Isotherm depth sampling.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/isotherm_depth_sampling.xml:3667:38
      | 
 3663 |       run in sequence
 3664 |       set Sensor:SendDirect.destType = "modem"
 3665 |       set Sensor:SendDirect.destId = ModemID
 3666 |       set Sensor:SendDirect.destName = "_.LRAUVcntSamples"
 3667 |       set Sensor:SendDirect.value = --<<UNRECOGNIZED tagName=IsothermDepthSampling.CntSamples>>--
      |                                      ^^^
 3668 | 
 3669 |       set Sensor:SendDirect.unit = "count"
 3670 |     }
 3671 | 
      | 
Unexpected: `-<<`
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mission isotherm_depth_sampling {
  arguments {
    # Almost every mission should start with an overall timeout and a NeedCommsTime. Drift Missions will have an acoustic timeout instead of a NeedCommsTime.

    # You probably need to change these.

    NumSamplers = 1 count
      """
      Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0
      to disable sampling.
      """

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

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

    CANONSamplerRotateOnly = 0 bool

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

    NeedCommsTimeInTransect = 60 minute
      """
      On yo-yo transects, how often to surface for commumications
      """

    AcousticTrackingTimeout = 240 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.
      """

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

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

    CommsAtEndOfTransit = false
      """
      Whether to go to surface for comms before the initial dive.
      """
      # debug
      #     </Description><True/></DefineArg>

    SendSampleStatusAndData = true
      """
      Whether to senddata to acoustic modem.
      """

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

    SendDataToMultipleModems = true
      """
      Whether to senddata to more than one modem.
      """

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

    modemId1 = 1 enum
      """
      Modem ID1. Initialized to 1.
      """

    modemId2 = 4 enum
      """
      Modem ID2. Initialized to 4.
      """

    CylinderTimeout = 30 minute
      """
      Maximum duration of cylinder yoyo.
      """

    FindHighChlLocation = false
      """
      Whether to search for the location of high chl.
      """

    # debug
    #     </Description><True/></DefineArg>

    CylinderYoYo = false
      """
      Whether to yoyo on cylinder centered at the sampling location.
      Initialized to True.
      """

    # debug
    #     </Description><True/></DefineArg>

    SampleAtPeakChl = false
      """
      Whether to sample at peak-chl
      """

    # debug
    #     </Description><True/></DefineArg>

    InitialDiveDuration = 1.0 minute
      """
      On the first dive for looking for the chl max, run at SpeedInitialDive
      for this duration (e.g., 1 m/s spiral to dive fast).
      """

    DriveFromWallOrShoreDuration = 5.0 minute
      """
      When driving away from a wall and the distance exceeds
      MinDistFromPolygonSides, continue for this duration to add a margin.
      """

    SpeedTransit = 1.0 meter_per_second
      """
      Vehicle speed when transiting.
      """

    SpeedInitialDive = 1.0 meter_per_second
      """
      Vehicle speed during initial dive (for looking for the chl max). 0.0 for
      drift mode (prop off); 1.0 for spiral mode (prop on). Initialized to 1
      m/s.
      """

    SpeedSampling = 1.0 meter_per_second
      """
      Vehicle speed during sampling: 0.0 for drift mode (prop off); 1.0 for
      donut mode (prop on). Initialized to 1 m/s.
      """

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

    RudderAngleInitialDive = 9 degree
      """
      Rudder angle in initial spiral-down to leave surface. Initialized to 9
      degrees.
      """

    RudderAngleDonutSampling = 13 degree
      """
      Rudder angle during donut sampling.
      """

    HeadingLeavingShore = 270 degree
      """
      Heading leaving the shore
      """
      # debug
      #     </Description><Units:degree/><Value>NaN</Value></DefineArg>

    HeadingLeavingSide0 = 180 degree
      """
      Heading leaving polygon side 0.
      """
      # debug
      #     </Description><Units:degree/><Value>NaN</Value></DefineArg>

    HeadingLeavingSide1 = 270 degree
      """
      Heading leaving polygon side 1.
      """
      # debug
      #     </Description><Units:degree/><Value>NaN</Value></DefineArg>

    HeadingLeavingSide2 = 0 degree
      """
      Heading leaving polygon side 2.
      """
      # debug
      #     </Description><Units:degree/><Value>NaN</Value></DefineArg>

    HeadingLeavingSide3 = 90 degree
      """
      Heading leaving polygon side 3.
      """
      # debug
      #     </Description><Units:degree/><Value>NaN</Value></DefineArg>

    HeadingLeavingSide4 = NaN degree
      """
      Heading leaving polygon side 4.
      """

    HeadingLeavingSide5 = NaN degree
      """
      Heading leaving polygon side 5.
      """

    HeadingLeavingSide6 = NaN degree
      """
      Heading leaving polygon side 6.
      """

    HeadingLeavingSide7 = NaN degree
      """
      Heading leaving polygon side 7.
      """

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

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

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

    MarginMinOffshore = 100 meter
      """
      If closer than MinOffshore+MarginMinOffshore, turn back from shore.
      """

    MinDistFromPolygonSides = 200 meter
      """
      If a operational safety polygon is specified and the vehicle is closer
      than this minimum distance to the polygon sides, turn back.
      """

    DeepBoundSampler = 45 meter
      """
      Deep depth bound for sampling operation
      """

    ShallowBoundChl = 3 meter
      """
      Shallow depth bound for chl-peak detection.
      """

    DeepBoundChl = 20 meter
      """
      Deep depth bound for chl-peak detection.
      """

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

    TransitYoYoMaxDepth = 30 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

    LeaveWallOrShoreYoYoMinDepth = 4.5 meter
      """
      Minimum depth while performing the YoYo behavior.
      """

    LeaveWallOrShoreYoYoMaxDepth = 10 meter
      """
      Maximum depth while performing the YoYo behavior.
      """

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

    CylinderYoYoMinDep = 4.5 meter
      """
      Minimum depth while performing the YoYo behavior on cylinder centered at
      the sampling location.
      """

    CylinderYoYoMaxDep = 27 meter
      """
      Maximum depth while performing the YoYo behavior on cylinder centered at
      the sampling location.
      """

    CylinderRadius = 200 meter
      """
      Radius of cylinder centered at the sampling location.
      """

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

    RepeatTransects = 1 count
      """
      Number of times the vehicle should try to cycle through waypoints.
      """

    Lat1 = NaN degree
      """
      Latitude of waypoint 1. If nan, waypoint is skipped. If
      FindHighChlLocation is True, the search-for-hichl distance needs to be
      at least 4 yoyo profiles.
      """

    # debug
    #     </Description><Units:degree/><Value>36.809</Value></DefineArg>

    Lon1 = NaN degree
      """
      Longitude of waypoint 1. If nan, waypoint is skipped. If
      FindHighChlLocation is True, the search-for-hichl distance needs to be
      at least 4 yoyo profiles.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.822</Value></DefineArg>

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

    # debug
    #     </Description><Units:degree/><Value>36.825</Value></DefineArg>

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

    # debug
    #     </Description><Units:degree/><Value>-121.845</Value></DefineArg>

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

    # debug
    #     </Description><Units:degree/><Value>36.825</Value></DefineArg>

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

    # debug
    #     </Description><Units:degree/><Value>-121.845</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    TempDiffFromPeakChlCommon = NaN kelvin
      """
      Value common to all samples unless set diffently: target temperature
      difference from the peak-chl temperature.
      """

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

    TempDiffFromPeakChl1 = NaN kelvin
      """
      Sample 1. Target temperature difference from the peak-chl temperature.
      """

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

    TempDiffFromPeakChl2 = NaN kelvin
      """
      Sample 2.
      """

    # debug
    #     </Description><Units:kelvin/><Value>-0.5</Value></DefineArg>

    TempDiffFromPeakChl3 = NaN kelvin
      """
      Sample 3.
      """

    # debug
    #     </Description><Units:kelvin/><Value>0.0</Value></DefineArg>

    TempDiffFromPeakChl4 = NaN kelvin
      """
      Sample 4.
      """

    # debug
    #     </Description><Units:kelvin/><Value>-1</Value></DefineArg>

    TempDiffFromPeakChl5 = NaN kelvin
      """
      Sample 5.
      """

    # debug
    #     </Description><Units:kelvin/><Value>-2</Value></DefineArg>

    TempDiffFromPeakChl6 = NaN kelvin
      """
      Sample 6.
      """

    TempDiffFromPeakChl7 = NaN kelvin
      """
      Sample 7.
      """

    TempDiffFromPeakChl8 = NaN kelvin
      """
      Sample 8.
      """

    TempDiffFromPeakChl9 = NaN kelvin
      """
      Sample 9.
      """

    TempDiffFromPeakChl10 = NaN kelvin
      """
      Sample 10.
      """

    TempDiffFromPeakChl11 = NaN kelvin
      """
      Sample 11.
      """

    TempDiffFromPeakChl12 = NaN kelvin
      """
      Sample 12.
      """

    TempDiffFromPeakChl13 = NaN kelvin
      """
      Sample 13.
      """

    TempDiffFromPeakChl14 = NaN kelvin
      """
      Sample 14.
      """

    TempDiffFromPeakChl15 = NaN kelvin
      """
      Sample 15.
      """

    TempDiffFromPeakChl16 = NaN kelvin
      """
      Sample 16.
      """

    TempDiffFromPeakChl17 = NaN kelvin
      """
      Sample 17.
      """

    TempDiffFromPeakChl18 = NaN kelvin
      """
      Sample 18.
      """

    TempDiffFromPeakChl19 = NaN kelvin
      """
      Sample 19.
      """

    TempDiffFromPeakChl20 = NaN kelvin
      """
      Sample 20.
      """

    TempDiffFromPeakChl21 = NaN kelvin
      """
      Sample 21.
      """

    TempDiffFromPeakChl22 = NaN kelvin
      """
      Sample 22.
      """

    TempDiffFromPeakChl23 = NaN kelvin
      """
      Sample 23.
      """

    TempDiffFromPeakChl24 = NaN kelvin
      """
      Sample 24.
      """

    TempDiffFromPeakChl25 = NaN kelvin
      """
      Sample 25.
      """

    TempDiffFromPeakChl26 = NaN kelvin
      """
      Sample 26.
      """

    TempDiffFromPeakChl27 = NaN kelvin
      """
      Sample 27.
      """

    TempDiffFromPeakChl28 = NaN kelvin
      """
      Sample 28.
      """

    TempDiffFromPeakChl29 = NaN kelvin
      """
      Sample 29.
      """

    TempDiffFromPeakChl30 = NaN kelvin
      """
      Sample 30.
      """

    TempDiffFromPeakChl31 = NaN kelvin
      """
      Sample 31.
      """

    TempDiffFromPeakChl32 = NaN kelvin
      """
      Sample 32.
      """

    TempDiffFromPeakChl33 = NaN kelvin
      """
      Sample 33.
      """

    TempDiffFromPeakChl34 = NaN kelvin
      """
      Sample 34.
      """

    TempDiffFromPeakChl35 = NaN kelvin
      """
      Sample 35.
      """

    TempDiffFromPeakChl36 = NaN kelvin
      """
      Sample 36.
      """

    TempDiffFromPeakChl37 = NaN kelvin
      """
      Sample 37.
      """

    TempDiffFromPeakChl38 = NaN kelvin
      """
      Sample 38.
      """

    TempDiffFromPeakChl39 = NaN kelvin
      """
      Sample 39.
      """

    TempDiffFromPeakChl40 = NaN kelvin
      """
      Sample 40.
      """

    TempDiffFromPeakChl41 = NaN kelvin
      """
      Sample 41.
      """

    TempDiffFromPeakChl42 = NaN kelvin
      """
      Sample 42.
      """

    TempDiffFromPeakChl43 = NaN kelvin
      """
      Sample 43.
      """

    TempDiffFromPeakChl44 = NaN kelvin
      """
      Sample 44.
      """

    TempDiffFromPeakChl45 = NaN kelvin
      """
      Sample 45.
      """

    TempDiffFromPeakChl46 = NaN kelvin
      """
      Sample 46.
      """

    TempDiffFromPeakChl47 = NaN kelvin
      """
      Sample 47.
      """

    TempDiffFromPeakChl48 = NaN kelvin
      """
      Sample 48.
      """

    TempDiffFromPeakChl49 = NaN kelvin
      """
      Sample 49.
      """

    TempDiffFromPeakChl50 = NaN kelvin
      """
      Sample 50.
      """

    TempDiffFromPeakChl51 = NaN kelvin
      """
      Sample 51.
      """

    TempDiffFromPeakChl52 = NaN kelvin
      """
      Sample 52.
      """

    TempDiffFromPeakChl53 = NaN kelvin
      """
      Sample 53.
      """

    TempDiffFromPeakChl54 = NaN kelvin
      """
      Sample 54.
      """

    TempDiffFromPeakChl55 = NaN kelvin
      """
      Sample 55.
      """

    TempDiffFromPeakChl56 = NaN kelvin
      """
      Sample 56.
      """

    TempDiffFromPeakChl57 = NaN kelvin
      """
      Sample 57.
      """

    TempDiffFromPeakChl58 = NaN kelvin
      """
      Sample 58.
      """

    TempDiffFromPeakChl59 = NaN kelvin
      """
      Sample 59.
      """

    TempDiffFromPeakChl60 = NaN kelvin
      """
      Sample 60.
      """

    TempCommon = NaN celsius
      """
      Value common to all samples unless set diffently: pre-designated
      temperature. If NaN, will use temp diff from chl-peak temp.
      """

    Temp1 = NaN celsius
      """
      Sample 1. Pre-designated temperature. If NaN, will use temp diff from
      chl-peak temp.
      """
      # debug
      #     </Description><Units:celsius/><Value>12.5</Value></DefineArg>

    Temp2 = NaN celsius
      """
      Sample 2.
      """
      # debug
      #     </Description><Units:celsius/><Value>13.0</Value></DefineArg>

    Temp3 = NaN celsius
      """
      Sample 3.
      """
      # debug
      #     </Description><Units:celsius/><Value>15.0</Value></DefineArg>

    Temp4 = NaN celsius
      """
      Sample 4.
      """
      # debug
      #     </Description><Units:celsius/><Value>14.0</Value></DefineArg>

    Temp5 = NaN celsius
      """
      Sample 5.
      """

    Temp6 = NaN celsius
      """
      Sample 6.
      """

    Temp7 = NaN celsius
      """
      Sample 7.
      """

    Temp8 = NaN celsius
      """
      Sample 8.
      """

    Temp9 = NaN celsius
      """
      Sample 9.
      """

    Temp10 = NaN celsius
      """
      Sample 10.
      """

    Temp11 = NaN celsius
      """
      Sample 11.
      """

    Temp12 = NaN celsius
      """
      Sample 12.
      """

    Temp13 = NaN celsius
      """
      Sample 13.
      """

    Temp14 = NaN celsius
      """
      Sample 14.
      """

    Temp15 = NaN celsius
      """
      Sample 15.
      """

    Temp16 = NaN celsius
      """
      Sample 16.
      """

    Temp17 = NaN celsius
      """
      Sample 17.
      """

    Temp18 = NaN celsius
      """
      Sample 18.
      """

    Temp19 = NaN celsius
      """
      Sample 19.
      """

    Temp20 = NaN celsius
      """
      Sample 20.
      """

    Temp21 = NaN celsius
      """
      Sample 21.
      """

    Temp22 = NaN celsius
      """
      Sample 22.
      """

    Temp23 = NaN celsius
      """
      Sample 23.
      """

    Temp24 = NaN celsius
      """
      Sample 24.
      """

    Temp25 = NaN celsius
      """
      Sample 25.
      """

    Temp26 = NaN celsius
      """
      Sample 26.
      """

    Temp27 = NaN celsius
      """
      Sample 27.
      """

    Temp28 = NaN celsius
      """
      Sample 28.
      """

    Temp29 = NaN celsius
      """
      Sample 29.
      """

    Temp30 = NaN celsius
      """
      Sample 30.
      """

    Temp31 = NaN celsius
      """
      Sample 31.
      """

    Temp32 = NaN celsius
      """
      Sample 32.
      """

    Temp33 = NaN celsius
      """
      Sample 33.
      """

    Temp34 = NaN celsius
      """
      Sample 34.
      """

    Temp35 = NaN celsius
      """
      Sample 35.
      """

    Temp36 = NaN celsius
      """
      Sample 36.
      """

    Temp37 = NaN celsius
      """
      Sample 37.
      """

    Temp38 = NaN celsius
      """
      Sample 38.
      """

    Temp39 = NaN celsius
      """
      Sample 39.
      """

    Temp40 = NaN celsius
      """
      Sample 40.
      """

    Temp41 = NaN celsius
      """
      Sample 41.
      """

    Temp42 = NaN celsius
      """
      Sample 42.
      """

    Temp43 = NaN celsius
      """
      Sample 43.
      """

    Temp44 = NaN celsius
      """
      Sample 44.
      """

    Temp45 = NaN celsius
      """
      Sample 45.
      """

    Temp46 = NaN celsius
      """
      Sample 46.
      """

    Temp47 = NaN celsius
      """
      Sample 47.
      """

    Temp48 = NaN celsius
      """
      Sample 48.
      """

    Temp49 = NaN celsius
      """
      Sample 49.
      """

    Temp50 = NaN celsius
      """
      Sample 50.
      """

    Temp51 = NaN celsius
      """
      Sample 51.
      """

    Temp52 = NaN celsius
      """
      Sample 52.
      """

    Temp53 = NaN celsius
      """
      Sample 53.
      """

    Temp54 = NaN celsius
      """
      Sample 54.
      """

    Temp55 = NaN celsius
      """
      Sample 55.
      """

    Temp56 = NaN celsius
      """
      Sample 56.
      """

    Temp57 = NaN celsius
      """
      Sample 57.
      """

    Temp58 = NaN celsius
      """
      Sample 58.
      """

    Temp59 = NaN celsius
      """
      Sample 59.
      """

    Temp60 = NaN celsius
      """
      Sample 60.
      """

