeat="NumRoundsWholeSet"/>

        <Aggregate Id="OuterCylinder">

            <Sequence/>

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

            <Guidance:DepthEnvelope>
                <Parallel/>
                <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
                <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></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>

            <Aggregate Id="OuterCylinderYoYo">

                <Sequence/>

                <Aggregate Id="CylinderIfNonNaNLatLon">

                    <Sequence/>

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

                    <Timeout Duration="CylinderTimeout"/>

                    <Syslog Severity="Important">Yoyo profile on a cylinder around location <Arg Name="CenterLatitude"/><Units:degree/>,<Arg Name="CenterLongitude"/><Units:degree/>, at radius = <Arg Name="CylinderRadius"/><Units:meter/></Syslog>

                    <Assign><Sequence/><Arg Name="YoYoMinDepth"/><Arg Name="CylinderYoYoMinDep"/></Assign>

                    <Assign><Sequence/><Arg Name="YoYoMaxDepth"/><Arg Name="CylinderYoYoMaxDep"/></Assign>

                    <Aggregate Id="CylinderWrapper">

                        <Sequence Repeat="MaxCirclesOnCylinder"/>

                        <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="CylinderRadius"/></Setting>
                            <Setting><Guidance:Circle.maxError/><Arg Name="CylinderCircleMaxError"/></Setting>
                            <Setting><Guidance:Circle.turnToPort/><Arg Name="CylinderCircleTurnToPort"/></Setting>
                        </Guidance:Circle>

                    </Aggregate>

                </Aggregate>

                <Syslog>Outer cylinder completed.</Syslog>

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

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

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

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="InnerScrew">

            <Sequence/>

            <Break>
                <Not><Arg Name="InnerScrew"/></Not>
                <Or><IsNaN><Arg Name="CenterLatitude"/>
                </IsNaN></Or>
                <Or><IsNaN><Arg Name="CenterLongitude"/>
                </IsNaN></Or>
                <Or><Arg Name="CntScrews"/><Eq><Arg Name="NumScrewsPerCylinder"/><Add><Units:count/><Value>1</Value></Add></Eq></Or>
            </Break>

            <Aggregate Id="DepthHolding">

                <While>
                    <Arg Name="MissionStartCommsCompleted"/>
                    <And><Arg Name="StartScrew"/></And>
                </While>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Control:VerticalControl.depthDeadband/><Arg Name="VerticalTolerance"/></Setting>
                    <Setting><Guidance:Pitch.depth/><Arg Name="DepthSet"/></Setting>
                </Guidance:Pitch>

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

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

            </Aggregate>

            <Aggregate Id="ScrewThroughDepths">

                <Parallel/>

                <Aggregate Id="SetOptionsOfDepth1">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>1</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth1"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth2">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>2</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth2"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth3">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>3</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth3"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth4">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>4</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth4"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth5">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>5</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth5"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth6">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>6</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth6"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth7">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>7</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth7"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth8">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>8</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth8"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth9">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>9</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth9"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth10">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>10</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth10"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth11">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>11</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth11"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth12">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>12</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth12"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth13">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>13</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth13"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth14">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>14</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth14"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth15">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>15</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth15"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth16">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>16</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth16"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth17">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>17</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth17"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth18">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>18</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth18"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth19">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>19</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth19"/></Assign>

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

                </Aggregate>

                <Aggregate Id="SetOptionsOfDepth20">

                    <When>
                        <Not><Arg Name="DepthOptionsSet"/></Not>
                        <And><Arg Name="CntDepths"/><Eq><Units:count/><Value>20</Value></Eq></And>
                        <And><Arg Name="CntDepths"/><Le><Arg Name="NumDepths"/></Le></And>
                    </When>

                    <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="Depth20"/></Assign>

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

                </Aggregate>

                <Aggregate Id="CircleAtDepth">

                    <When>
                        <Arg Name="MissionStartCommsCompleted"/>
                        <And><Arg Name="StartScrew"/></And>
                        <And><Arg Name="DepthOptionsSet"/></And>
                        <And><Not><Arg Name="DepthCompleted"/></Not></And>
                    </When>

                    <Syslog Severity="Important">Go to depth <Arg Name="DepthSet"/><Units:meter/>.</Syslog>

                    <Guidance:Circle>
                        <Progression/>
                        <Setting><Guidance:Circle.latitude/><Arg Name="CenterLatitude"/></Setting>
                        <Setting><Guidance:Circle.longitude/><Arg Name="CenterLongitude"/></Setting>
                        <Setting><Guidance:Circle.radius/><Arg Name="ScrewRadius"/></Setting>
                        <Setting><Guidance:Circle.maxError/><Arg Name="ScrewCircleMaxError"/></Setting>
                        <Setting><Guidance:Circle.turnToPort/><Arg Name="ScrewCircleTurnToPort"/></Setting>
                    </Guidance:Circle>

                    <Guidance:Pitch>
                        <Progression/>
                        <Timeout Duration="MaxWaitNotAchievingDepth">
                            <Syslog Severity="Important">Timed out trying to reach the targeted depth. Stopping mission.</Syslog>
                            <Guidance:Execute>
                                <Sequence/>
                                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                            </Guidance:Execute>
                        </Timeout>
                        <Setting><Guidance:Pitch.depth/><Arg Name="DepthSet"/></Setting>
                    </Guidance:Pitch>

                    <Call Id="Hold" RefId="CircleAtDesignatedDepth"/>

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

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

                </Aggregate>

                <Aggregate Id="IncrementDepthCounter">

                    <When>
                        <Arg Name="DepthCompleted"/>
                    </When>

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

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

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

                </Aggregate>

                <Aggregate Id="IncrementScrewCounter">

                    <When>
                        <Arg Name="DepthCompleted"/>
                        <And><Arg Name="CntDepths"/><Eq><Arg Name="NumDepths"/><Add><Units:count/><Value>1</Value></Add></Eq></And>
                    </When>

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

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

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

                </Aggregate>

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="MissionCompleted">

        <Sequence/>

        <Syslog Severity="Important">Completed outer cylinders and inner screws. Stopping mission.</Syslog>

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

    </Aggregate>

</Mission>