Esp sample at threshold.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/esp_sample_at_threshold.xml:348:5
     | 
 344 | 
 345 |   # This first aggregate is the sci2 part
 346 | 
 347 |   aggregate Sci2Phase {
 348 |     break if (
     |     ^^^^^
 349 |       ChlThresholdReached
 350 |     )
 351 | 
 352 |     assign in sequence NeedComms:DiveInterval = NeedCommsTime
     | 
Unexpected: `break`
One of the following is possible:
  """
  arguments
  output
  run
  test_code

Generated TethysL

mission esp_sample_at_threshold {
  """
  This mission drives towards a waypoint until chl reading is above a
  threshold for the timeout. Then it stops and takes ESP samples at the
  designated depth. Originally this was meant to be a mashup of sci2 and
  esp_sample_at_depth.
  """

  arguments {
    MissionTimeout = 6 hour
      """
      Maximum duration of mission.
      """

    NeedCommsTime = 60 minute
      """
      How often to surface for commumications during transit to waypoint.
      """

    chlorophyllLowerBound = 3 microgram_per_liter
      """
      When WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll lies
      between chlorophyllLowerBound and chlorophyllUpperBound for the timeout,
      stop running waypoints and sample at depth.
      """

    chlorophyllUpperBound = 100 microgram_per_liter
      """
      When WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll lies
      between chlorophyllLowerBound and chlorophyllUpperBound for the timeout,
      stop running waypoints and sample at depth.
      """

    chlorophyllThresholdTimeout = 1 minute
      """
      How long to wait to start sampling while chl is above the threshold.
      """

    Lat1 = NaN degree
      """
      Latitude of waypoint 1. If nan, waypoint is skipped.
      """

    Lon1 = NaN degree
      """
      Longitude of waypoint 1. If nan, waypoint is skipped.
      """

    Lat2 = NaN degree
      """
      Latitude of waypoint 2. If nan, waypoint is skipped.
      """

    Lon2 = NaN degree
      """
      Longitude of waypoint 2. If nan, waypoint is skipped.
      """

    Lat3 = NaN degree
      """
      Latitude of waypoint 3. If nan, waypoint is skipped.
      """

    Lon3 = NaN degree
      """
      Longitude of waypoint 3. If nan, waypoint is skipped.
      """

    Lat4 = NaN degree
      """
      Latitude of waypoint 4. If nan, waypoint is skipped.
      """

    Lon4 = NaN degree
      """
      Longitude of waypoint 4. If nan, waypoint is skipped.
      """

    Lat5 = NaN degree
      """
      Latitude of waypoint 5. If nan, waypoint is skipped.
      """

    Lon5 = NaN degree
      """
      Longitude of waypoint 5. If nan, waypoint is skipped.
      """

    Lat6 = NaN degree
      """
      Latitude of waypoint 6. If nan, waypoint is skipped.
      """

    Lon6 = NaN degree
      """
      Longitude of waypoint 6. If nan, waypoint is skipped.
      """

    Lat7 = NaN degree
      """
      Latitude of waypoint 7. If nan, waypoint is skipped.
      """

    Lon7 = NaN degree
      """
      Longitude of waypoint 7. If nan, waypoint is skipped.
      """

    Speed = 1 meter_per_second
      """
      Speed while performing the YoYo behavior.
      """

    CaptureRadius = NaN meter
      """
      Speed while performing the YoYo behavior.
      """

    YoYoMinDepth = 2 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepth = 200 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

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

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

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

    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
      """

    TargetDepth = 3 meter
      """
      Depth to sample at. Initialized to 3 m.
      """

    ESPCartridgeType_1 = -4 count
      """
      Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this
      sample.
      """

    ESPCartridgeType_2 = -15 count
      """
      Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this
      sample.
      """

    ESPCartridgeType_3 = NaN count
      """
      Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this
      sample.
      """

    ESPCartridgeType_4 = NaN count
      """
      Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this
      sample.
      """

    SettleTime = 3 minute
      """
      How long to wait between samples. This starts *before* the first sample.
      """

    SpeedSampling = 0 meter_per_second
      """
      Vehicle speed while sampling. Set to zero to maintain depth using VBS
      (drift).
      """

    ApproachSettleTimePostDive = 1 minute
      """
      Time duration for the vehicle to settle *AFTER* reaching the target
      depth.
      """

    kpDepth = 0.07 radian_per_meter
      """
      Dive loop proportional gain (applied only while the vehicle is
      descending to target depth).
      """