    DepDiffFromPeakChlCommon = NaN meter
      """
      Value common to all samples unless set diffently: Depth difference
      (positive: deeper; negative: shallower) from the peak-chl depth for
      taking comparison samples. Initialized to NaN.
      """

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

    DepDiffFromPeakChl1 = NaN meter
      """
      Sample 1. Depth difference (positive: deeper; negative: shallower) from
      the peak-chl depth for taking comparison samples. Initialized to NaN.
      """

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

    DepDiffFromPeakChl2 = NaN meter
      """
      Sample 2.
      """

    # debug
    #     </Description><Units:meter/><Value>2.0</Value></DefineArg>

    DepDiffFromPeakChl3 = NaN meter
      """
      Sample 3.
      """

    DepDiffFromPeakChl4 = NaN meter
      """
      Sample 4.
      """

    DepDiffFromPeakChl5 = NaN meter
      """
      Sample 5.
      """

    DepDiffFromPeakChl6 = NaN meter
      """
      Sample 6.
      """

    DepDiffFromPeakChl7 = NaN meter
      """
      Sample 7.
      """

    DepDiffFromPeakChl8 = NaN meter
      """
      Sample 8.
      """

    DepDiffFromPeakChl9 = NaN meter
      """
      Sample 9.
      """

    DepDiffFromPeakChl10 = NaN meter
      """
      Sample 10.
      """

    DepDiffFromPeakChl11 = NaN meter
      """
      Sample 11.
      """

    DepDiffFromPeakChl12 = NaN meter
      """
      Sample 12.
      """

    DepDiffFromPeakChl13 = NaN meter
      """
      Sample 13.
      """

    DepDiffFromPeakChl14 = NaN meter
      """
      Sample 14.
      """

    DepDiffFromPeakChl15 = NaN meter
      """
      Sample 15.
      """

    DepDiffFromPeakChl16 = NaN meter
      """
      Sample 16.
      """

    DepDiffFromPeakChl17 = NaN meter
      """
      Sample 17.
      """

    DepDiffFromPeakChl18 = NaN meter
      """
      Sample 18.
      """

    DepDiffFromPeakChl19 = NaN meter
      """
      Sample 19.
      """

    DepDiffFromPeakChl20 = NaN meter
      """
      Sample 20.
      """

    DepDiffFromPeakChl21 = NaN meter
      """
      Sample 21.
      """

    DepDiffFromPeakChl22 = NaN meter
      """
      Sample 22.
      """

    DepDiffFromPeakChl23 = NaN meter
      """
      Sample 23.
      """

    DepDiffFromPeakChl24 = NaN meter
      """
      Sample 24.
      """

    DepDiffFromPeakChl25 = NaN meter
      """
      Sample 25.
      """

    DepDiffFromPeakChl26 = NaN meter
      """
      Sample 26.
      """

    DepDiffFromPeakChl27 = NaN meter
      """
      Sample 27.
      """

    DepDiffFromPeakChl28 = NaN meter
      """
      Sample 28.
      """

    DepDiffFromPeakChl29 = NaN meter
      """
      Sample 29.
      """

    DepDiffFromPeakChl30 = NaN meter
      """
      Sample 30.
      """

    DepDiffFromPeakChl31 = NaN meter
      """
      Sample 31.
      """

    DepDiffFromPeakChl32 = NaN meter
      """
      Sample 32.
      """

    DepDiffFromPeakChl33 = NaN meter
      """
      Sample 33.
      """

    DepDiffFromPeakChl34 = NaN meter
      """
      Sample 34.
      """

    DepDiffFromPeakChl35 = NaN meter
      """
      Sample 35.
      """

    DepDiffFromPeakChl36 = NaN meter
      """
      Sample 36.
      """

    DepDiffFromPeakChl37 = NaN meter
      """
      Sample 37.
      """

    DepDiffFromPeakChl38 = NaN meter
      """
      Sample 38.
      """

    DepDiffFromPeakChl39 = NaN meter
      """
      Sample 39.
      """

    DepDiffFromPeakChl40 = NaN meter
      """
      Sample 40.
      """

    DepDiffFromPeakChl41 = NaN meter
      """
      Sample 41.
      """

    DepDiffFromPeakChl42 = NaN meter
      """
      Sample 42.
      """

    DepDiffFromPeakChl43 = NaN meter
      """
      Sample 43.
      """

    DepDiffFromPeakChl44 = NaN meter
      """
      Sample 44.
      """

    DepDiffFromPeakChl45 = NaN meter
      """
      Sample 45.
      """

    DepDiffFromPeakChl46 = NaN meter
      """
      Sample 46.
      """

    DepDiffFromPeakChl47 = NaN meter
      """
      Sample 47.
      """

    DepDiffFromPeakChl48 = NaN meter
      """
      Sample 48.
      """

    DepDiffFromPeakChl49 = NaN meter
      """
      Sample 49.
      """

    DepDiffFromPeakChl50 = NaN meter
      """
      Sample 50.
      """

    DepDiffFromPeakChl51 = NaN meter
      """
      Sample 51.
      """

    DepDiffFromPeakChl52 = NaN meter
      """
      Sample 52.
      """

    DepDiffFromPeakChl53 = NaN meter
      """
      Sample 53.
      """

    DepDiffFromPeakChl54 = NaN meter
      """
      Sample 54.
      """

    DepDiffFromPeakChl55 = NaN meter
      """
      Sample 55.
      """

    DepDiffFromPeakChl56 = NaN meter
      """
      Sample 56.
      """

    DepDiffFromPeakChl57 = NaN meter
      """
      Sample 57.
      """

    DepDiffFromPeakChl58 = NaN meter
      """
      Sample 58.
      """

    DepDiffFromPeakChl59 = NaN meter
      """
      Sample 59.
      """

    DepDiffFromPeakChl60 = NaN meter
      """
      Sample 60.
      """

    DepCommon = NaN meter
      """
      Value common to all samples unless set diffently: Pre-designated depth.
      If NaN, will use vertical distance from chl-peak depth.
      """

    Dep1 = NaN meter
      """
      Sample 1. Pre-designated depth. If NaN, will use vertical distance from
      chl-peak depth.
      """

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

    Dep2 = NaN meter
      """
      Sample 2.
      """

    # debug
    #     </Description><Units:meter/><Value>15.0</Value></DefineArg>

    Dep3 = NaN meter
      """
      Sample 3.
      """

    # debug
    #     </Description><Units:meter/><Value>25.0</Value></DefineArg>

    Dep4 = NaN meter
      """
      Sample 4.
      """

    Dep5 = NaN meter
      """
      Sample 5.
      """

    Dep6 = NaN meter
      """
      Sample 6.
      """

    Dep7 = NaN meter
      """
      Sample 7.
      """

    Dep8 = NaN meter
      """
      Sample 8.
      """

    Dep9 = NaN meter
      """
      Sample 9.
      """

    Dep10 = NaN meter
      """
      Sample 10.
      """

    Dep11 = NaN meter
      """
      Sample 11.
      """

    Dep12 = NaN meter
      """
      Sample 12.
      """

    Dep13 = NaN meter
      """
      Sample 13.
      """

    Dep14 = NaN meter
      """
      Sample 14.
      """

    Dep15 = NaN meter
      """
      Sample 15.
      """

    Dep16 = NaN meter
      """
      Sample 16.
      """

    Dep17 = NaN meter
      """
      Sample 17.
      """

    Dep18 = NaN meter
      """
      Sample 18.
      """

    Dep19 = NaN meter
      """
      Sample 19.
      """

    Dep20 = NaN meter
      """
      Sample 20.
      """

    Dep21 = NaN meter
      """
      Sample 21.
      """

    Dep22 = NaN meter
      """
      Sample 22.
      """

    Dep23 = NaN meter
      """
      Sample 23.
      """

    Dep24 = NaN meter
      """
      Sample 24.
      """

    Dep25 = NaN meter
      """
      Sample 25.
      """

    Dep26 = NaN meter
      """
      Sample 26.
      """

    Dep27 = NaN meter
      """
      Sample 27.
      """

    Dep28 = NaN meter
      """
      Sample 28.
      """

    Dep29 = NaN meter
      """
      Sample 29.
      """

    Dep30 = NaN meter
      """
      Sample 30.
      """

    Dep31 = NaN meter
      """
      Sample 31.
      """

    Dep32 = NaN meter
      """
      Sample 32.
      """

    Dep33 = NaN meter
      """
      Sample 33.
      """

    Dep34 = NaN meter
      """
      Sample 34.
      """

    Dep35 = NaN meter
      """
      Sample 35.
      """

    Dep36 = NaN meter
      """
      Sample 36.
      """

    Dep37 = NaN meter
      """
      Sample 37.
      """

    Dep38 = NaN meter
      """
      Sample 38.
      """

    Dep39 = NaN meter
      """
      Sample 39.
      """

    Dep40 = NaN meter
      """
      Sample 40.
      """

    Dep41 = NaN meter
      """
      Sample 41.
      """

    Dep42 = NaN meter
      """
      Sample 42.
      """

    Dep43 = NaN meter
      """
      Sample 43.
      """

    Dep44 = NaN meter
      """
      Sample 44.
      """

    Dep45 = NaN meter
      """
      Sample 45.
      """

    Dep46 = NaN meter
      """
      Sample 46.
      """

    Dep47 = NaN meter
      """
      Sample 47.
      """

    Dep48 = NaN meter
      """
      Sample 48.
      """

    Dep49 = NaN meter
      """
      Sample 49.
      """

    Dep50 = NaN meter
      """
      Sample 50.
      """

    Dep51 = NaN meter
      """
      Sample 51.
      """

    Dep52 = NaN meter
      """
      Sample 52.
      """

    Dep53 = NaN meter
      """
      Sample 53.
      """

    Dep54 = NaN meter
      """
      Sample 54.
      """

    Dep55 = NaN meter
      """
      Sample 55.
      """

    Dep56 = NaN meter
      """
      Sample 56.
      """

    Dep57 = NaN meter
      """
      Sample 57.
      """

    Dep58 = NaN meter
      """
      Sample 58.
      """

    Dep59 = NaN meter
      """
      Sample 59.
      """

    Dep60 = NaN meter
      """
      Sample 60.
      """

    WaitDepUndulationCommon = 5.0 minute
      """
      Value common to all samples unless set differently: Wait duration for
      the depth undulation to damp down.
      """

    WaitDepUndulation1 = 10.0 minute
      """
      Sample 1. Wait duration for the depth undulation to damp down.
      """

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

    WaitDepUndulation2 = NaN minute
      """
      Sample 2.
      """

    WaitDepUndulation3 = NaN minute
      """
      Sample 3.
      """

    WaitDepUndulation4 = NaN minute
      """
      Sample 4.
      """

    WaitDepUndulation5 = NaN minute
      """
      Sample 5.
      """

    WaitDepUndulation6 = NaN minute
      """
      Sample 6.
      """

    WaitDepUndulation7 = NaN minute
      """
      Sample 7.
      """

    WaitDepUndulation8 = NaN minute
      """
      Sample 8.
      """

    WaitDepUndulation9 = NaN minute
      """
      Sample 9.
      """

    WaitDepUndulation10 = NaN minute
      """
      Sample 10.
      """

    WaitDepUndulation11 = NaN minute
      """
      Sample 11.
      """

    WaitDepUndulation12 = NaN minute
      """
      Sample 12.
      """

    WaitDepUndulation13 = NaN minute
      """
      Sample 13.
      """

    WaitDepUndulation14 = NaN minute
      """
      Sample 14.
      """

    WaitDepUndulation15 = NaN minute
      """
      Sample 15.
      """

    WaitDepUndulation16 = NaN minute
      """
      Sample 16.
      """

    WaitDepUndulation17 = NaN minute
      """
      Sample 17.
      """

    WaitDepUndulation18 = NaN minute
      """
      Sample 18.
      """

    WaitDepUndulation19 = NaN minute
      """
      Sample 19.
      """

    WaitDepUndulation20 = NaN minute
      """
      Sample 20.
      """

    WaitDepUndulation21 = NaN minute
      """
      Sample 21.
      """

    WaitDepUndulation22 = NaN minute
      """
      Sample 22.
      """

    WaitDepUndulation23 = NaN minute
      """
      Sample 23.
      """

    WaitDepUndulation24 = NaN minute
      """
      Sample 24.
      """

    WaitDepUndulation25 = NaN minute
      """
      Sample 25.
      """

    WaitDepUndulation26 = NaN minute
      """
      Sample 26.
      """

    WaitDepUndulation27 = NaN minute
      """
      Sample 27.
      """

    WaitDepUndulation28 = NaN minute
      """
      Sample 28.
      """

    WaitDepUndulation29 = NaN minute
      """
      Sample 29.
      """

    WaitDepUndulation30 = NaN minute
      """
      Sample 30.
      """

    WaitDepUndulation31 = NaN minute
      """
      Sample 31.
      """

    WaitDepUndulation32 = NaN minute
      """
      Sample 32.
      """

    WaitDepUndulation33 = NaN minute
      """
      Sample 33.
      """

    WaitDepUndulation34 = NaN minute
      """
      Sample 34.
      """

    WaitDepUndulation35 = NaN minute
      """
      Sample 35.
      """

    WaitDepUndulation36 = NaN minute
      """
      Sample 36.
      """

    WaitDepUndulation37 = NaN minute
      """
      Sample 37.
      """

    WaitDepUndulation38 = NaN minute
      """
      Sample 38.
      """

    WaitDepUndulation39 = NaN minute
      """
      Sample 39.
      """

    WaitDepUndulation40 = NaN minute
      """
      Sample 40.
      """

    WaitDepUndulation41 = NaN minute
      """
      Sample 41.
      """

    WaitDepUndulation42 = NaN minute
      """
      Sample 42.
      """

    WaitDepUndulation43 = NaN minute
      """
      Sample 43.
      """

    WaitDepUndulation44 = NaN minute
      """
      Sample 44.
      """

    WaitDepUndulation45 = NaN minute
      """
      Sample 45.
      """

    WaitDepUndulation46 = NaN minute
      """
      Sample 46.
      """

    WaitDepUndulation47 = NaN minute
      """
      Sample 47.
      """

    WaitDepUndulation48 = NaN minute
      """
      Sample 48.
      """

    WaitDepUndulation49 = NaN minute
      """
      Sample 49.
      """

    WaitDepUndulation50 = NaN minute
      """
      Sample 50.
      """

    WaitDepUndulation51 = NaN minute
      """
      Sample 51.
      """

    WaitDepUndulation52 = NaN minute
      """
      Sample 52.
      """

    WaitDepUndulation53 = NaN minute
      """
      Sample 53.
      """

    WaitDepUndulation54 = NaN minute
      """
      Sample 54.
      """

    WaitDepUndulation55 = NaN minute
      """
      Sample 55.
      """

    WaitDepUndulation56 = NaN minute
      """
      Sample 56.
      """

    WaitDepUndulation57 = NaN minute
      """
      Sample 57.
      """

    WaitDepUndulation58 = NaN minute
      """
      Sample 58.
      """

    WaitDepUndulation59 = NaN minute
      """
      Sample 59.
      """

    WaitDepUndulation60 = NaN minute
      """
      Sample 60.
      """

    Reacq1 = false
      """
      Sample 1. Before sampling, maneuver vertically to reacquire chl peak
      (initialized to false).
      """

    Reacq2 = false
      """
      Sample 2.
      """

    Reacq3 = false
      """
      Sample 3.
      """

    Reacq4 = false
      """
      Sample 4.
      """

    Reacq5 = false
      """
      Sample 5.
      """

    Reacq6 = false
      """
      Sample 6.
      """

    Reacq7 = false
      """
      Sample 7.
      """

    Reacq8 = false
      """
      Sample 8.
      """

    Reacq9 = false
      """
      Sample 9.
      """

    Reacq10 = false
      """
      Sample 10.
      """

    Reacq11 = false
      """
      Sample 11.
      """

    Reacq12 = false
      """
      Sample 12.
      """

    Reacq13 = false
      """
      Sample 13.
      """

    Reacq14 = false
      """
      Sample 14.
      """

    Reacq15 = false
      """
      Sample 15.
      """

    Reacq16 = false
      """
      Sample 16.
      """

    Reacq17 = false
      """
      Sample 17.
      """

    Reacq18 = false
      """
      Sample 18.
      """

    Reacq19 = false
      """
      Sample 19.
      """

    Reacq20 = false
      """
      Sample 20.
      """

    Reacq21 = false
      """
      Sample 21.
      """

    Reacq22 = false
      """
      Sample 22.
      """

    Reacq23 = false
      """
      Sample 23.
      """

    Reacq24 = false
      """
      Sample 24.
      """

    Reacq25 = false
      """
      Sample 25.
      """

    Reacq26 = false
      """
      Sample 26.
      """

    Reacq27 = false
      """
      Sample 27.
      """

    Reacq28 = false
      """
      Sample 28.
      """

    Reacq29 = false
      """
      Sample 29.
      """

    Reacq30 = false
      """
      Sample 30.
      """

    Reacq31 = false
      """
      Sample 31.
      """

    Reacq32 = false
      """
      Sample 32.
      """

    Reacq33 = false
      """
      Sample 33.
      """

    Reacq34 = false
      """
      Sample 34.
      """

    Reacq35 = false
      """
      Sample 35.
      """

    Reacq36 = false
      """
      Sample 36.
      """

    Reacq37 = false
      """
      Sample 37.
      """

    Reacq38 = false
      """
      Sample 38.
      """

    Reacq39 = false
      """
      Sample 39.
      """

    Reacq40 = false
      """
      Sample 40.
      """

    Reacq41 = false
      """
      Sample 41.
      """

    Reacq42 = false
      """
      Sample 42.
      """

    Reacq43 = false
      """
      Sample 43.
      """

    Reacq44 = false
      """
      Sample 44.
      """

    Reacq45 = false
      """
      Sample 45.
      """

    Reacq46 = false
      """
      Sample 46.
      """

    Reacq47 = false
      """
      Sample 47.
      """

    Reacq48 = false
      """
      Sample 48.
      """

    Reacq49 = false
      """
      Sample 49.
      """

    Reacq50 = false
      """
      Sample 50.
      """

    Reacq51 = false
      """
      Sample 51.
      """

    Reacq52 = false
      """
      Sample 52.
      """

    Reacq53 = false
      """
      Sample 53.
      """

    Reacq54 = false
      """
      Sample 54.
      """

    Reacq55 = false
      """
      Sample 55.
      """

    Reacq56 = false
      """
      Sample 56.
      """

    Reacq57 = false
      """
      Sample 57.
      """

    Reacq58 = false
      """
      Sample 58.
      """

    Reacq59 = false
      """
      Sample 59.
      """

    Reacq60 = false
      """
      Sample 60.
      """

    RptSurface1 = false
      """
      Sample 1. When sampling is completed, go to surface to report
      (initialized to false).
      """

    RptSurface2 = false
      """
      Sample 2.
      """

    RptSurface3 = false
      """
      Sample 3.
      """

    RptSurface4 = false
      """
      Sample 4.
      """

    RptSurface5 = false
      """
      Sample 5.
      """

    RptSurface6 = false
      """
      Sample 6.
      """

    RptSurface7 = false
      """
      Sample 7.
      """

    RptSurface8 = false
      """
      Sample 8.
      """

    RptSurface9 = false
      """
      Sample 9.
      """

    RptSurface10 = false
      """
      Sample 10.
      """

    RptSurface11 = false
      """
      Sample 11.
      """

    RptSurface12 = false
      """
      Sample 12.
      """

    RptSurface13 = false
      """
      Sample 13.
      """

    RptSurface14 = false
      """
      Sample 14.
      """

    RptSurface15 = false
      """
      Sample 15.
      """

    RptSurface16 = false
      """
      Sample 16.
      """

    RptSurface17 = false
      """
      Sample 17.
      """

    RptSurface18 = false
      """
      Sample 18.
      """

    RptSurface19 = false
      """
      Sample 19.
      """

    RptSurface20 = false
      """
      Sample 20.
      """

    RptSurface21 = false
      """
      Sample 21.
      """

    RptSurface22 = false
      """
      Sample 22.
      """

    RptSurface23 = false
      """
      Sample 23.
      """

    RptSurface24 = false
      """
      Sample 24.
      """

    RptSurface25 = false
      """
      Sample 25.
      """

    RptSurface26 = false
      """
      Sample 26.
      """

    RptSurface27 = false
      """
      Sample 27.
      """

    RptSurface28 = false
      """
      Sample 28.
      """

    RptSurface29 = false
      """
      Sample 29.
      """

    RptSurface30 = false
      """
      Sample 30.
      """

    RptSurface31 = false
      """
      Sample 31.
      """

    RptSurface32 = false
      """
      Sample 32.
      """

    RptSurface33 = false
      """
      Sample 33.
      """

    RptSurface34 = false
      """
      Sample 34.
      """

    RptSurface35 = false
      """
      Sample 35.
      """

    RptSurface36 = false
      """
      Sample 36.
      """

    RptSurface37 = false
      """
      Sample 37.
      """

    RptSurface38 = false
      """
      Sample 38.
      """

    RptSurface39 = false
      """
      Sample 39.
      """

    RptSurface40 = false
      """
      Sample 40.
      """

    RptSurface41 = false
      """
      Sample 41.
      """

    RptSurface42 = false
      """
      Sample 42.
      """

    RptSurface43 = false
      """
      Sample 43.
      """

    RptSurface44 = false
      """
      Sample 44.
      """

    RptSurface45 = false
      """
      Sample 45.
      """

    RptSurface46 = false
      """
      Sample 46.
      """

    RptSurface47 = false
      """
      Sample 47.
      """

    RptSurface48 = false
      """
      Sample 48.
      """

    RptSurface49 = false
      """
      Sample 49.
      """

    RptSurface50 = false
      """
      Sample 50.
      """

    RptSurface51 = false
      """
      Sample 51.
      """

    RptSurface52 = false
      """
      Sample 52.
      """

    RptSurface53 = false
      """
      Sample 53.
      """

    RptSurface54 = false
      """
      Sample 54.
      """

    RptSurface55 = false
      """
      Sample 55.
      """

    RptSurface56 = false
      """
      Sample 56.
      """

    RptSurface57 = false
      """
      Sample 57.
      """

    RptSurface58 = false
      """
      Sample 58.
      """

    RptSurface59 = false
      """
      Sample 59.
      """

    RptSurface60 = false
      """
      Sample 60.
      """

    # Use caution when changing these.

    UpRate = -0.05 meter_per_second
      """
      Go-up depth rate (Negative depth rate means going up).
      """

    DownRate = 0.2 meter_per_second
      """
      Go-down depth rate (Positive depth rate means going down).
      """

    # You probably do not need to change these.

    IntervalRestartLogs = 24 hour
      """

      """

    UseCANONSampler = Science:CANONSampler.loadAtStartup
      """
      Whether to use CANON Sampler to sample.
      """

    UseESP = Science:ESPComponent.loadAtStartup
      """
      Whether to use ESP to sample.
      """

    CANONSamplerTriggerTimeout = 1 minute
      """
      How long to wait for a CANON Sampler sample to start.
      """

    CANONSamplerTimeout = Science:CANONSampler.sampleTimeout
      """
      How long to wait for a CANON Sampler sample to complete.
      """

    VerticalPerturbation = 6.0 meter
      """
      Vertical perturbation (going up or down) for reacquiring the peak.
      """

    RiseFromTurningDepth = 5 meter
      """
      The peak chl detected on the initial dive is reported when the vehicle
      has turned from the deepest depth (i.e., the turning depth) onto the
      ascending profile at a depth that is RiseFromDeepTurningPoint shallower
      than the turning depth. For robustness, RiseFromTurningDepth =
      DepChangeThreshAttitudeFlip + 2 meters.
      """

    DepChangeThreshAttitudeFlip = 3 meter
      """
      Depth change threshold for determining vehicle attitude flip.
      """

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

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

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

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

    NumberOfProfilesSlidingwindow = 100 count
      """
      Length of horizontal sliding window. Picks the highest yoyo-wise chl
      peak (after low-pass filtering by a filter of length
      FilterWidthHorizontal) within this window. Ignore older highs because
      ocean is changing.
      """

    LPWindowLength = 20 count
      """
      Low-pass window length (based on depth sensor sampling interval 0.4
      second) for low-pass filtering.
      """

    MedianFilterLength = 5 count
      """
      Median filter length (only for chlorophyll fluorescence which tends to
      have spikes). The median-filtered signal enters the succeeding low-pass
      filter. If set to 1, then no median filtering, i.e., the raw
      fluorescence signal directly enters the low-pass filter.
      """

    # debug
    #     </Description><Units:count/><Value>1</Value></DefineArg>

    GainProportional = 1 none
      """
      Proportional gain for temperature holding control loop.
      """

    # debug
    #     </Description><Units:none/><Value>2</Value></DefineArg>

    GainIntegral = 0 none
      """
      Integral gain for temperature holding control loop.
      """

    # debug
    #     </Description><Units:none/><Value>0.75</Value></DefineArg>

    GainDerivative = 0 none
      """
      Derivative gain for temperature holding control loop.
      """

    VariationPerMeter = 0.2 reciprocal_meter
      """
      Expected temperature change per meter.
      """
      # debug
      #     </Description><Units:reciprocal_meter/><Value>0.25</Value></DefineArg>
      #     </Description><Units:reciprocal_meter/><Value>0.01</Value></DefineArg>

    BuoyDiveAccel = 0.0025 meter_per_second_squared
      """
      In buoyancy-only mode, maxBuoyDiveAccel needs to be set at least an
      order of magnitude higher than that in Control.cfg.
      """

    SurfacePitch = 20 degree
      """
      Pitch to maintain while ascending
      """

    SurfaceDepthRate = NaN meter_per_second
      """
      Depth rate to maintain while ascending. Set to NaN if using pitch
      """

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

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

  output {
    # Internal variables that you should not change

    SetFinalWaypointToWaypoint1Completed = false
      """
      Initialized to false.
      """

    SetFinalWaypointToWaypoint2Completed = false
      """
      Initialized to false.
      """

    SetFinalWaypointToWaypoint3Completed = false
      """
      Initialized to false.
      """

    SetFinalWaypointToWaypoint4Completed = false
      """
      Initialized to false.
      """

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

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

    YoYoMinDepth = 4.5 meter
      """
      Minimum depth while performing the YoYo behavior. Program will set to
      TransitYoYoMinDepth, and then CylinderYoYoMinDep, and then possibly
      LeaveWallOrShoreYoYoMinDep.
      """

    YoYoMaxDepth = 27 meter
      """
      Maximum depth while performing the YoYo behavior. Program will set to
      TransitYoYoMaxDepth, and then CylinderYoYoMaxDep, and then possibly
      LeaveWallOrShoreYoYoMaxDep.
      """

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

    CartridgeTypeIndividual = -6 count
      """
      Initialized to -6.
      """

    WaypointLat = NaN degree
      """
      Latitude of cylinder center if set to a waypoint. Initialized to NaN.
      """

    WaypointLon = NaN degree
      """
      Longitude of cylinder center if set to a waypoint. Initialized to NaN.
      """

    TempSet = NaN kelvin
      """
      Temperature for sampling. Initialized to NaN.
      """

    TempDesignated = NaN kelvin
      """
      Temperature if pre-designated. Initialized to NaN.
      """

    TempIndividual = NaN kelvin
      """
      Initialized to NaN.
      """

    TempDiffFromPeakChl = NaN kelvin
      """
      Temp difference if setting relative to peak-chl temperature. Initialized
      to NaN.
      """

    TempDiffFromPeakChlIndividual = NaN kelvin
      """
      Initialized to NaN.
      """

    DepthSet = 10.0 meter
      """
      Depth for sampling. Initialized to 10 m.
      """

    DepthDesignated = NaN meter
      """
      Depth if pre-designated. Initialized to NaN.
      """

    DepIndividual = NaN meter
      """
      Initialized to NaN.
      """

    DepDiffFromPeakChl = NaN meter
      """
      Depth difference (positive: deeper; negative: shallower) from the
      peak-chl depth for taking comparison samples. Initialized to NaN.
      """

    DepDiffFromPeakChlIndividual = NaN meter
      """
      Depth difference (positive: deeper; negative: shallower) from the
      peak-chl depth for taking comparison samples. Initialized to NaN.
      """

    WaitDepthUndulation = 10.0 minute
      """
      Wait duration for the depth undulation to damp down. Initialized to 10
      minutes.
      """

    WaitDepUndulationIndividual = 10.0 minute
      """
      Wait duration for the depth undulation to damp down. Initialized to 10
      minutes.
      """

    SampleCountIncreased = true
      """
      Sample count is increased.
      """

    ReportAtSurface = false
      """
      When sampling is completed, go to surface to report. Initialized to
      false.
      """

    ReportAtSurfaceDone = false
      """
      Have completed surface reporting. Initialized to False.
      """

    ReportAtSurfaceToUse = false
      """
      For next sample. When sampling is completed, go to surface to report.
      Initialized to false.
      """

    ReportAtSurfaceToUseIndividual = false
      """
      For next sample. When sampling is completed, go to surface to report.
      Initialized to false.
      """

    ReacquirePeak = false
      """
      Before sampling, maneuver vertically to reacquire chl peak. Initialized
      to false.
      """

    ReacquirePeakIndividual = false
      """
      Before sampling, maneuver vertically to reacquire chl peak. Initialized
      to false.
      """

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

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

    StoppedForNoFiringForTooLong = false
      """
      Mission stopped because of no firing for too long. Initialized to false.
      """

    StoppedForBeingOutsideOfPolygon = false
      """
      Mission stopped because the vehicle is outside of the polygon.
      Initialized to False.
      """

    DepthLogged = 0.0 meter
      """

      """

    TempLogged = 0.0 celsius
      """

      """

    ChlLogged = 0.0 microgram_per_liter
      """

      """

    MissionStartCommsCompleted = false
      """
      Initialized to false.
      """

    TransitCompleted = false
      """
      Initialized to false.
      """

    NoTransitCompleted = false
      """
      Initialized to false.
      """

    DistanceFromWallsAndShoreChecked = false
      """
      Initialized to False.
      """

    DriveAwayFromWallOrShore = false
      """
      Initialized to False.
      """

    StartVerticalManeuver = false
      """
      Start vertical maneuver and sampling (initialized to false).
      """

    Surfacing = false
      """
      Surfacing for communications (set to true when going down. Initialized
      to false).
      """

    FlagTempSet = false
      """
      Flag of target temperature having been set. Initialized to false.
      """

    FlagTargetDepthSet = false
      """
      Flag of target depth having been set. Initialized to false.
      """

    FlagGoUp = false
      """
      Go-up flag (set to true when going up. Initialized to false).
      """

    FlagGoDown = false
      """
      Go-down flag (set to true when going down. Initialized to false).
      """

    FlagInitialDiveCompleted = false
      """
      Flag of initial dive completed. Initialized to false.
      """

    FlagPeakChlDepthSet = false
      """
      Flag of peak-chl depth having been set (set to true when the chl-peak
      depth has been set. Initialized to false).
      """

    FlagPeakChlTempSet = false
      """
      Flag of peak-chl temperature having been set (set to true when the
      chl-peak temperature has been set. Initialized to false).
      """

    EnableSettingPeakDepth = true
      """
      Enables setting peak-chl depth. Initialized to true.
      """

    FlagFirstDive = true
      """
      Flag of first dive to find the peak-chl (true only for the first dive;
      false afterwards).
      """

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

    PeakChlDepthSet = 10.0 meter
      """
      Peak-chl depth detected on a dive. Initialized to 10 meters.
      """

    PeakChlTemperatureSet = NaN kelvin
      """
      Peak-chl temperature detected on a dive, and set for chl-peak holding.
      Initialized to NaN.
      """

    PeakChlSet = 0.0 microgram_per_liter
      """
      Peak-chl value detected on a dive.
      """

    SyslogGoUp = false
      """
      Flag of logging "GoUp" in syslog (initialized to false).
      """

    SyslogGoDown = false
      """
      Flag of logging "GoDown" in syslog (initialized to false).
      """

    CylinderLat = NaN degree
      """
      Latitude of cylinder center. Initialized to NaN.
      """

    CylinderLon = NaN degree
      """
      Longitude of cylinder center. Initialized to NaN.
      """

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

    SendDataCntSamplesCompleted = false
      """
      Initialized to false.
      """

    SendDataESPSampleNumberCompleted = false
      """
      Initialized to false.
      """

    SendDataESPCartridgeTypeCompleted = false
      """
      Initialized to false.
      """

    SendDataESPSampleVolumeCompleted = false
      """
      Initialized to false.
      """

    SendDataCANONSampleNumberCompleted = false
      """
      Initialized to false.
      """

    SendDataSampleDepCompleted = false
      """
      Initialized to false.
      """

    SendDataSampleTempCompleted = false
      """
      Initialized to false.
      """

    SendDataSampleChlCompleted = false
      """
      Initialized to false.
      """

    SendDataAllCompleted = false
      """
      Initialized to false.
      """

    CallSendData = true
      """
      Initialized to true.
      """

    TouchedDeepBoundSampler = false
      """
      Initialized to false.
      """

    TouchedDeepBoundSamplerFlagSet = false
      """
      Initialized to false.
      """

    ModemID = 1 enum
      """
      Modem ID. Set to modemId1 or modemId2. Initialized to 1.
      """
  }

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

  timeout duration=MissionTimeout

  # Missions should almost always start with standard safety envelopes

  behavior Sample:AbortSample {
    run in parallel
  }

  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
  }



  insert Insert/SampleAtDepth.tl {
    redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth
  }



  insert Insert/Science.tl {
    redefineArg PeakDetectChlActive = SampleAtPeakChl
    redefineArg HighestChlPeakReportActive = FindHighChlLocation
    redefineArg LowPassWindowLength = LPWindowLength
    redefineArg MedianFilterLen = MedianFilterLength
    redefineArg NumProfilesSlidingwindow = NumberOfProfilesSlidingwindow
    redefineArg PeakShallowBound = ShallowBoundChl
    redefineArg PeakDeepBound = DeepBoundChl
    redefineArg DepChangeThreshForAttitudeFlip = DepChangeThreshAttitudeFlip
  }



  insert Insert/NeedComms.tl id="NeedComms"


  assign in parallel Control:VerticalControl.maxBuoyDiveAccel = BuoyDiveAccel

  # 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
  }

  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 PeakReacquisition {
    run when (
      called
    )

    aggregate ReacquireChlPeak {
      run in sequence

      assign in sequence EnableSettingPeakDepth = false

      assign in sequence FlagPeakChlDepthSet = false

      assign in sequence FlagPeakChlTempSet = false

      assign in sequence FlagGoUp = true

      assign in sequence FlagGoDown = false

      assign in sequence SyslogGoDown = false

      assign in sequence DepthLogged = Universal:depth

      assign in sequence TempLogged = Universal:sea_water_temperature

      assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water

      syslog important "Set FlagGoUp to true to reacquire chl peak. DepthLogged, TempLogged, ChlLogged, PeakChlDepthSet, PeakChlTemperatureSet, PeakChlSet = "
           + DepthLogged ~ meter
           + ", "
           + TempLogged ~ celsius
           + ", "
           + ChlLogged ~ microgram_per_liter
           + ", "
           + PeakChlDepthSet ~ meter
           + ", "
           + PeakChlTemperatureSet ~ celsius
           + ", "
           + PeakChlSet ~ microgram_per_liter
           + "."
    }
  }

  aggregate TriggerSampling {
    run when (
      called
    )

    aggregate TriggerESP {
      run in sequence

      break if (
        not ( UseESP )
      )

      assign in sequence DepthLogged = Universal:depth

      assign in sequence TempLogged = Universal:sea_water_temperature

      assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water

      syslog important "Trigger sampling. DepthLogged, TempLogged, ChlLogged = "
           + DepthLogged ~ meter
           + ", "
           + TempLogged ~ celsius
           + ", "
           + ChlLogged ~ microgram_per_liter
           + "."