    DepthDeadband = 0.01 meter
      """
      How much vertical drift from the specified depth is allowed while
      sampling.
      """

    MinAltitude = 2 meter
      """
      Minimum height above the sea floor for the entire mission.
      """

    MaxDepth = 5 meter
      """
      Maximum allowable depth during the mission.
      """

    MinOffshore = 1 kilometer
      """
      Minimum distance from the shoreline to maintain.
      """
  }

  output {
    ESPCartridgeType = NaN count
      """
      Mission parameter (don't change). Specifies ESP cartridge type code.
      """

    ChlThresholdReached = false
      """
      Indicates internally that the threshold has been reach and we should
      start a sample.
      """

    ChlThresholdReachedFlagSet = false
      """
      Indicates internally that the threshold-met flag is set.
      """
  }

  # Mission timeout

  timeout duration=MissionTimeout

  # Safety nets and surfacing behaviors

  behavior Sample:AbortSample {
    run in parallel
  }

  insert Insert/StandardEnvelopes.tl


  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  insert Insert/NeedComms.tl id="NeedComms"


  assign in sequence NeedComms:DiveInterval = MissionTimeout

  assign in sequence NeedComms:WaitForPitchUp = 0 minute

  assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband

  # Callable aggregate

  aggregate SampleESP {
    run when (
      called
    )

    aggregate sample {
      run in sequence

      syslog important "At "
           + Universal:depth ~ meter
           + ", settling for "
           + SettleTime ~ minute

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

      syslog important "Requesting ESP cartridge type:"
           + ESPCartridgeType ~ count

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

      readDatum id="TriggerESP" {
        Science:ESPComponent.sampling
      }

      syslog important "ESP sampling at "
           + Universal:depth ~ meter
           + " in "
           + Science:CTD_Seabird.bin_mean_sea_water_temperature ~ celsius
           + " water with "
           + Science:WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water ~ microgram_per_liter
           + "chlorophyll fluorescence."

      readDatum id="WaitForESP" {
        Science:ESPComponent.sample_number
      }
    }
  }

  # Start mission sequence

  call id="StartingMission" refId="NeedComms"

  insert Insert/Science.tl


  aggregate CheckChlThreshold {
    run when (
      Science:WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water > chlorophyllLowerBound
      and ( Science:WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water < chlorophyllUpperBound )
      and ( elapsed ( Universal:time_fix ) > chlorophyllThresholdTimeout )
      and ( not ( ChlThresholdReachedFlagSet ) )
    )

    assign in sequence ChlThresholdReached = true

    assign in sequence ChlThresholdReachedFlagSet = true
  }

  # This first aggregate is the sci2 part

  aggregate Sci2Phase {
    break if (
      ChlThresholdReached
    )

    assign in sequence NeedComms:DiveInterval = NeedCommsTime

    behavior Guidance:Pitch {
      run in parallel
      set Guidance:Pitch.massPosition = MassDefault
    }

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

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

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

    behavior Guidance:YoYo {
      run in parallel
      set Guidance:YoYo.downPitch = YoYoDownPitch
      set Guidance:YoYo.upPitch = YoYoUpPitch
    }

    aggregate Lap {
      aggregate Wpt1 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence
          set Guidance:Waypoint.latitude = Lat1
          set Guidance:Waypoint.longitude = Lon1
          set Guidance:Waypoint.captureRadius = CaptureRadius
        }
      }

      aggregate Wpt2 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence
          set Guidance:Waypoint.latitude = Lat2
          set Guidance:Waypoint.longitude = Lon2
        }
      }

      aggregate Wpt3 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence
          set Guidance:Waypoint.latitude = Lat3
          set Guidance:Waypoint.longitude = Lon3
        }
      }

      aggregate Wpt4 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence
          set Guidance:Waypoint.latitude = Lat4
          set Guidance:Waypoint.longitude = Lon4
        }
      }

      aggregate Wpt5 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence
          set Guidance:Waypoint.latitude = Lat5
          set Guidance:Waypoint.longitude = Lon5
        }
      }

      aggregate Wpt6 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence
          set Guidance:Waypoint.latitude = Lat6
          set Guidance:Waypoint.longitude = Lon6
        }
      }

      aggregate Wpt7 {
        run in sequence

        behavior Guidance:Waypoint {
          run in sequence
          set Guidance:Waypoint.latitude = Lat7
          set Guidance:Waypoint.longitude = Lon7
        }
      }
    }
  }