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

      readDatum {
        Science:ESPComponent.sampling
      }

      syslog important "Wait for ESP sampling to complete."

      readDatum {
        Science:ESPComponent.sample_number
      }
    }

    aggregate TriggerCANON {
      run in sequence

      break if (
        not ( UseCANONSampler )
      )

      assign in sequence DepthLogged = Universal:depth

      assign in sequence TempLogged = Universal:sea_water_temperature

      assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water

      syslog important "Trigger sampling. DepthLogged, TempLogged, ChlLogged = "
           + DepthLogged ~ meter
           + ", "
           + TempLogged ~ celsius
           + ", "
           + ChlLogged ~ microgram_per_liter
           + "."

      assign in parallel Science:CANONSampler.sampleTimeout = CANONSamplerTimeout

      assign in parallel Science:CANONSampler.rotateOnly = CANONSamplerRotateOnly

      readDatum id="TriggerCANONSampler" {
        timeout duration=CANONSamplerTriggerTimeout {
          syslog important "Timed out triggering CANONSampler. Stopping mission."
          behavior Guidance:Execute {
            run in sequence
            set Guidance:Execute.command = "stop"
          }
        }

        Science:CANONSampler.sampling
      }

      readDatum {
        timeout duration=CANONSamplerTimeout {
          syslog important "Timed out sampling with CANONSampler. Stopping mission."
          behavior Guidance:Execute {
            run in sequence
            set Guidance:Execute.command = "stop"
          }
        }

        Science:CANONSampler.sample_number
      }
    }
  }

  aggregate DampDown {
    run when (
      called
    )

    syslog important "Wait "
         + WaitDepthUndulation ~ minute
         + " for the depth undulation to damp down."

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

  aggregate DoSendDirect {
    run when (
      called
    )

    syslog important "ModemID = "
         + ModemID ~ enum

    behavior Sensor:SendDirect {
      run in sequence
      set Sensor:SendDirect.destType = "modem"
      set Sensor:SendDirect.destId = ModemID
      set Sensor:SendDirect.destName = "_.LRAUVcntSamples"
      set Sensor:SendDirect.value = --<<UNRECOGNIZED tagName=IsothermDepthSampling.CntSamples>>--

      set Sensor:SendDirect.unit = "count"
    }

    syslog important "IsothermDepthSampling.CntSamples = "
         + --<<UNRECOGNIZED tagName=IsothermDepthSampling.CntSamples>>--
     ~ count

    aggregate SendDirectESP {
      run in sequence

      break if (
        not ( UseESP )
      )

      behavior Sensor:SendDirect {
        run in sequence
        set Sensor:SendDirect.destType = "modem"
        set Sensor:SendDirect.destId = ModemID
        set Sensor:SendDirect.destName = "_.ESPsampleNumber"
        set Sensor:SendDirect.value = Science:ESPComponent.sample_number
        set Sensor:SendDirect.unit = "count"
      }

      behavior Sensor:SendDirect {
        run in sequence
        set Sensor:SendDirect.destType = "modem"
        set Sensor:SendDirect.destId = ModemID
        set Sensor:SendDirect.destName = "_.ESPcartridgeType"
        set Sensor:SendDirect.value = Science:ESPComponent.cartridge
        set Sensor:SendDirect.unit = "count"
      }

      behavior Sensor:SendDirect {
        run in sequence
        set Sensor:SendDirect.destType = "modem"
        set Sensor:SendDirect.destId = ModemID
        set Sensor:SendDirect.destName = "_.ESPsampleVolume"
        set Sensor:SendDirect.value = Science:ESPComponent.sampleVolume
        set Sensor:SendDirect.unit = "milliliter"
      }

      syslog important "Science:ESPComponent.sample_number = "
           + Science:ESPComponent.sample_number ~ count

      syslog important "Science:ESPComponent.cartridge = "
           + Science:ESPComponent.cartridge ~ count

      syslog important "Science:ESPComponent.sampleVolume = "
           + Science:ESPComponent.sampleVolume ~ milliliter
    }

    aggregate SendDirectCANON {
      run in sequence

      break if (
        not ( UseCANONSampler )
      )

      behavior Sensor:SendDirect {
        run in sequence
        set Sensor:SendDirect.destType = "modem"
        set Sensor:SendDirect.destId = ModemID
        set Sensor:SendDirect.destName = "_.CANONsampleNumber"
        set Sensor:SendDirect.value = Science:CANONSampler.sample_number
        set Sensor:SendDirect.unit = "count"
      }

      syslog important "Science:CANONSampler.sample_number = "
           + Science:CANONSampler.sample_number ~ count
    }

    behavior Sensor:SendDirect {
      run in sequence
      set Sensor:SendDirect.destType = "modem"
      set Sensor:SendDirect.destId = ModemID
      set Sensor:SendDirect.destName = "_.sampleDepth"
      set Sensor:SendDirect.value = Universal:depth
      set Sensor:SendDirect.unit = "meter"
    }

    behavior Sensor:SendDirect {
      run in sequence
      set Sensor:SendDirect.destType = "modem"
      set Sensor:SendDirect.destId = ModemID
      set Sensor:SendDirect.destName = "_.sampleTemperature"
      set Sensor:SendDirect.value = Universal:sea_water_temperature
      set Sensor:SendDirect.unit = "celsius"
    }

    behavior Sensor:SendDirect {
      run in sequence
      set Sensor:SendDirect.destType = "modem"
      set Sensor:SendDirect.destId = ModemID
      set Sensor:SendDirect.destName = "_.sampleChlorophyll"
      set Sensor:SendDirect.value = Universal:mass_concentration_of_chlorophyll_in_sea_water
      set Sensor:SendDirect.unit = "microgram_per_liter"
    }

    syslog important "Universal:depth = "
         + Universal:depth ~ meter

    syslog important "Universal:sea_water_temperature = "
         + Universal:sea_water_temperature ~ celsius

    syslog important "Universal:mass_concentration_of_chlorophyll_in_sea_water = "
         + Universal:mass_concentration_of_chlorophyll_in_sea_water ~ microgram_per_liter
  }

  aggregate SendData {
    run when (
      called
    )

    aggregate SendTo1Modem {
      run in sequence

      break if (
        SendDataToMultipleModems
      )

      assign in sequence ModemID = modemId1

      syslog important "Set ModemID to "
           + ModemID ~ enum
           + "."

      call refId="DoSendDirect"
    }

    aggregate SendTo2Modems {
      run in sequence

      break if (
        not ( SendDataToMultipleModems )
      )

      assign in sequence ModemID = modemId1

      syslog important "Set ModemID to "
           + ModemID ~ enum
           + "."

      call refId="DoSendDirect"

      assign in sequence ModemID = modemId2

      syslog important "Set ModemID to "
           + ModemID ~ enum
           + "."

      call refId="DoSendDirect"
    }

    assign in sequence SendDataAllCompleted = true
  }

  aggregate SetSampleOptions {
    run when (
      called
    )

    aggregate SettingCartridgeTypeIndividual {
      run in sequence

      break if (
        isNaN ( CartridgeTypeIndividual )
        or ( not ( UseESP ) )
      )

      assign in sequence CartridgeType = CartridgeTypeIndividual
    }

    aggregate SettingCartridgeTypeCommon {
      run in sequence

      break if (
        not ( isNaN ( CartridgeTypeIndividual ) )
        or ( not ( UseESP ) )
      )

      assign in sequence CartridgeType = CartridgeTypeCommon
    }

    aggregate SettingTempDiffFromPeakChlIndividual {
      run in sequence

      break if (
        isNaN ( TempDiffFromPeakChlIndividual )
      )

      assign in sequence TempDiffFromPeakChl = TempDiffFromPeakChlIndividual
    }

    aggregate SettingTempDiffFromPeakChlCommon {
      run in sequence

      break if (
        not ( isNaN ( TempDiffFromPeakChlIndividual ) )
      )

      assign in sequence TempDiffFromPeakChl = TempDiffFromPeakChlCommon
    }

    aggregate SettingDepDiffFromPeakChlIndividual {
      run in sequence

      break if (
        isNaN ( DepDiffFromPeakChlIndividual )
      )

      assign in sequence DepDiffFromPeakChl = DepDiffFromPeakChlIndividual
    }

    aggregate SettingDepDiffFromPeakChlCommon {
      run in sequence

      break if (
        not ( isNaN ( DepDiffFromPeakChlIndividual ) )
      )

      assign in sequence DepDiffFromPeakChl = DepDiffFromPeakChlCommon
    }

    aggregate SettingDepIndividual {
      run in sequence

      break if (
        isNaN ( DepIndividual )
      )

      assign in sequence DepthDesignated = DepIndividual
    }

    aggregate SettingDepCommon {
      run in sequence

      break if (
        not ( isNaN ( DepIndividual ) )
      )

      assign in sequence DepthDesignated = DepCommon
    }

    aggregate SettingTempIndividual {
      run in sequence

      break if (
        isNaN ( TempIndividual )
      )

      assign in sequence TempDesignated = TempIndividual
    }

    aggregate SettingTempCommon {
      run in sequence

      break if (
        not ( isNaN ( TempIndividual ) )
      )

      assign in sequence TempDesignated = TempCommon
    }

    aggregate SettingWaitIndividual {
      run in sequence

      break if (
        isNaN ( WaitDepUndulationIndividual )
      )

      assign in sequence WaitDepthUndulation = WaitDepUndulationIndividual
    }

    aggregate SettingWaitCommon {
      run in sequence

      break if (
        not ( isNaN ( WaitDepUndulationIndividual ) )
      )

      assign in sequence WaitDepthUndulation = WaitDepUndulationCommon
    }

    aggregate SettingRptSufaceAndReacq {
      run in sequence

      assign in sequence ReportAtSurfaceToUse = ReportAtSurfaceToUseIndividual

      assign in sequence ReacquirePeak = ReacquirePeakIndividual
    }

    syslog important "Set CartridgeType (if ESP), TempDiffFromPeakChl, DepDiffFromPeakChl, TempDesignated, DepthDesignated, WaitDepthUndulation to "
         + CartridgeType ~ count
         + ", "
         + TempDiffFromPeakChl ~ kelvin
         + ", "
         + DepDiffFromPeakChl ~ meter
         + ", "
         + TempDesignated ~ celsius
         + ", "
         + DepthDesignated ~ meter
         + ", "
         + WaitDepthUndulation ~ minute
         + "."
  }

  # Automatically restart logs

  aggregate CycleLogs {
    run in parallel

    aggregate {
      run in sequence

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

      syslog important "Restarting logs."

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

  aggregate MissionStart {
    run in sequence

    call id="MissionStartComms" refId="NeedComms"

    assign in sequence MissionStartCommsCompleted = true

    assign in sequence ElapsedSinceStartOrLastSample = 0 hour
  }

  aggregate TransitToSamplingLocationComms {
    run when (
      MissionStartCommsCompleted
      and CommsAtEndOfTransit
      and ( not ( TransitCompleted ) )
    )

    assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransect

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

    assign in sequence YoYoMinDepth = TransitYoYoMinDepth

    assign in sequence YoYoMaxDepth = TransitYoYoMaxDepth

    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 Lap {
      run in sequence repeat=RepeatTransects

      aggregate Wpt1 {
        run in sequence

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

        aggregate SetFinalWaypointToWaypoint1 {
          run when (
            (
              Lat1 >= 0 degree
              or ( Lat1 < 0 degree )
            )
            and (
              Lon1 >= 0 degree
              or ( Lon1 < 0 degree )
            )
          )

          break if (
            SetFinalWaypointToWaypoint1Completed
          )

          assign in sequence WaypointLat = Lat1

          assign in sequence WaypointLon = Lon1

          assign in sequence SetFinalWaypointToWaypoint1Completed = true
        }
      }

      aggregate Wpt2 {
        run in sequence

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

        aggregate SetFinalWaypointToWaypoint2 {
          run when (
            (
              Lat2 >= 0 degree
              or ( Lat2 < 0 degree )
            )
            and (
              Lon2 >= 0 degree
              or ( Lon2 < 0 degree )
            )
          )

          break if (
            SetFinalWaypointToWaypoint2Completed
          )

          assign in sequence WaypointLat = Lat2

          assign in sequence WaypointLon = Lon2

          assign in sequence SetFinalWaypointToWaypoint2Completed = true
        }
      }

      aggregate Wpt3 {
        run in sequence

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

        aggregate SetFinalWaypointToWaypoint3 {
          run when (
            (
              Lat3 >= 0 degree
              or ( Lat3 < 0 degree )
            )
            and (
              Lon3 >= 0 degree
              or ( Lon3 < 0 degree )
            )
          )

          break if (
            SetFinalWaypointToWaypoint3Completed
          )

          assign in sequence WaypointLat = Lat3

          assign in sequence WaypointLon = Lon3

          assign in sequence SetFinalWaypointToWaypoint3Completed = true
        }
      }

      aggregate Wpt4 {
        run in sequence

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

        aggregate SetFinalWaypointToWaypoint4 {
          run when (
            (
              Lat4 >= 0 degree
              or ( Lat4 < 0 degree )
            )
            and (
              Lon4 >= 0 degree
              or ( Lon4 < 0 degree )
            )
          )

          break if (
            SetFinalWaypointToWaypoint4Completed
          )

          assign in sequence WaypointLat = Lat4

          assign in sequence WaypointLon = Lon4

          assign in sequence SetFinalWaypointToWaypoint4Completed = true
        }
      }
    }

    aggregate SetCylinderCenterToWaypoint {
      run in sequence

      break if (
        not ( CylinderYoYo )
        or FindHighChlLocation
      )

      assign in sequence CylinderLat = WaypointLat

      assign in sequence CylinderLon = WaypointLon

      syslog important "Set cylinder center to Waypoint "
           + CylinderLat ~ degree
           + ","
           + CylinderLon ~ degree
           + "."
    }

    aggregate SetCylinderCenterToHiChlLocation {
      run in sequence

      break if (
        not ( CylinderYoYo )
        or ( not ( FindHighChlLocation ) )
        or ( isNaN ( Science:PatchChlLatitude ) )
        or ( isNaN ( Science:PatchChlLongitude ) )
      )

      assign in sequence CylinderLat = Science:PatchChlLatitude

      assign in sequence CylinderLon = Science:PatchChlLongitude

      syslog important "Set cylinder center to hi-chl location "
           + CylinderLat ~ degree
           + ","
           + CylinderLon ~ degree
           + ","
           + Science:PatchChl ~ microgram_per_liter
           + "."
    }

    aggregate CylinderYoYoAroundSamplingLocation {
      run in sequence

      timeout duration=CylinderTimeout

      aggregate CylinderIfNonNaNLatLon {
        run in sequence

        break if (
          not ( CylinderYoYo )
          or ( isNaN ( CylinderLat ) )
          or ( isNaN ( CylinderLon ) )
        )

        syslog important "Yoyo profile on a cylinder around sampling location "
             + CylinderLat ~ degree
             + ","
             + CylinderLon ~ 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 = CylinderLat
            set Guidance:Circle.longitude = CylinderLon
            set Guidance:Circle.radius = CylinderRadius
            set Guidance:Circle.maxError = CylinderCircleMaxError
            set Guidance:Circle.turnToPort = CylinderCircleTurnToPort
          }
        }
      }
    }

    aggregate GoToCylinderCenter {
      run in sequence

      break if (
        not ( CylinderYoYo )
        or ( isNaN ( CylinderLat ) )
        or ( isNaN ( CylinderLon ) )
      )

      syslog important "Go to cylinder center (i.e., sampling location): "
           + CylinderLat ~ degree
           + ","
           + CylinderLon ~ degree

      behavior Guidance:Waypoint id="ToCylinderCenter" {
        run in sequence
        set Guidance:Waypoint.latitude = CylinderLat
        set Guidance:Waypoint.longitude = CylinderLon
      }
    }

    call id="GoToSurfaceBeforeDiving" refId="NeedComms"

    assign in sequence ElapsedSinceStartOrLastSample = 0 hour

    assign in sequence NeedComms:DiveInterval = MissionTimeout

    aggregate TransitCommsSetFlagGoDown {
      run in sequence

      break if (
        not ( SampleAtPeakChl )
        or (
          isNaN ( TempDiffFromPeakChl1 )
          and ( isNaN ( TempDiffFromPeakChlCommon ) )
          and ( isNaN ( DepDiffFromPeakChl1 ) )
          and ( isNaN ( DepDiffFromPeakChlCommon ) )
        )
      )

      assign in sequence FlagGoDown = true
    }

    assign in sequence TransitCompleted = true
  }

  aggregate TransitToSamplingLocationNoCommsOrNoTransit {
    run when (
      MissionStartCommsCompleted
      and ( not ( CommsAtEndOfTransit ) )
      and ( not ( TransitCompleted ) )
    )

    assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransect

    aggregate Wpt1NoComms {
      run in sequence

      break if (
        not (
          (
            Lat1 >= 0 degree
            or ( Lat1 < 0 degree )
          )
          and (
            Lon1 >= 0 degree
            or ( Lon1 < 0 degree )
          )
        )
      )

      aggregate Wpt1 {
        run in sequence

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

        assign in sequence YoYoMinDepth = TransitYoYoMinDepth

        assign in sequence YoYoMaxDepth = TransitYoYoMaxDepth

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

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

      assign in sequence NeedComms:DiveInterval = MissionTimeout

      # Go to surface to be prepared for the intial dive for finding the chl peak in the vertical domain.

      behavior Guidance:GoToSurface {
        run in sequence
        set Guidance:GoToSurface.pitch = SurfacePitch
        set Guidance:GoToSurface.depthRate = SurfaceDepthRate
        set Guidance:GoToSurface.speed = SpeedTransit
      }

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour
    }

    aggregate NoTransit {
      run in sequence

      break if (
        (
          Lat1 >= 0 degree
          or ( Lat1 < 0 degree )
        )
        and (
          Lon1 >= 0 degree
          or ( Lon1 < 0 degree )
        )
      )

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour

      assign in sequence NeedComms:DiveInterval = MissionTimeout
    }

    aggregate TransitNoCommsOrNoTransitSetFlagGoDown {
      run in sequence

      break if (
        not ( SampleAtPeakChl )
        or (
          isNaN ( TempDiffFromPeakChl1 )
          and ( isNaN ( TempDiffFromPeakChlCommon ) )
          and ( isNaN ( DepDiffFromPeakChl1 ) )
          and ( isNaN ( DepDiffFromPeakChlCommon ) )
        )
      )

      assign in sequence FlagGoDown = true
    }

    assign in sequence TransitCompleted = true
  }

  aggregate StayAwayFromWallsAndShore {
    run when (
      TransitCompleted
    )

    aggregate FarEnoughFromWallsAndShore {
      run when (
        (
          not ( Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup )
          or (
            Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup
            and (
              not ( Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides >= 0.0 meter )
              or ( Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides > MinDistFromPolygonSides )
            )
          )
        )
        and ( Universal:distance_from_shore > ( MinOffshore + MarginMinOffshore ) )
        and ( not ( DistanceFromWallsAndShoreChecked ) )
      )

      syslog important "Far enough from walls and shore. Latitude = "
           + Universal:latitude ~ degree
           + ", longitude = "
           + Universal:longitude ~ degree
           + ". Distance from shore = "
           + Universal:distance_from_shore ~ meter
           + ". OffshoreDistanceTurnBack (MinOffshore + MarginMinOffshore) = "
           + MinOffshore ~ meter
           + " + "
           + MarginMinOffshore ~ meter
           + ". Shortest distance "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides ~ meter
           + " to side "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance ~ count
           + ". MinDistFromPolygonSides = "
           + MinDistFromPolygonSides ~ meter
           + "."

      assign in sequence DistanceFromWallsAndShoreChecked = true
    }

    aggregate LeaveWallOrShore {
      break if (
        DistanceFromWallsAndShoreChecked
      )

      run when (
        Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup
        and ( Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides )
        or ( Universal:distance_from_shore <= ( MinOffshore + MarginMinOffshore ) )
      )

      syslog important "Hitting wall or shore. Latitude = "
           + Universal:latitude ~ degree
           + ", longitude = "
           + Universal:longitude ~ degree
           + ". Distance from shore = "
           + Universal:distance_from_shore ~ meter
           + ". OffshoreDistanceTurnBack (MinOffshore + MarginMinOffshore) = "
           + MinOffshore ~ meter
           + " + "
           + MarginMinOffshore ~ meter
           + ". Shortest distance "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides ~ meter
           + " to side "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance ~ count
           + ". MinDistFromPolygonSides = "
           + MinDistFromPolygonSides ~ meter
           + "."

      assign in sequence DriveAwayFromWallOrShore = true

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

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

      assign in sequence YoYoMinDepth = LeaveWallOrShoreYoYoMinDepth

      assign in sequence YoYoMaxDepth = LeaveWallOrShoreYoYoMaxDepth

      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
      }

      aggregate HittingSide0 {
        run in sequence

        break if (
          not (
            Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides )
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 0 count )
          )
        )

        syslog important "Drive "
             + DriveFromWallOrShoreDuration ~ minute
             + " on "
             + HeadingLeavingSide0 ~ degree
             + " heading to leave the wall or the shore."

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.heading = HeadingLeavingSide0
        }

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

      aggregate HittingSide1 {
        run in sequence

        break if (
          not (
            Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides )
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 1 count )
          )
        )

        syslog important "Drive "
             + DriveFromWallOrShoreDuration ~ minute
             + " on "
             + HeadingLeavingSide1 ~ degree
             + " heading to leave the wall or the shore."

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.heading = HeadingLeavingSide1
        }

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

      aggregate HittingSide2 {
        run in sequence

        break if (
          not (
            Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides )
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 2 count )
          )
        )

        syslog important "Drive "
             + DriveFromWallOrShoreDuration ~ minute
             + " on "
             + HeadingLeavingSide2 ~ degree
             + " heading to leave the wall or the shore."

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.heading = HeadingLeavingSide2
        }

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

      aggregate HittingSide3 {
        run in sequence

        break if (
          not (
            Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides )
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 3 count )
          )
        )

        syslog important "Drive "
             + DriveFromWallOrShoreDuration ~ minute
             + " on "
             + HeadingLeavingSide3 ~ degree
             + " heading to leave the wall or the shore."

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.heading = HeadingLeavingSide3
        }

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

      aggregate HittingSide4 {
        run in sequence

        break if (
          not (
            Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides )
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 4 count )
          )
        )

        syslog important "Drive "
             + DriveFromWallOrShoreDuration ~ minute
             + " on "
             + HeadingLeavingSide4 ~ degree
             + " heading to leave the wall or the shore."

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.heading = HeadingLeavingSide4
        }

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

      aggregate HittingSide5 {
        run in sequence

        break if (
          not (
            Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides )
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 5 count )
          )
        )

        syslog important "Drive "
             + DriveFromWallOrShoreDuration ~ minute
             + " on "
             + HeadingLeavingSide5 ~ degree
             + " heading to leave the wall or the shore."

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.heading = HeadingLeavingSide5
        }

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

      aggregate HittingSide6 {
        run in sequence

        break if (
          not (
            Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides )
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 6 count )
          )
        )

        syslog important "Drive "
             + DriveFromWallOrShoreDuration ~ minute
             + " on "
             + HeadingLeavingSide6 ~ degree
             + " heading to leave the wall or the shore."

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.heading = HeadingLeavingSide6
        }

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

      aggregate HittingSide7 {
        run in sequence

        break if (
          not (
            Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides )
            and ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 7 count )
          )
        )

        syslog important "Drive "
             + DriveFromWallOrShoreDuration ~ minute
             + " on "
             + HeadingLeavingSide7 ~ degree
             + " heading to leave the wall or the shore."

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.heading = HeadingLeavingSide7
        }

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

      aggregate TooCloseToShore {
        run in sequence

        break if (
          Universal:distance_from_shore > ( MinOffshore + MarginMinOffshore )
        )

        syslog important "Drive "
             + DriveFromWallOrShoreDuration ~ minute
             + " on "
             + HeadingLeavingShore ~ degree
             + " heading to leave the wall or the shore."

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.heading = HeadingLeavingShore
        }

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

      syslog important "Has completed drive-away from the wall. Latitude = "
           + Universal:latitude ~ degree
           + ", longitude = "
           + Universal:longitude ~ degree
           + ". Distance from shore = "
           + Universal:distance_from_shore ~ meter
           + ". Shortest distance "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides ~ meter
           + " to side "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance ~ count
           + "."

      assign in sequence DistanceFromWallsAndShoreChecked = true
    }
  }

  aggregate BeforeDiving {
    run when (
      DistanceFromWallsAndShoreChecked
    )

    break if (
      StartVerticalManeuver
    )

    aggregate Surface {
      run when (
        DriveAwayFromWallOrShore
      )

      behavior Guidance:GoToSurface {
        run in sequence
        set Guidance:GoToSurface.pitch = SurfacePitch
        set Guidance:GoToSurface.depthRate = SurfaceDepthRate
        set Guidance:GoToSurface.speed = SpeedTransit
      }

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour

      assign in sequence StartVerticalManeuver = true
    }

    aggregate NoNeedToSurface {
      run when (
        not ( DriveAwayFromWallOrShore )
      )

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour

      assign in sequence StartVerticalManeuver = true
    }
  }

  aggregate SetSpeedRudderAngleInitialDive {
    run when (
      StartVerticalManeuver
      and ( not ( FlagInitialDiveCompleted ) )
      and ( CntSamples == 1 count )
      or (
        StartVerticalManeuver
        and ( not ( FlagInitialDiveCompleted ) )
        and ReportAtSurfaceDone
      )
    )

    break if (
      not ( SampleAtPeakChl )
    )

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

    behavior Guidance:Point {
      run in parallel
      set Guidance:Point.rudderAngle = RudderAngleInitialDive
    }

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

    assign in sequence FlagInitialDiveCompleted = true
  }

  aggregate FindPeakChlVertical {
    run in sequence

    break if (
      CntSamples > NumSamplers
    )

    aggregate FindPeak {
      run while (
        SampleAtPeakChl
        and StartVerticalManeuver
      )

      aggregate FindPeakSpiralMode {
        run while ( SpeedSampling > 0.0 meter_per_second )

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

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.rudderAngle = RudderAngleDonutSampling
        }

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

      aggregate FindPeakDriftMode {
        run while ( not ( SpeedSampling > 0.0 meter_per_second ) )

        behavior Guidance:SetSpeed {
          run in parallel
          set Guidance:SetSpeed.speed = 0.0 meter_per_second
        }

        behavior Guidance:Point {
          run in parallel
          set Guidance:Point.rudderAngle = 0.0 degree
        }
      }

      aggregate SetDepthRateGoDown {
        run while (
          FlagGoDown
          and StartVerticalManeuver
        )

        behavior Guidance:Pitch {
          run in parallel
          set Guidance:Pitch.depthRate = DownRate
        }
      }

      aggregate SetDepthRateGoUp {
        run while (
          FlagGoUp
          and StartVerticalManeuver
        )

        behavior Guidance:Pitch {
          run in parallel
          set Guidance:Pitch.depthRate = UpRate
        }
      }

      aggregate SetFlagGoDown {
        run when (
          not ( Surfacing )
          and ( isNaN ( TempDesignated ) )
          and ( isNaN ( DepthDesignated ) )
          and ( not ( FlagFirstDive ) )
          and ( not ( FlagPeakChlDepthSet ) )
          and ( Universal:depth < ( PeakChlDepthSet - VerticalPerturbation ) )
          and ( not ( FlagGoDown ) )
          and StartVerticalManeuver
        )

        assign in sequence FlagGoUp = false

        assign in sequence FlagGoDown = true

        assign in sequence SyslogGoUp = false

        assign in sequence EnableSettingPeakDepth = true
      }

      aggregate LogGoDown {
        run when (
          FlagGoDown
          and ( not ( SyslogGoDown ) )
          and StartVerticalManeuver
        )

        assign in sequence DepthLogged = Universal:depth

        syslog important "Go down from "
             + DepthLogged ~ meter

        assign in sequence SyslogGoDown = true
      }

      aggregate SetFlagGoUp {
        run when (
          not ( Surfacing )
          and ( isNaN ( TempDesignated ) )
          and ( isNaN ( DepthDesignated ) )
          and SampleAtPeakChl
          and FlagFirstDive
          and ( Universal:depth > DeepBoundChl )
          and ( not ( FlagGoUp ) )
          and StartVerticalManeuver
          or (
            not ( Surfacing )
            and ( isNaN ( TempDesignated ) )
            and ( isNaN ( DepthDesignated ) )
            and ( not ( FlagFirstDive ) )
            and SampleAtPeakChl
            and ( not ( FlagPeakChlDepthSet ) )
            and ( Universal:depth > ( PeakChlDepthSet + VerticalPerturbation ) )
            and ( not ( FlagGoUp ) )
            and StartVerticalManeuver
          )
        )

        assign in sequence FlagGoUp = true

        assign in sequence FlagGoDown = false

        assign in sequence SyslogGoDown = false
      }

      aggregate LogGoUp {
        run when (
          FlagGoUp
          and ( not ( SyslogGoUp ) )
          and StartVerticalManeuver
        )

        assign in sequence DepthLogged = Universal:depth

        syslog important "Go up from "
             + DepthLogged ~ meter

        assign in sequence SyslogGoUp = true
      }

      aggregate SetChlPeakTempDepth {
        run when (
          not ( Surfacing )
          and FlagFirstDive
          and SampleAtPeakChl
          and EnableSettingPeakDepth
          and ( not ( FlagPeakChlDepthSet ) )
          and FlagGoUp
          and ( Universal:depth < ( DeepBoundChl - RiseFromTurningDepth ) )
          and ( Science:PeakChlDepth > ShallowBoundChl )
          and StartVerticalManeuver
          or (
            not ( Surfacing )
            and ( not ( FlagFirstDive ) )
            and SampleAtPeakChl
            and EnableSettingPeakDepth
            and ( not ( FlagPeakChlDepthSet ) )
            and FlagGoUp
            and ( Universal:depth < ( PeakChlDepthSet + VerticalPerturbation - RiseFromTurningDepth ) )
            and StartVerticalManeuver
          )
        )

        assign in sequence PeakChlDepthSet = Science:PeakChlDepth

        assign in sequence PeakChlTemperatureSet = Science:PeakChlTemperature

        assign in sequence PeakChlSet = Science:PeakChl

        assign in sequence FlagFirstDive = false

        assign in sequence FlagPeakChlDepthSet = true

        assign in sequence DepthLogged = Universal:depth

        assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water

        assign in sequence FlagGoUp = false

        assign in sequence FlagGoDown = false

        assign in sequence SyslogGoUp = false

        assign in sequence SyslogGoDown = false

        syslog important "Set peak-chl depth and temp. DepthLogged, ChlLogged, PeakChlDepthSet, PeakChlTemperatureSet, PeakChlSet = "
             + DepthLogged ~ meter
             + ", "
             + ChlLogged ~ microgram_per_liter
             + ", "
             + PeakChlDepthSet ~ meter
             + ", "
             + PeakChlTemperatureSet ~ celsius
             + ", "
             + PeakChlSet ~ microgram_per_liter

        assign in sequence ReacquirePeak = false

        assign in sequence FlagPeakChlTempSet = true
      }
    }
  }

  aggregate ClampDepthDuringIsothermHolding {
    run in parallel

    break if (
      CntSamples > NumSamplers
    )

    aggregate ClampToDeepBoundSampler {
      run while (
        FlagTempSet
        and StartVerticalManeuver
        and TouchedDeepBoundSampler
      )

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

  aggregate SetFlagClampDepthDuringIsothermHolding {
    run in parallel

    break if (
      CntSamples > NumSamplers
    )

    aggregate SetFlagDeepBoundSampler {
      run when (
        FlagTempSet
        and ( Universal:depth > DeepBoundSampler )
        and ( not ( TouchedDeepBoundSamplerFlagSet ) )
      )

      syslog important "Clamp depth to DeepBoundSampler = "
           + DeepBoundSampler ~ meter
           + ", because attempted temp is deeper."

      assign in sequence TouchedDeepBoundSampler = true

      assign in sequence TouchedDeepBoundSamplerFlagSet = true
    }
  }

  aggregate IsothermOrDepthHolding {
    run in parallel

    break if (
      CntSamples > NumSamplers
    )

    aggregate HoldTempInDonutMode {
      break if (
        FlagTargetDepthSet
      )

      run while (
        FlagTempSet
        and StartVerticalManeuver
        and ( not ( TouchedDeepBoundSampler ) )
        and ( not ( FlagGoUp ) )
        and ( not ( FlagGoDown ) )
        and ( SpeedSampling > 0.0 meter_per_second )
      )

      behavior Guidance:DepthServo {
        run in parallel
        set Guidance:DepthServo.input = Universal:sea_water_temperature
        set Guidance:DepthServo.holdValue = TempSet
        set Guidance:DepthServo.proportionalGain = GainProportional
        set Guidance:DepthServo.integralGain = GainIntegral
        set Guidance:DepthServo.derivativeGain = GainDerivative
        set Guidance:DepthServo.changePerMeter = VariationPerMeter
      }

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

      behavior Guidance:Point {
        run in parallel
        set Guidance:Point.rudderAngle = RudderAngleDonutSampling
      }

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

    aggregate HoldTempInDriftMode {
      break if (
        FlagTargetDepthSet
      )

      run while (
        FlagTempSet
        and StartVerticalManeuver
        and ( not ( TouchedDeepBoundSampler ) )
        and ( not ( FlagGoUp ) )
        and ( not ( FlagGoDown ) )
        and ( not ( SpeedSampling > 0.0 meter_per_second ) )
      )

      behavior Guidance:DepthServo {
        run in parallel
        set Guidance:DepthServo.input = Universal:sea_water_temperature
        set Guidance:DepthServo.holdValue = TempSet
        set Guidance:DepthServo.proportionalGain = GainProportional
        set Guidance:DepthServo.integralGain = GainIntegral
        set Guidance:DepthServo.derivativeGain = GainDerivative
        set Guidance:DepthServo.changePerMeter = VariationPerMeter
      }

      behavior Guidance:SetSpeed {
        run in parallel
        set Guidance:SetSpeed.speed = 0.0 meter_per_second
      }

      behavior Guidance:Point {
        run in parallel
        set Guidance:Point.rudderAngle = 0.0 degree
      }
    }

    aggregate HoldDepthInDonutMode {
      break if (
        FlagTempSet
      )

      run while (
        not ( Surfacing )
        and FlagTargetDepthSet
        and StartVerticalManeuver
        and ( not ( TouchedDeepBoundSampler ) )
        and ( not ( FlagGoUp ) )
        and ( not ( FlagGoDown ) )
        and ( SpeedSampling > 0.0 meter_per_second )
      )

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

      behavior Guidance:Point {
        run in parallel
        set Guidance:Point.rudderAngle = RudderAngleDonutSampling
      }

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

    aggregate HoldDepthInDriftMode {
      break if (
        FlagTempSet
      )

      run while (
        not ( Surfacing )
        and FlagTargetDepthSet
        and StartVerticalManeuver
        and ( not ( TouchedDeepBoundSampler ) )
        and ( not ( FlagGoUp ) )
        and ( not ( FlagGoDown ) )
        and ( not ( SpeedSampling > 0.0 meter_per_second ) )
      )

      behavior Guidance:SetSpeed {
        run in parallel
        set Guidance:SetSpeed.speed = 0.0 meter_per_second
      }

      behavior Guidance:Point {
        run in parallel
        set Guidance:Point.rudderAngle = 0.0 degree
      }
    }
  }

  aggregate TakeSamples {
    run in parallel

    break if (
      CntSamples > NumSamplers
      or ( not ( StartVerticalManeuver ) )
      or (
        SampleAtPeakChl
        and ( not ( FlagInitialDiveCompleted ) )
      )
    )

    aggregate OutsideOfPolygon {
      run in parallel

      break if (
        not ( Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup )
        or (
          Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup
          and Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon
        )
        or StoppedForBeingOutsideOfPolygon
      )

      syslog important "Latitude = "
           + Universal:latitude ~ degree
           + ", longitude = "
           + Universal:longitude ~ degree
           + ". Outside of the polygon. Stopping mission."