  # Once the threshold is met for the timeout, we sample

  aggregate SamplingPhase {
    break if (
      not ( ChlThresholdReached )
    )

    assign in sequence NeedComms:DiveInterval = MissionTimeout

    aggregate SettleAtDepth {
      """
      Take a few moments here to ensure the vechile is settled at the
      target depth.
      """

      run in sequence

      behavior Guidance:Pitch {
        run in progression
        set Guidance:Pitch.depth = TargetDepth
      }

      syslog info "Reached "
           + Universal:depth ~ meter
           + ", settling for "
           + ApproachSettleTimePostDive ~ minute

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

    aggregate SampleAtTargetDepth {
      """
      Maintain target depth and acquire ESP samples.
      """

      run in sequence

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

      behavior Guidance:Pitch {
        run in parallel
        set Guidance:Pitch.depth = TargetDepth
      }

      aggregate Spinout {
        """
        A speed has been specified, spin in circels while sampling.
        """

        run while ( SpeedSampling > 0.0 meter_per_second )

        behavior Guidance:Pitch id="HoldMassPosition" {
          run in parallel
          set Guidance:Pitch.massPosition = Control:VerticalControl.massDefault
        }

        behavior Guidance:Buoyancy id="HoldBuoyancyPosition" {
          run in parallel
          set Guidance:Buoyancy.position = Control:VerticalControl.buoyancyNeutral
        }

        behavior Guidance:Point id="HoldRudderAngle" {
          set Guidance:Point.rudderAngle = 9 degree
        }
      }

      aggregate GrabSamples {
        run in sequence

        aggregate Sample1 {
          break if (
            isNaN ( ESPCartridgeType_1 )
          )

          assign in sequence ESPCartridgeType = ESPCartridgeType_1

          call refId="SampleESP"
        }

        aggregate Sample2 {
          break if (
            isNaN ( ESPCartridgeType_2 )
          )

          assign in sequence ESPCartridgeType = ESPCartridgeType_2

          call refId="SampleESP"
        }

        aggregate Sample3 {
          break if (
            isNaN ( ESPCartridgeType_3 )
          )

          assign in sequence ESPCartridgeType = ESPCartridgeType_3

          call refId="SampleESP"
        }

        aggregate Sample4 {
          break if (
            isNaN ( ESPCartridgeType_4 )
          )

          assign in sequence ESPCartridgeType = ESPCartridgeType_4

          call refId="SampleESP"
        }
      }
    }
  }
}

Source XML

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

    <Description>
        This mission drives towards a waypoint until chl reading is above a
        threshold for the timeout. Then it stops and takes ESP samples at the
        designated depth. Originally this was meant to be a mashup of sci2 and
        esp_sample_at_depth.
    </Description>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission.
    </Description><Units:hour/><Value>6</Value></DefineArg>

    <DefineArg Name="NeedCommsTime"><Description>
        How often to surface for commumications during transit to waypoint.
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="chlorophyllLowerBound"><Description>
        When WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll lies
        between chlorophyllLowerBound and chlorophyllUpperBound for the timeout,
        stop running waypoints and sample at depth.
    </Description><Units:microgram_per_liter/><Value>3</Value></DefineArg>

    <DefineArg Name="chlorophyllUpperBound"><Description>
        When WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll lies
        between chlorophyllLowerBound and chlorophyllUpperBound for the timeout,
        stop running waypoints and sample at depth.
    </Description><Units:microgram_per_liter/><Value>100</Value></DefineArg>

    <DefineArg Name="chlorophyllThresholdTimeout"><Description>
        How long to wait to start sampling while chl is above the threshold.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="Lat1"><Description>
        Latitude of waypoint 1. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon1"><Description>
        Longitude of waypoint 1. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat2"><Description>
        Latitude of waypoint 2. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon2"><Description>
        Longitude of waypoint 2. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat3"><Description>
        Latitude of waypoint 3. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon3"><Description>
        Longitude of waypoint 3. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat4"><Description>
        Latitude of waypoint 4. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon4"><Description>
        Longitude of waypoint 4. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat5"><Description>
        Latitude of waypoint 5. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon5"><Description>
        Longitude of waypoint 5. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat6"><Description>
        Latitude of waypoint 6. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon6"><Description>
        Longitude of waypoint 6. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lat7"><Description>
        Latitude of waypoint 7. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Lon7"><Description>
        Longitude of waypoint 7. If nan, waypoint is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Speed while performing the YoYo behavior.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="CaptureRadius"><Description>
        Speed while performing the YoYo behavior.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>200</Value></DefineArg>