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

      assign in sequence StoppedForBeingOutsideOfPolygon = true
    }

    aggregate NoFiringForTooLong {
      run when (
        elapsed ( ElapsedSinceStartOrLastSample ) > MaxWaitNoFiring
        and ( not ( FlagSamplingOngoing ) )
        and ( not ( StoppedForNoFiringForTooLong ) )
      )

      assign in sequence ElapsedTime = elapsed ( ElapsedSinceStartOrLastSample )

      syslog important "No firing for too long. Stopping mission. ElapsedTime, MaxWaitNoFiring = "
           + ElapsedTime ~ minute
           + ", "
           + MaxWaitNoFiring ~ minute

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

      assign in sequence StoppedForNoFiringForTooLong = true
    }

    aggregate SetOptionsOfSample1 {
      run when (
        CntSamples + StartIndex - 1 count == 1 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType1

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl1

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl1

      assign in sequence DepIndividual = Dep1

      assign in sequence TempIndividual = Temp1

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation1

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface1

      assign in sequence ReacquirePeakIndividual = Reacq1

      call id="SetOptionsForSample1" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample2 {
      run when (
        CntSamples + StartIndex - 1 count == 2 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType2

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl2

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl2

      assign in sequence DepIndividual = Dep2

      assign in sequence TempIndividual = Temp2

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation2

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface2

      assign in sequence ReacquirePeakIndividual = Reacq2

      call id="SetOptionsForSample2" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample3 {
      run when (
        CntSamples + StartIndex - 1 count == 3 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType3

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl3

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl3

      assign in sequence DepIndividual = Dep3

      assign in sequence TempIndividual = Temp3

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation3

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface3

      assign in sequence ReacquirePeakIndividual = Reacq3

      call id="SetOptionsForSample3" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample4 {
      run when (
        CntSamples + StartIndex - 1 count == 4 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType4

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl4

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl4

      assign in sequence DepIndividual = Dep4

      assign in sequence TempIndividual = Temp4

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation4

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface4

      assign in sequence ReacquirePeakIndividual = Reacq4

      call id="SetOptionsForSample4" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample5 {
      run when (
        CntSamples + StartIndex - 1 count == 5 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType5

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl5

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl5

      assign in sequence DepIndividual = Dep5

      assign in sequence TempIndividual = Temp5

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation5

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface5

      assign in sequence ReacquirePeakIndividual = Reacq5

      call id="SetOptionsForSample5" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample6 {
      run when (
        CntSamples + StartIndex - 1 count == 6 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType6

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl6

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl6

      assign in sequence DepIndividual = Dep6

      assign in sequence TempIndividual = Temp6

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation6

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface6

      assign in sequence ReacquirePeakIndividual = Reacq6

      call id="SetOptionsForSample6" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample7 {
      run when (
        CntSamples + StartIndex - 1 count == 7 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType7

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl7

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl7

      assign in sequence DepIndividual = Dep7

      assign in sequence TempIndividual = Temp7

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation7

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface7

      assign in sequence ReacquirePeakIndividual = Reacq7

      call id="SetOptionsForSample7" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample8 {
      run when (
        CntSamples + StartIndex - 1 count == 8 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType8

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl8

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl8

      assign in sequence DepIndividual = Dep8

      assign in sequence TempIndividual = Temp8

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation8

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface8

      assign in sequence ReacquirePeakIndividual = Reacq8

      call id="SetOptionsForSample8" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample9 {
      run when (
        CntSamples + StartIndex - 1 count == 9 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType9

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl9

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl9

      assign in sequence DepIndividual = Dep9

      assign in sequence TempIndividual = Temp9

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation9

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface9

      assign in sequence ReacquirePeakIndividual = Reacq9

      call id="SetOptionsForSample9" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample10 {
      run when (
        CntSamples + StartIndex - 1 count == 10 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType10

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl10

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl10

      assign in sequence DepIndividual = Dep10

      assign in sequence TempIndividual = Temp10

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation10

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface10

      assign in sequence ReacquirePeakIndividual = Reacq10

      call id="SetOptionsForSample10" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample11 {
      run when (
        CntSamples + StartIndex - 1 count == 11 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType11

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl11

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl11

      assign in sequence DepIndividual = Dep11

      assign in sequence TempIndividual = Temp11

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation11

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface11

      assign in sequence ReacquirePeakIndividual = Reacq11

      call id="SetOptionsForSample11" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample12 {
      run when (
        CntSamples + StartIndex - 1 count == 12 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType12

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl12

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl12

      assign in sequence DepIndividual = Dep12

      assign in sequence TempIndividual = Temp12

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation12

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface12

      assign in sequence ReacquirePeakIndividual = Reacq12

      call id="SetOptionsForSample12" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample13 {
      run when (
        CntSamples + StartIndex - 1 count == 13 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType13

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl13

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl13

      assign in sequence DepIndividual = Dep13

      assign in sequence TempIndividual = Temp13

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation13

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface13

      assign in sequence ReacquirePeakIndividual = Reacq13

      call id="SetOptionsForSample13" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample14 {
      run when (
        CntSamples + StartIndex - 1 count == 14 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType14

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl14

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl14

      assign in sequence DepIndividual = Dep14

      assign in sequence TempIndividual = Temp14

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation14

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface14

      assign in sequence ReacquirePeakIndividual = Reacq14

      call id="SetOptionsForSample14" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample15 {
      run when (
        CntSamples + StartIndex - 1 count == 15 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType15

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl15

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl15

      assign in sequence DepIndividual = Dep15

      assign in sequence TempIndividual = Temp15

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation15

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface15

      assign in sequence ReacquirePeakIndividual = Reacq15

      call id="SetOptionsForSample15" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample16 {
      run when (
        CntSamples + StartIndex - 1 count == 16 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType16

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl16

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl16

      assign in sequence DepIndividual = Dep16

      assign in sequence TempIndividual = Temp16

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation16

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface16

      assign in sequence ReacquirePeakIndividual = Reacq16

      call id="SetOptionsForSample16" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample17 {
      run when (
        CntSamples + StartIndex - 1 count == 17 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType17

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl17

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl17

      assign in sequence DepIndividual = Dep17

      assign in sequence TempIndividual = Temp17

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation17

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface17

      assign in sequence ReacquirePeakIndividual = Reacq17

      call id="SetOptionsForSample17" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample18 {
      run when (
        CntSamples + StartIndex - 1 count == 18 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType18

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl18

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl18

      assign in sequence DepIndividual = Dep18

      assign in sequence TempIndividual = Temp18

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation18

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface18

      assign in sequence ReacquirePeakIndividual = Reacq18

      call id="SetOptionsForSample18" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample19 {
      run when (
        CntSamples + StartIndex - 1 count == 19 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType19

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl19

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl19

      assign in sequence DepIndividual = Dep19

      assign in sequence TempIndividual = Temp19

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation19

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface19

      assign in sequence ReacquirePeakIndividual = Reacq19

      call id="SetOptionsForSample19" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample20 {
      run when (
        CntSamples + StartIndex - 1 count == 20 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType20

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl20

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl20

      assign in sequence DepIndividual = Dep20

      assign in sequence TempIndividual = Temp20

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation20

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface20

      assign in sequence ReacquirePeakIndividual = Reacq20

      call id="SetOptionsForSample20" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample21 {
      run when (
        CntSamples + StartIndex - 1 count == 21 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType21

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl21

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl21

      assign in sequence DepIndividual = Dep21

      assign in sequence TempIndividual = Temp21

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation21

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface21

      assign in sequence ReacquirePeakIndividual = Reacq21

      call id="SetOptionsForSample21" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample22 {
      run when (
        CntSamples + StartIndex - 1 count == 22 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType22

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl22

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl22

      assign in sequence DepIndividual = Dep22

      assign in sequence TempIndividual = Temp22

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation22

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface22

      assign in sequence ReacquirePeakIndividual = Reacq22

      call id="SetOptionsForSample22" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample23 {
      run when (
        CntSamples + StartIndex - 1 count == 23 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType23

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl23

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl23

      assign in sequence DepIndividual = Dep23

      assign in sequence TempIndividual = Temp23

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation23

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface23

      assign in sequence ReacquirePeakIndividual = Reacq23

      call id="SetOptionsForSample23" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample24 {
      run when (
        CntSamples + StartIndex - 1 count == 24 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType24

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl24

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl24

      assign in sequence DepIndividual = Dep24

      assign in sequence TempIndividual = Temp24

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation24

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface24

      assign in sequence ReacquirePeakIndividual = Reacq24

      call id="SetOptionsForSample24" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample25 {
      run when (
        CntSamples + StartIndex - 1 count == 25 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType25

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl25

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl25

      assign in sequence DepIndividual = Dep25

      assign in sequence TempIndividual = Temp25

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation25

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface25

      assign in sequence ReacquirePeakIndividual = Reacq25

      call id="SetOptionsForSample25" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample26 {
      run when (
        CntSamples + StartIndex - 1 count == 26 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType26

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl26

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl26

      assign in sequence DepIndividual = Dep26

      assign in sequence TempIndividual = Temp26

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation26

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface26

      assign in sequence ReacquirePeakIndividual = Reacq26

      call id="SetOptionsForSample26" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample27 {
      run when (
        CntSamples + StartIndex - 1 count == 27 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType27

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl27

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl27

      assign in sequence DepIndividual = Dep27

      assign in sequence TempIndividual = Temp27

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation27

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface27

      assign in sequence ReacquirePeakIndividual = Reacq27

      call id="SetOptionsForSample27" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample28 {
      run when (
        CntSamples + StartIndex - 1 count == 28 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType28

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl28

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl28

      assign in sequence DepIndividual = Dep28

      assign in sequence TempIndividual = Temp28

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation28

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface28

      assign in sequence ReacquirePeakIndividual = Reacq28

      call id="SetOptionsForSample28" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample29 {
      run when (
        CntSamples + StartIndex - 1 count == 29 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType29

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl29

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl29

      assign in sequence DepIndividual = Dep29

      assign in sequence TempIndividual = Temp29

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation29

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface29

      assign in sequence ReacquirePeakIndividual = Reacq29

      call id="SetOptionsForSample29" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample30 {
      run when (
        CntSamples + StartIndex - 1 count == 30 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType30

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl30

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl30

      assign in sequence DepIndividual = Dep30

      assign in sequence TempIndividual = Temp30

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation30

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface30

      assign in sequence ReacquirePeakIndividual = Reacq30

      call id="SetOptionsForSample30" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample31 {
      run when (
        CntSamples + StartIndex - 1 count == 31 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType31

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl31

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl31

      assign in sequence DepIndividual = Dep31

      assign in sequence TempIndividual = Temp31

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation31

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface31

      assign in sequence ReacquirePeakIndividual = Reacq31

      call id="SetOptionsForSample31" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample32 {
      run when (
        CntSamples + StartIndex - 1 count == 32 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType32

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl32

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl32

      assign in sequence DepIndividual = Dep32

      assign in sequence TempIndividual = Temp32

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation32

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface32

      assign in sequence ReacquirePeakIndividual = Reacq32

      call id="SetOptionsForSample32" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample33 {
      run when (
        CntSamples + StartIndex - 1 count == 33 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType33

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl33

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl33

      assign in sequence DepIndividual = Dep33

      assign in sequence TempIndividual = Temp33

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation33

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface33

      assign in sequence ReacquirePeakIndividual = Reacq33

      call id="SetOptionsForSample33" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample34 {
      run when (
        CntSamples + StartIndex - 1 count == 34 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType34

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl34

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl34

      assign in sequence DepIndividual = Dep34

      assign in sequence TempIndividual = Temp34

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation34

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface34

      assign in sequence ReacquirePeakIndividual = Reacq34

      call id="SetOptionsForSample34" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample35 {
      run when (
        CntSamples + StartIndex - 1 count == 35 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType35

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl35

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl35

      assign in sequence DepIndividual = Dep35

      assign in sequence TempIndividual = Temp35

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation35

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface35

      assign in sequence ReacquirePeakIndividual = Reacq35

      call id="SetOptionsForSample35" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample36 {
      run when (
        CntSamples + StartIndex - 1 count == 36 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType36

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl36

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl36

      assign in sequence DepIndividual = Dep36

      assign in sequence TempIndividual = Temp36

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation36

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface36

      assign in sequence ReacquirePeakIndividual = Reacq36

      call id="SetOptionsForSample36" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample37 {
      run when (
        CntSamples + StartIndex - 1 count == 37 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType37

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl37

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl37

      assign in sequence DepIndividual = Dep37

      assign in sequence TempIndividual = Temp37

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation37

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface37

      assign in sequence ReacquirePeakIndividual = Reacq37

      call id="SetOptionsForSample37" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample38 {
      run when (
        CntSamples + StartIndex - 1 count == 38 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType38

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl38

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl38

      assign in sequence DepIndividual = Dep38

      assign in sequence TempIndividual = Temp38

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation38

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface38

      assign in sequence ReacquirePeakIndividual = Reacq38

      call id="SetOptionsForSample38" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample39 {
      run when (
        CntSamples + StartIndex - 1 count == 39 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType39

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl39

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl39

      assign in sequence DepIndividual = Dep39

      assign in sequence TempIndividual = Temp39

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation39

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface39

      assign in sequence ReacquirePeakIndividual = Reacq39

      call id="SetOptionsForSample39" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample40 {
      run when (
        CntSamples + StartIndex - 1 count == 40 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType40

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl40

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl40

      assign in sequence DepIndividual = Dep40

      assign in sequence TempIndividual = Temp40

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation40

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface40

      assign in sequence ReacquirePeakIndividual = Reacq40

      call id="SetOptionsForSample40" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample41 {
      run when (
        CntSamples + StartIndex - 1 count == 41 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType41

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl41

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl41

      assign in sequence DepIndividual = Dep41

      assign in sequence TempIndividual = Temp41

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation41

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface41

      assign in sequence ReacquirePeakIndividual = Reacq41

      call id="SetOptionsForSample41" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample42 {
      run when (
        CntSamples + StartIndex - 1 count == 42 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType42

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl42

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl42

      assign in sequence DepIndividual = Dep42

      assign in sequence TempIndividual = Temp42

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation42

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface42

      assign in sequence ReacquirePeakIndividual = Reacq42

      call id="SetOptionsForSample42" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample43 {
      run when (
        CntSamples + StartIndex - 1 count == 43 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType43

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl43

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl43

      assign in sequence DepIndividual = Dep43

      assign in sequence TempIndividual = Temp43

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation43

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface43

      assign in sequence ReacquirePeakIndividual = Reacq43

      call id="SetOptionsForSample43" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample44 {
      run when (
        CntSamples + StartIndex - 1 count == 44 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType44

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl44

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl44

      assign in sequence DepIndividual = Dep44

      assign in sequence TempIndividual = Temp44

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation44

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface44

      assign in sequence ReacquirePeakIndividual = Reacq44

      call id="SetOptionsForSample44" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample45 {
      run when (
        CntSamples + StartIndex - 1 count == 45 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType45

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl45

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl45

      assign in sequence DepIndividual = Dep45

      assign in sequence TempIndividual = Temp45

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation45

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface45

      assign in sequence ReacquirePeakIndividual = Reacq45

      call id="SetOptionsForSample45" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample46 {
      run when (
        CntSamples + StartIndex - 1 count == 46 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType46

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl46

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl46

      assign in sequence DepIndividual = Dep46

      assign in sequence TempIndividual = Temp46

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation46

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface46

      assign in sequence ReacquirePeakIndividual = Reacq46

      call id="SetOptionsForSample46" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample47 {
      run when (
        CntSamples + StartIndex - 1 count == 47 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType47

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl47

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl47

      assign in sequence DepIndividual = Dep47

      assign in sequence TempIndividual = Temp47

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation47

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface47

      assign in sequence ReacquirePeakIndividual = Reacq47

      call id="SetOptionsForSample47" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample48 {
      run when (
        CntSamples + StartIndex - 1 count == 48 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType48

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl48

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl48

      assign in sequence DepIndividual = Dep48

      assign in sequence TempIndividual = Temp48

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation48

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface48

      assign in sequence ReacquirePeakIndividual = Reacq48

      call id="SetOptionsForSample48" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample49 {
      run when (
        CntSamples + StartIndex - 1 count == 49 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType49

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl49

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl49

      assign in sequence DepIndividual = Dep49

      assign in sequence TempIndividual = Temp49

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation49

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface49

      assign in sequence ReacquirePeakIndividual = Reacq49

      call id="SetOptionsForSample49" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample50 {
      run when (
        CntSamples + StartIndex - 1 count == 50 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType50

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl50

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl50

      assign in sequence DepIndividual = Dep50

      assign in sequence TempIndividual = Temp50

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation50

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface50

      assign in sequence ReacquirePeakIndividual = Reacq50

      call id="SetOptionsForSample50" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample51 {
      run when (
        CntSamples + StartIndex - 1 count == 51 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType51

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl51

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl51

      assign in sequence DepIndividual = Dep51

      assign in sequence TempIndividual = Temp51

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation51

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface51

      assign in sequence ReacquirePeakIndividual = Reacq51

      call id="SetOptionsForSample51" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample52 {
      run when (
        CntSamples + StartIndex - 1 count == 52 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType52

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl52

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl52

      assign in sequence DepIndividual = Dep52

      assign in sequence TempIndividual = Temp52

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation52

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface52

      assign in sequence ReacquirePeakIndividual = Reacq52

      call id="SetOptionsForSample52" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample53 {
      run when (
        CntSamples + StartIndex - 1 count == 53 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType53

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl53

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl53

      assign in sequence DepIndividual = Dep53

      assign in sequence TempIndividual = Temp53

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation53

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface53

      assign in sequence ReacquirePeakIndividual = Reacq53

      call id="SetOptionsForSample53" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample54 {
      run when (
        CntSamples + StartIndex - 1 count == 54 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType54

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl54

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl54

      assign in sequence DepIndividual = Dep54

      assign in sequence TempIndividual = Temp54

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation54

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface54

      assign in sequence ReacquirePeakIndividual = Reacq54

      call id="SetOptionsForSample54" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample55 {
      run when (
        CntSamples + StartIndex - 1 count == 55 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType55

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl55

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl55

      assign in sequence DepIndividual = Dep55

      assign in sequence TempIndividual = Temp55

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation55

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface55

      assign in sequence ReacquirePeakIndividual = Reacq55

      call id="SetOptionsForSample55" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample56 {
      run when (
        CntSamples + StartIndex - 1 count == 56 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType56

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl56

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl56

      assign in sequence DepIndividual = Dep56

      assign in sequence TempIndividual = Temp56

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation56

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface56

      assign in sequence ReacquirePeakIndividual = Reacq56

      call id="SetOptionsForSample56" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample57 {
      run when (
        CntSamples + StartIndex - 1 count == 57 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType57

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl57

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl57

      assign in sequence DepIndividual = Dep57

      assign in sequence TempIndividual = Temp57

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation57

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface57

      assign in sequence ReacquirePeakIndividual = Reacq57

      call id="SetOptionsForSample57" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample58 {
      run when (
        CntSamples + StartIndex - 1 count == 58 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType58

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl58

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl58

      assign in sequence DepIndividual = Dep58

      assign in sequence TempIndividual = Temp58

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation58

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface58

      assign in sequence ReacquirePeakIndividual = Reacq58

      call id="SetOptionsForSample58" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample59 {
      run when (
        CntSamples + StartIndex - 1 count == 59 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType59

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl59

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl59

      assign in sequence DepIndividual = Dep59

      assign in sequence TempIndividual = Temp59

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation59

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface59

      assign in sequence ReacquirePeakIndividual = Reacq59

      call id="SetOptionsForSample59" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample60 {
      run when (
        CntSamples + StartIndex - 1 count == 60 count
        and ( not ( SampleOptionsSet ) )
        and SampleCountIncreased
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType60

      assign in sequence TempDiffFromPeakChlIndividual = TempDiffFromPeakChl60

      assign in sequence DepDiffFromPeakChlIndividual = DepDiffFromPeakChl60

      assign in sequence DepIndividual = Dep60

      assign in sequence TempIndividual = Temp60

      assign in sequence WaitDepUndulationIndividual = WaitDepUndulation60

      assign in sequence ReportAtSurfaceToUseIndividual = RptSurface60

      assign in sequence ReacquirePeakIndividual = Reacq60

      call id="SetOptionsForSample60" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate ReacquireChlPeak {
      run when (
        FlagPeakChlTempSet
        and ( not ( FlagGoUp ) )
        and ( not ( FlagGoDown ) )
        and ( not ( FlagSamplingOngoing ) )
        and ( CntSamples <= NumSamplers )
        and SampleOptionsSet
        and ReacquirePeak
      )

      call refId="PeakReacquisition"
    }

    aggregate SetFiringTempRelativeToChlPeak {
      run when (
        StartVerticalManeuver
        and ( not ( Surfacing ) )
        and SampleOptionsSet
        and ( not ( isNaN ( TempDiffFromPeakChl ) ) )
        and FlagPeakChlTempSet
        and ( not ( FlagTempSet ) )
        and ( not ( ReacquirePeak ) )
        and ReportAtSurface
        and ReportAtSurfaceDone
        or (
          StartVerticalManeuver
          and ( not ( Surfacing ) )
          and SampleOptionsSet
          and ( not ( isNaN ( TempDiffFromPeakChl ) ) )
          and FlagPeakChlTempSet
          and ( not ( FlagTempSet ) )
          and ( not ( ReacquirePeak ) )
          and ( not ( ReportAtSurface ) )
          and ( not ( ReportAtSurfaceDone ) )
        )
      )

      assign in sequence TempSet = PeakChlTemperatureSet + TempDiffFromPeakChl

      assign in sequence FlagTempSet = true

      assign in sequence ReportAtSurface = ReportAtSurfaceToUse
    }

    aggregate SetFiringTempAbsolute {
      run when (
        StartVerticalManeuver
        and ( not ( Surfacing ) )
        and SampleOptionsSet
        and ( not ( isNaN ( TempDesignated ) ) )
        and ( not ( FlagTempSet ) )
        and ReportAtSurface
        and ReportAtSurfaceDone
        or (
          StartVerticalManeuver
          and ( not ( Surfacing ) )
          and SampleOptionsSet
          and ( not ( isNaN ( TempDesignated ) ) )
          and ( not ( FlagTempSet ) )
          and ( not ( ReportAtSurface ) )
          and ( not ( ReportAtSurfaceDone ) )
        )
      )

      assign in sequence TempSet = TempDesignated

      assign in sequence FlagTempSet = true

      assign in sequence ReportAtSurface = ReportAtSurfaceToUse

      assign in sequence FlagGoDown = false
    }

    aggregate SetFiringDepthRelativeToChlPeakNormal {
      run when (
        SampleOptionsSet
        and FlagPeakChlDepthSet
        and ( not ( isNaN ( DepDiffFromPeakChl ) ) )
        and ( not ( FlagTargetDepthSet ) )
        and ( PeakChlDepthSet + DepDiffFromPeakChl >= ShallowBoundChl )
        and ( PeakChlDepthSet + DepDiffFromPeakChl <= DeepBoundChl )
        and ( not ( ReacquirePeak ) )
        and ReportAtSurface
        and ReportAtSurfaceDone
        or (
          SampleOptionsSet
          and FlagPeakChlDepthSet
          and ( not ( isNaN ( DepDiffFromPeakChl ) ) )
          and ( not ( FlagTargetDepthSet ) )
          and ( PeakChlDepthSet + DepDiffFromPeakChl >= ShallowBoundChl )
          and ( PeakChlDepthSet + DepDiffFromPeakChl <= DeepBoundChl )
          and ( not ( ReacquirePeak ) )
          and ( not ( ReportAtSurface ) )
          and ( not ( ReportAtSurfaceDone ) )
        )
      )

      assign in sequence DepthSet = PeakChlDepthSet + DepDiffFromPeakChl

      assign in sequence FlagTargetDepthSet = true

      assign in sequence ReportAtSurface = ReportAtSurfaceToUse
    }

    aggregate SetFiringDepthRelativeToChlPeakClampedToShallowest {
      run when (
        SampleOptionsSet
        and FlagPeakChlDepthSet
        and ( not ( isNaN ( DepDiffFromPeakChl ) ) )
        and ( not ( FlagTargetDepthSet ) )
        and ( PeakChlDepthSet + DepDiffFromPeakChl < ShallowBoundChl )
        and ( not ( ReacquirePeak ) )
        and ReportAtSurface
        and ReportAtSurfaceDone
        or (
          SampleOptionsSet
          and FlagPeakChlDepthSet
          and ( not ( isNaN ( DepDiffFromPeakChl ) ) )
          and ( not ( FlagTargetDepthSet ) )
          and ( PeakChlDepthSet + DepDiffFromPeakChl < ShallowBoundChl )
          and ( not ( ReacquirePeak ) )
          and ( not ( ReportAtSurface ) )
          and ( not ( ReportAtSurfaceDone ) )
        )
      )

      assign in sequence DepthSet = ShallowBoundChl

      assign in sequence FlagTargetDepthSet = true

      assign in sequence ReportAtSurface = ReportAtSurfaceToUse
    }

    aggregate SetFiringDepthRelativeToChlPeakClampedToDeepest {
      run when (
        SampleOptionsSet
        and FlagPeakChlDepthSet
        and ( not ( isNaN ( DepDiffFromPeakChl ) ) )
        and ( not ( FlagTargetDepthSet ) )
        and ( PeakChlDepthSet + DepDiffFromPeakChl > DeepBoundChl )
        and ( not ( ReacquirePeak ) )
        and ReportAtSurface
        and ReportAtSurfaceDone
        or (
          SampleOptionsSet
          and FlagPeakChlDepthSet
          and ( not ( isNaN ( DepDiffFromPeakChl ) ) )
          and ( not ( FlagTargetDepthSet ) )
          and ( PeakChlDepthSet + DepDiffFromPeakChl > DeepBoundChl )
          and ( not ( ReacquirePeak ) )
          and ( not ( ReportAtSurface ) )
          and ( not ( ReportAtSurfaceDone ) )
        )
      )

      assign in sequence DepthSet = DeepBoundChl

      assign in sequence FlagTargetDepthSet = true

      assign in sequence ReportAtSurface = ReportAtSurfaceToUse
    }

    aggregate SetFiringDepthAbsolute {
      run when (
        SampleOptionsSet
        and ( not ( isNaN ( DepthDesignated ) ) )
        and ( not ( FlagTargetDepthSet ) )
        and ReportAtSurface
        and ReportAtSurfaceDone
        or (
          SampleOptionsSet
          and ( not ( isNaN ( DepthDesignated ) ) )
          and ( not ( FlagTargetDepthSet ) )
          and ( not ( ReportAtSurface ) )
          and ( not ( ReportAtSurfaceDone ) )
        )
      )

      assign in sequence DepthSet = DepthDesignated

      assign in sequence FlagTargetDepthSet = true

      assign in sequence ReportAtSurface = ReportAtSurfaceToUse

      assign in sequence FlagGoDown = false
    }

    aggregate FiringOnTemp {
      run when (
        MissionStartCommsCompleted
        and StartVerticalManeuver
        and FlagTempSet
        and ( not ( Surfacing ) )
        and ( not ( FlagSamplingOngoing ) )
        and ( CntSamples <= NumSamplers )
        and SampleOptionsSet
        and ( not ( SampleCompleted ) )
      )

      assign in sequence FlagSamplingOngoing = true

      assign in sequence SampleCountIncreased = false

      syslog important "Taking sample No."
           + CntSamples ~ count
           + ". Target temp = "
           + TempSet ~ celsius
           + "."

      syslog important "If ESP, requesting ESP cartridge type:"
           + CartridgeType ~ count

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour

      aggregate TriggerOnTemp {
        run in sequence

        break if (
          UseESP
          and ( isNaN ( CartridgeType ) )
        )

        call id="WaitForDepthDampingDown" refId="DampDown"

        call id="Sampling" refId="TriggerSampling"

        syslog important "Sample No."
             + CntSamples ~ count
             + " completed."

        assign in sequence ElapsedSinceStartOrLastSample = 0 hour

        assign in sequence FlagSamplingOngoing = false

        assign in sequence SampleCompleted = true

        # Don't move the following line

        assign in sequence SampleOptionsSet = false

        assign in sequence ReportAtSurfaceDone = false

        assign in sequence FlagTempSet = false
      }

      aggregate SkipOnTemp {
        run in sequence

        break if (
          not ( isNaN ( CartridgeType ) )
          or UseCANONSampler
        )

        assign in sequence FlagSamplingOngoing = false

        assign in sequence SampleCompleted = true

        # Don't move the following line

        assign in sequence SampleOptionsSet = false

        assign in sequence ReportAtSurfaceDone = false

        assign in sequence FlagTempSet = false

        assign in sequence SendDataAllCompleted = true

        syslog important "ESP sample skipped (because cartridge type is NaN)."
      }

      aggregate FireOnTempSendData {
        run when (
          not ( isNaN ( CartridgeType ) )
          and SampleCompleted
          and SendSampleStatusAndData
          and CallSendData
        )

        call id="SendDataFireOnTemp" refId="SendData"

        assign in sequence CallSendData = false
      }
    }

    aggregate FiringOnDepth {
      run when (
        MissionStartCommsCompleted
        and StartVerticalManeuver
        and FlagTargetDepthSet
        and ( not ( FlagGoUp ) )
        and ( not ( FlagGoDown ) )
        and ( not ( FlagSamplingOngoing ) )
        and ( CntSamples <= NumSamplers )
        and SampleOptionsSet
        and ( not ( SampleCompleted ) )
      )

      assign in sequence SampleAtDepth:TargetDepth = DepthSet

      assign in sequence SampleAtDepth:SettleTime = WaitDepthUndulation

      assign in sequence FlagSamplingOngoing = true

      assign in sequence SampleCountIncreased = false

      syslog important "Taking sample No."
           + CntSamples ~ count
           + ". Target depth = "
           + DepthSet ~ meter
           + "."

      syslog important "If ESP, requesting ESP cartridge type:"
           + CartridgeType ~ count

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour

      aggregate TriggerOnDepth {
        run in sequence

        break if (
          UseESP
          and ( isNaN ( CartridgeType ) )
        )

        assign in sequence SampleAtDepth:ESPCartridgeType = CartridgeType

        call id="Sampling" refId="SampleAtDepth"

        syslog important "Sample No."
             + CntSamples ~ count
             + " completed."

        assign in sequence ElapsedSinceStartOrLastSample = 0 hour

        assign in sequence FlagSamplingOngoing = false

        assign in sequence SampleCompleted = true

        # Don't move the following line

        assign in sequence SampleOptionsSet = false

        assign in sequence ReportAtSurfaceDone = false

        assign in sequence FlagTargetDepthSet = false
      }

      aggregate SkipOnDepth {
        run in sequence

        break if (
          not ( isNaN ( CartridgeType ) )
          or UseCANONSampler
        )

        assign in sequence FlagSamplingOngoing = false

        assign in sequence SampleCompleted = true

        # Don't move the following line

        assign in sequence SampleOptionsSet = false

        assign in sequence ReportAtSurfaceDone = false

        assign in sequence FlagTargetDepthSet = false

        assign in sequence SendDataAllCompleted = true

        syslog important "ESP sample skipped (because cartridge type is NaN)."
      }

      aggregate FireOnDepSendData {
        run when (
          not ( isNaN ( CartridgeType ) )
          and SampleCompleted
          and SendSampleStatusAndData
          and CallSendData
        )

        call id="SendDataFireOnDep" refId="SendData"

        assign in sequence CallSendData = false
      }
    }

    aggregate ReportAtSurface {
      run when (
        not ( FlagGoUp )
        and ( not ( FlagGoDown ) )
        and ( not ( FlagSamplingOngoing ) )
        and ( CntSamples <= NumSamplers )
        and SampleCompleted
        and ReportAtSurface
      )

      assign in sequence Surfacing = true

      # Don't move the following lines

      assign in sequence EnableSettingPeakDepth = true

      assign in sequence FlagPeakChlDepthSet = false

      assign in sequence FlagPeakChlTempSet = false

      syslog important "Surfacing to report sampling results to shore."

      call id="SurfaceToReport" refId="NeedComms"

      assign in sequence Surfacing = false

      aggregate SetFlagGoDownIfFindingPeakChlVertical_2 {
        run in sequence

        break if (
          not ( SampleAtPeakChl )
        )

        assign in sequence FlagGoDown = true
      }

      assign in sequence ReportAtSurfaceDone = true

      assign in sequence FlagInitialDiveCompleted = false
    }

    aggregate IncreaseSampleCount {
      run when (
        SampleCompleted
        and ( not ( SendSampleStatusAndData ) )
        or (
          SampleCompleted
          and SendSampleStatusAndData
          and SendDataAllCompleted
        )
        or (
          SampleOptionsSet
          and ( isNaN ( TempDiffFromPeakChl ) )
          and ( isNaN ( DepDiffFromPeakChl ) )
          and ( isNaN ( TempDesignated ) )
          and ( isNaN ( DepthDesignated ) )
        )
      )

      assign in sequence CntSamples = CntSamples + 1 count

      assign in sequence SendDataCntSamplesCompleted = false

      assign in sequence SendDataESPSampleNumberCompleted = false

      assign in sequence SendDataESPCartridgeTypeCompleted = false

      assign in sequence SendDataESPSampleVolumeCompleted = false

      assign in sequence SendDataSampleDepCompleted = false

      assign in sequence SendDataSampleTempCompleted = false

      assign in sequence SendDataSampleChlCompleted = false

      assign in sequence SendDataAllCompleted = false

      assign in sequence CallSendData = true

      assign in sequence TouchedDeepBoundSampler = false

      assign in sequence TouchedDeepBoundSamplerFlagSet = false

      assign in sequence SampleCompleted = false

      assign in sequence SampleOptionsSet = false

      assign in sequence SampleCountIncreased = true
    }
  }
}
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<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control" 
       xmlns:Derivation="Tethys/Derivation" 
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Sensor="Tethys/Sensor"       
       xmlns:Science="Tethys/Science"
       xmlns:Sample="Tethys/Sample"
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                           Tethys/Sample http://okeanids.mbari.org/tethys/Xml/Sample.xsd
                           Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="isotherm_depth_sampling">

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

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

    <DefineArg Name="NumSamplers"><Description>
        Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0
        to disable sampling.
    </Description><Units:count/><Value>1</Value></DefineArg>

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

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

    <DefineArg Name="CANONSamplerRotateOnly"><Units:bool/><Value>0</Value></DefineArg>

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

    <DefineArg Name="NeedCommsTimeInTransect"><Description>
        On yo-yo transects, how often to surface for commumications
    </Description><Units:minute/><Value>60</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>240</Value></DefineArg>

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

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

    <DefineArg Name="CommsAtEndOfTransit"><Description>
        Whether to go to surface for comms before the initial dive.
<!--debug
    </Description><True/></DefineArg>
-->
    </Description><False/></DefineArg>

    <DefineArg Name="SendSampleStatusAndData"><Description>
        Whether to senddata to acoustic modem.
    </Description><True/></DefineArg>