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

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

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

    <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>

    <DefineArg Name="TargetDepth"><Description>
        Depth to sample at. Initialized to 3 m.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_1"><Description>
        Specifies ESP cartridge type code for sample# 1. Set to NaN to skip this
        sample.
    </Description><Units:count/><Value>-4</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_2"><Description>
        Specifies ESP cartridge type code for sample# 2. Set to NaN to skip this
        sample.
    </Description><Units:count/><Value>-15</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_3"><Description>
        Specifies ESP cartridge type code for sample# 3. Set to NaN to skip this
        sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ESPCartridgeType_4"><Description>
        Specifies ESP cartridge type code for sample# 4. Set to NaN to skip this
        sample.
    </Description><Units:count/><Value>NaN</Value></DefineArg>

    <DefineArg Name="SettleTime"><Description>
        How long to wait between samples. This starts *before* the first sample.
    </Description><Units:minute/><Value>3</Value></DefineArg>

    <DefineArg Name="SpeedSampling"><Description>
        Vehicle speed while sampling. Set to zero to maintain depth using VBS
        (drift).
    </Description><Units:meter_per_second/><Value>0</Value></DefineArg>

    <DefineArg Name="ApproachSettleTimePostDive"><Description>
        Time duration for the vehicle to settle *AFTER* reaching the target
        depth.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="kpDepth"><Description>
        Dive loop proportional gain (applied only while the vehicle is
        descending to target depth).
    </Description><Units:radian_per_meter/><Value>0.07</Value></DefineArg>

    <DefineArg Name="DepthDeadband"><Description>
        How much vertical drift from the specified depth is allowed while
        sampling.
    </Description><Units:meter/><Value>0.01</Value></DefineArg>

    <DefineArg Name="MinAltitude"><Description>
        Minimum height above the sea floor for the entire mission.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum allowable depth during the mission.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum distance from the shoreline to maintain.
    </Description><Units:kilometer/><Value>1</Value></DefineArg>

    <DefineOutput Name="ESPCartridgeType"><Description>
        Mission parameter (don't change). Specifies ESP cartridge type code.
    </Description><Units:count/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="ChlThresholdReached"><Description>
        Indicates internally that the threshold has been reach and we should
        start a sample.
    </Description><False/></DefineOutput>

    <DefineOutput Name="ChlThresholdReachedFlagSet"><Description>
        Indicates internally that the threshold-met flag is set.
    </Description><False/></DefineOutput>

<!-- Mission timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- Safety nets and surfacing behaviors -->

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

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

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

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

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

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

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

    <Assign><Sequence/><Arg Name="NeedComms:WaitForPitchUp"/><Units:minute/><Value>0</Value></Assign>

    <Assign><Parallel/><Control:VerticalControl.depthDeadband/><Arg Name="DepthDeadband"/></Assign>

<!-- Callable aggregate -->

    <Aggregate Id="SampleESP">

        <When>
            <Called/>
        </When>

        <Aggregate Id="sample">

            <Sequence/>

            <Syslog Severity="Important">At <Universal:depth/><Units:meter/>, settling for <Arg Name="SettleTime"/><Units:minute/></Syslog>

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

            <Syslog Severity="Important">Requesting ESP cartridge type:<Arg Name="ESPCartridgeType"/><Units:count/></Syslog>

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

            <ReadDatum Id="TriggerESP">
                <Science:ESPComponent.sampling/>
            </ReadDatum>

            <Syslog Severity="Important">ESP sampling at <Universal:depth/><Units:meter/> in <Science:CTD_Seabird.bin_mean_sea_water_temperature/><Units:celsius/> water with <Science:WetLabsBB2FL.bin_mean_mass_concentration_of_chlorophyll_in_sea_water/><Units:microgram_per_liter/>chlorophyll fluorescence.</Syslog>

            <ReadDatum Id="WaitForESP">
                <Science:ESPComponent.sample_number/>
            </ReadDatum>

        </Aggregate>

    </Aggregate>

<!-- Start mission sequence -->

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

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

    <Aggregate Id="CheckChlThreshold">

        <When>
            <Science:WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water/>
            <Gt><Arg Name="chlorophyllLowerBound"/></Gt>
            <And><Science:WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water/><Lt><Arg Name="chlorophyllUpperBound"/></Lt></And>
            <And><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="chlorophyllThresholdTimeout"/></Gt></And>
            <And><Not><Arg Name="ChlThresholdReachedFlagSet"/></Not></And>
        </When>

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

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

    </Aggregate>

<!-- This first aggregate is the sci2 part -->

    <Aggregate Id="Sci2Phase">

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

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

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

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

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

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

        <Guidance:AltitudeEnvelope>
            <Description>
                Another altitude envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.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>

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

        <Aggregate Id="Lap">

            <Aggregate Id="Wpt1">

                <Sequence/>

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

            </Aggregate>

            <Aggregate Id="Wpt2">

                <Sequence/>

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

            </Aggregate>

            <Aggregate Id="Wpt3">

                <Sequence/>

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

            </Aggregate>

            <Aggregate Id="Wpt4">

                <Sequence/>

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

            </Aggregate>

            <Aggregate Id="Wpt5">

                <Sequence/>

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

            </Aggregate>

            <Aggregate Id="Wpt6">

                <Sequence/>

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

            </Aggregate>

            <Aggregate Id="Wpt7">

                <Sequence/>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

<!-- Once the threshold is met for the timeout, we sample -->

    <Aggregate Id="SamplingPhase">

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

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

        <Aggregate Id="SettleAtDepth">

            <Description>
                Take a few moments here to ensure the vechile is settled at the
                target depth.
            </Description>

            <Sequence/>

            <Guidance:Pitch>
                <Progression/>
                <Setting><Guidance:Pitch.depth/><Arg Name="TargetDepth"/></Setting>
            </Guidance:Pitch>

            <Syslog Severity="Info">Reached <Universal:depth/><Units:meter/>, settling for <Arg Name="ApproachSettleTimePostDive"/><Units:minute/></Syslog>

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

        </Aggregate>

        <Aggregate Id="SampleAtTargetDepth">

            <Description>
                Maintain target depth and acquire ESP samples.
            </Description>

            <Sequence/>

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

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

            <Aggregate Id="Spinout">

                <Description>
                    A speed has been specified, spin in circels while sampling.
                </Description>

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

                <Guidance:Pitch Id="HoldMassPosition">
                    <Parallel/>
                    <Setting><Guidance:Pitch.massPosition/><Control:VerticalControl.massDefault/></Setting>
                </Guidance:Pitch>

                <Guidance:Buoyancy Id="HoldBuoyancyPosition">
                    <Parallel/>
                    <Setting><Guidance:Buoyancy.position/><Control:VerticalControl.buoyancyNeutral/></Setting>
                </Guidance:Buoyancy>

                <Guidance:Point Id="HoldRudderAngle">
                    <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>9</Value></Setting>
                </Guidance:Point>

            </Aggregate>

            <Aggregate Id="GrabSamples">

                <Sequence/>

                <Aggregate Id="Sample1">

                    <Break>
                        <IsNaN><Arg Name="ESPCartridgeType_1"/>
                        </IsNaN>
                    </Break>

                    <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_1"/></Assign>

                    <Call RefId="SampleESP"/>

                </Aggregate>

                <Aggregate Id="Sample2">

                    <Break>
                        <IsNaN><Arg Name="ESPCartridgeType_2"/>
                        </IsNaN>
                    </Break>

                    <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_2"/></Assign>

                    <Call RefId="SampleESP"/>

                </Aggregate>

                <Aggregate Id="Sample3">

                    <Break>
                        <IsNaN><Arg Name="ESPCartridgeType_3"/>
                        </IsNaN>
                    </Break>

                    <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_3"/></Assign>

                    <Call RefId="SampleESP"/>

                </Aggregate>

                <Aggregate Id="Sample4">

                    <Break>
                        <IsNaN><Arg Name="ESPCartridgeType_4"/>
                        </IsNaN>
                    </Break>

                    <Assign><Sequence/><Arg Name="ESPCartridgeType"/><Arg Name="ESPCartridgeType_4"/></Assign>

                    <Call RefId="SampleESP"/>

                </Aggregate>

            </Aggregate>

        </Aggregate>

    </Aggregate>

<!-- end of sampling phase -->

</Mission>