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

    <DefineArg Name="SendDataToMultipleModems"><Description>
        Whether to senddata to more than one modem.
    </Description><True/></DefineArg>

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

    <DefineArg Name="modemId1"><Description>
        Modem ID1. Initialized to 1.
    </Description><Units:enum/><Value>1</Value></DefineArg>

    <DefineArg Name="modemId2"><Description>
        Modem ID2. Initialized to 4.
    </Description><Units:enum/><Value>4</Value></DefineArg>

    <DefineArg Name="CylinderTimeout"><Description>
        Maximum duration of cylinder yoyo.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="FindHighChlLocation"><Description>
        Whether to search for the location of high chl.
    </Description><False/></DefineArg>

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

    <DefineArg Name="CylinderYoYo"><Description>
        Whether to yoyo on cylinder centered at the sampling location.
        Initialized to True.
    </Description><False/></DefineArg>

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

    <DefineArg Name="SampleAtPeakChl"><Description>
        Whether to sample at peak-chl
    </Description><False/></DefineArg>

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

    <DefineArg Name="InitialDiveDuration"><Description>
        On the first dive for looking for the chl max, run at SpeedInitialDive
        for this duration (e.g., 1 m/s spiral to dive fast).
    </Description><Units:minute/><Value>1.0</Value></DefineArg>

    <DefineArg Name="DriveFromWallOrShoreDuration"><Description>
        When driving away from a wall and the distance exceeds
        MinDistFromPolygonSides, continue for this duration to add a margin.
    </Description><Units:minute/><Value>5.0</Value></DefineArg>

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

    <DefineArg Name="SpeedInitialDive"><Description>
        Vehicle speed during initial dive (for looking for the chl max). 0.0 for
        drift mode (prop off); 1.0 for spiral mode (prop on). Initialized to 1
        m/s.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="SpeedSampling"><Description>
        Vehicle speed during sampling: 0.0 for drift mode (prop off); 1.0 for
        donut mode (prop on). Initialized to 1 m/s.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

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

    <DefineArg Name="RudderAngleInitialDive"><Description>
        Rudder angle in initial spiral-down to leave surface. Initialized to 9
        degrees.
    </Description><Units:degree/><Value>9</Value></DefineArg>

    <DefineArg Name="RudderAngleDonutSampling"><Description>
        Rudder angle during donut sampling.
    </Description><Units:degree/><Value>13</Value></DefineArg>

    <DefineArg Name="HeadingLeavingShore"><Description>
        Heading leaving the shore
<!--debug      
    </Description><Units:degree/><Value>NaN</Value></DefineArg>    
-->
    </Description><Units:degree/><Value>270</Value></DefineArg>

    <DefineArg Name="HeadingLeavingSide0"><Description>
        Heading leaving polygon side 0.
<!--debug      
    </Description><Units:degree/><Value>NaN</Value></DefineArg>    
-->
    </Description><Units:degree/><Value>180</Value></DefineArg>

    <DefineArg Name="HeadingLeavingSide1"><Description>
        Heading leaving polygon side 1.
<!--debug      
    </Description><Units:degree/><Value>NaN</Value></DefineArg>    
-->
    </Description><Units:degree/><Value>270</Value></DefineArg>

    <DefineArg Name="HeadingLeavingSide2"><Description>
        Heading leaving polygon side 2.
<!--debug      
    </Description><Units:degree/><Value>NaN</Value></DefineArg>    
-->
    </Description><Units:degree/><Value>0</Value></DefineArg>

    <DefineArg Name="HeadingLeavingSide3"><Description>
        Heading leaving polygon side 3.
<!--debug      
    </Description><Units:degree/><Value>NaN</Value></DefineArg>    
-->
    </Description><Units:degree/><Value>90</Value></DefineArg>

    <DefineArg Name="HeadingLeavingSide4"><Description>
        Heading leaving polygon side 4.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="HeadingLeavingSide5"><Description>
        Heading leaving polygon side 5.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="HeadingLeavingSide6"><Description>
        Heading leaving polygon side 6.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="HeadingLeavingSide7"><Description>
        Heading leaving polygon side 7.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="MarginMinOffshore"><Description>
        If closer than MinOffshore+MarginMinOffshore, turn back from shore.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="MinDistFromPolygonSides"><Description>
        If a operational safety polygon is specified and the vehicle is closer
        than this minimum distance to the polygon sides, turn back.
    </Description><Units:meter/><Value>200</Value></DefineArg>

    <DefineArg Name="DeepBoundSampler"><Description>
        Deep depth bound for sampling operation
    </Description><Units:meter/><Value>45</Value></DefineArg>

    <DefineArg Name="ShallowBoundChl"><Description>
        Shallow depth bound for chl-peak detection.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="DeepBoundChl"><Description>
        Deep depth bound for chl-peak detection.
    </Description><Units:meter/><Value>20</Value></DefineArg>

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

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

    <DefineArg Name="LeaveWallOrShoreYoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>4.5</Value></DefineArg>

    <DefineArg Name="LeaveWallOrShoreYoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>10</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="CylinderYoYoMinDep"><Description>
        Minimum depth while performing the YoYo behavior on cylinder centered at
        the sampling location.
    </Description><Units:meter/><Value>4.5</Value></DefineArg>

    <DefineArg Name="CylinderYoYoMaxDep"><Description>
        Maximum depth while performing the YoYo behavior on cylinder centered at
        the sampling location.
    </Description><Units:meter/><Value>27</Value></DefineArg>

    <DefineArg Name="CylinderRadius"><Description>
        Radius of cylinder centered at the sampling location.
    </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="RepeatTransects"><Description>
        Number of times the vehicle should try to cycle through waypoints.
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="Lat1"><Description>
        Latitude of waypoint 1. If nan, waypoint is skipped. If
        FindHighChlLocation is True, the search-for-hichl distance needs to be
        at least 4 yoyo profiles.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>36.809</Value></DefineArg>
-->

    <DefineArg Name="Lon1"><Description>
        Longitude of waypoint 1. If nan, waypoint is skipped. If
        FindHighChlLocation is True, the search-for-hichl distance needs to be
        at least 4 yoyo profiles.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>-121.822</Value></DefineArg>
-->

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

<!--debug    
    </Description><Units:degree/><Value>36.825</Value></DefineArg>
-->

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

<!--debug    
    </Description><Units:degree/><Value>-121.845</Value></DefineArg>
-->

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

<!--debug    
    </Description><Units:degree/><Value>36.825</Value></DefineArg>
-->

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

<!--debug    
    </Description><Units:degree/><Value>-121.845</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="CartridgeTypeCommon"><Description>
        Value common to all samples unless set diffently: cartridge type.
<!--debug
    </Description><Units:count/><Value>NaN</Value></DefineArg>
-->
    </Description><Units:count/><Value>-6</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    <DefineArg Name="TempDiffFromPeakChlCommon"><Description>
        Value common to all samples unless set diffently: target temperature
        difference from the peak-chl temperature.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="TempDiffFromPeakChl1"><Description>
        Sample 1. Target temperature difference from the peak-chl temperature.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="TempDiffFromPeakChl2"><Description>
        Sample 2.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:kelvin/><Value>-0.5</Value></DefineArg>
-->

    <DefineArg Name="TempDiffFromPeakChl3"><Description>
        Sample 3.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:kelvin/><Value>0.0</Value></DefineArg>
-->

    <DefineArg Name="TempDiffFromPeakChl4"><Description>
        Sample 4.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:kelvin/><Value>-1</Value></DefineArg>
-->

    <DefineArg Name="TempDiffFromPeakChl5"><Description>
        Sample 5.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="TempDiffFromPeakChl6"><Description>
        Sample 6.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl7"><Description>
        Sample 7.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl8"><Description>
        Sample 8.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl9"><Description>
        Sample 9.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl10"><Description>
        Sample 10.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl11"><Description>
        Sample 11.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl12"><Description>
        Sample 12.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl13"><Description>
        Sample 13.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl14"><Description>
        Sample 14.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl15"><Description>
        Sample 15.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl16"><Description>
        Sample 16.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl17"><Description>
        Sample 17.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl18"><Description>
        Sample 18.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl19"><Description>
        Sample 19.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl20"><Description>
        Sample 20.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl21"><Description>
        Sample 21.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl22"><Description>
        Sample 22.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl23"><Description>
        Sample 23.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl24"><Description>
        Sample 24.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl25"><Description>
        Sample 25.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl26"><Description>
        Sample 26.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl27"><Description>
        Sample 27.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl28"><Description>
        Sample 28.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl29"><Description>
        Sample 29.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl30"><Description>
        Sample 30.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl31"><Description>
        Sample 31.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl32"><Description>
        Sample 32.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl33"><Description>
        Sample 33.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl34"><Description>
        Sample 34.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl35"><Description>
        Sample 35.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl36"><Description>
        Sample 36.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl37"><Description>
        Sample 37.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl38"><Description>
        Sample 38.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl39"><Description>
        Sample 39.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl40"><Description>
        Sample 40.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl41"><Description>
        Sample 41.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl42"><Description>
        Sample 42.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl43"><Description>
        Sample 43.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl44"><Description>
        Sample 44.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl45"><Description>
        Sample 45.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl46"><Description>
        Sample 46.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl47"><Description>
        Sample 47.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl48"><Description>
        Sample 48.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl49"><Description>
        Sample 49.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl50"><Description>
        Sample 50.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl51"><Description>
        Sample 51.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl52"><Description>
        Sample 52.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl53"><Description>
        Sample 53.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl54"><Description>
        Sample 54.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl55"><Description>
        Sample 55.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl56"><Description>
        Sample 56.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl57"><Description>
        Sample 57.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl58"><Description>
        Sample 58.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl59"><Description>
        Sample 59.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempDiffFromPeakChl60"><Description>
        Sample 60.
    </Description><Units:kelvin/><Value>NaN</Value></DefineArg>

    <DefineArg Name="TempCommon"><Description>
        Value common to all samples unless set diffently: pre-designated
        temperature. If NaN, will use temp diff from chl-peak temp.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp1"><Description>
        Sample 1. Pre-designated temperature. If NaN, will use temp diff from
        chl-peak temp.
<!--debug   
    </Description><Units:celsius/><Value>12.5</Value></DefineArg>
-->
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp2"><Description>
        Sample 2.
<!--debug      
    </Description><Units:celsius/><Value>13.0</Value></DefineArg>
-->
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp3"><Description>
        Sample 3.
<!--debug
    </Description><Units:celsius/><Value>15.0</Value></DefineArg>
-->
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp4"><Description>
        Sample 4.
<!--debug
    </Description><Units:celsius/><Value>14.0</Value></DefineArg>
-->
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp5"><Description>
        Sample 5.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp6"><Description>
        Sample 6.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp7"><Description>
        Sample 7.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp8"><Description>
        Sample 8.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp9"><Description>
        Sample 9.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp10"><Description>
        Sample 10.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp11"><Description>
        Sample 11.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp12"><Description>
        Sample 12.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp13"><Description>
        Sample 13.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp14"><Description>
        Sample 14.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp15"><Description>
        Sample 15.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp16"><Description>
        Sample 16.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp17"><Description>
        Sample 17.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp18"><Description>
        Sample 18.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp19"><Description>
        Sample 19.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp20"><Description>
        Sample 20.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp21"><Description>
        Sample 21.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp22"><Description>
        Sample 22.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp23"><Description>
        Sample 23.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp24"><Description>
        Sample 24.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp25"><Description>
        Sample 25.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp26"><Description>
        Sample 26.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp27"><Description>
        Sample 27.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp28"><Description>
        Sample 28.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp29"><Description>
        Sample 29.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp30"><Description>
        Sample 30.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp31"><Description>
        Sample 31.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp32"><Description>
        Sample 32.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp33"><Description>
        Sample 33.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp34"><Description>
        Sample 34.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp35"><Description>
        Sample 35.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp36"><Description>
        Sample 36.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp37"><Description>
        Sample 37.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp38"><Description>
        Sample 38.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp39"><Description>
        Sample 39.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp40"><Description>
        Sample 40.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp41"><Description>
        Sample 41.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp42"><Description>
        Sample 42.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp43"><Description>
        Sample 43.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp44"><Description>
        Sample 44.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp45"><Description>
        Sample 45.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp46"><Description>
        Sample 46.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp47"><Description>
        Sample 47.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp48"><Description>
        Sample 48.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp49"><Description>
        Sample 49.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp50"><Description>
        Sample 50.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp51"><Description>
        Sample 51.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp52"><Description>
        Sample 52.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp53"><Description>
        Sample 53.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp54"><Description>
        Sample 54.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp55"><Description>
        Sample 55.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp56"><Description>
        Sample 56.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp57"><Description>
        Sample 57.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp58"><Description>
        Sample 58.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp59"><Description>
        Sample 59.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Temp60"><Description>
        Sample 60.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChlCommon"><Description>
        Value common to all samples unless set diffently: Depth difference
        (positive: deeper; negative: shallower) from the peak-chl depth for
        taking comparison samples. Initialized to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="DepDiffFromPeakChl1"><Description>
        Sample 1. Depth difference (positive: deeper; negative: shallower) from
        the peak-chl depth for taking comparison samples. Initialized to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="DepDiffFromPeakChl2"><Description>
        Sample 2.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>2.0</Value></DefineArg>
-->

    <DefineArg Name="DepDiffFromPeakChl3"><Description>
        Sample 3.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl4"><Description>
        Sample 4.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl5"><Description>
        Sample 5.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl6"><Description>
        Sample 6.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl7"><Description>
        Sample 7.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl8"><Description>
        Sample 8.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl9"><Description>
        Sample 9.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl10"><Description>
        Sample 10.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl11"><Description>
        Sample 11.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl12"><Description>
        Sample 12.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl13"><Description>
        Sample 13.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl14"><Description>
        Sample 14.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl15"><Description>
        Sample 15.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl16"><Description>
        Sample 16.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl17"><Description>
        Sample 17.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl18"><Description>
        Sample 18.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl19"><Description>
        Sample 19.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl20"><Description>
        Sample 20.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl21"><Description>
        Sample 21.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl22"><Description>
        Sample 22.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl23"><Description>
        Sample 23.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl24"><Description>
        Sample 24.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl25"><Description>
        Sample 25.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl26"><Description>
        Sample 26.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl27"><Description>
        Sample 27.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl28"><Description>
        Sample 28.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl29"><Description>
        Sample 29.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl30"><Description>
        Sample 30.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl31"><Description>
        Sample 31.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl32"><Description>
        Sample 32.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl33"><Description>
        Sample 33.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl34"><Description>
        Sample 34.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl35"><Description>
        Sample 35.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl36"><Description>
        Sample 36.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl37"><Description>
        Sample 37.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl38"><Description>
        Sample 38.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl39"><Description>
        Sample 39.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl40"><Description>
        Sample 40.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl41"><Description>
        Sample 41.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl42"><Description>
        Sample 42.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl43"><Description>
        Sample 43.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl44"><Description>
        Sample 44.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl45"><Description>
        Sample 45.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl46"><Description>
        Sample 46.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl47"><Description>
        Sample 47.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl48"><Description>
        Sample 48.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl49"><Description>
        Sample 49.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl50"><Description>
        Sample 50.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl51"><Description>
        Sample 51.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl52"><Description>
        Sample 52.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl53"><Description>
        Sample 53.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl54"><Description>
        Sample 54.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl55"><Description>
        Sample 55.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl56"><Description>
        Sample 56.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl57"><Description>
        Sample 57.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl58"><Description>
        Sample 58.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl59"><Description>
        Sample 59.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepDiffFromPeakChl60"><Description>
        Sample 60.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DepCommon"><Description>
        Value common to all samples unless set diffently: Pre-designated depth.
        If NaN, will use vertical distance from chl-peak depth.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep1"><Description>
        Sample 1. Pre-designated depth. If NaN, will use vertical distance from
        chl-peak depth.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="Dep2"><Description>
        Sample 2.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:meter/><Value>15.0</Value></DefineArg>
-->

    <DefineArg Name="Dep3"><Description>
        Sample 3.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:meter/><Value>25.0</Value></DefineArg>
-->

    <DefineArg Name="Dep4"><Description>
        Sample 4.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep5"><Description>
        Sample 5.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep6"><Description>
        Sample 6.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep7"><Description>
        Sample 7.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep8"><Description>
        Sample 8.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep9"><Description>
        Sample 9.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep10"><Description>
        Sample 10.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep11"><Description>
        Sample 11.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep12"><Description>
        Sample 12.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep13"><Description>
        Sample 13.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep14"><Description>
        Sample 14.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep15"><Description>
        Sample 15.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep16"><Description>
        Sample 16.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep17"><Description>
        Sample 17.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep18"><Description>
        Sample 18.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep19"><Description>
        Sample 19.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep20"><Description>
        Sample 20.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep21"><Description>
        Sample 21.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep22"><Description>
        Sample 22.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep23"><Description>
        Sample 23.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep24"><Description>
        Sample 24.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep25"><Description>
        Sample 25.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep26"><Description>
        Sample 26.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep27"><Description>
        Sample 27.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep28"><Description>
        Sample 28.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep29"><Description>
        Sample 29.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep30"><Description>
        Sample 30.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep31"><Description>
        Sample 31.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep32"><Description>
        Sample 32.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep33"><Description>
        Sample 33.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep34"><Description>
        Sample 34.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep35"><Description>
        Sample 35.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep36"><Description>
        Sample 36.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep37"><Description>
        Sample 37.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep38"><Description>
        Sample 38.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep39"><Description>
        Sample 39.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep40"><Description>
        Sample 40.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep41"><Description>
        Sample 41.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep42"><Description>
        Sample 42.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep43"><Description>
        Sample 43.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep44"><Description>
        Sample 44.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep45"><Description>
        Sample 45.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep46"><Description>
        Sample 46.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep47"><Description>
        Sample 47.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep48"><Description>
        Sample 48.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep49"><Description>
        Sample 49.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep50"><Description>
        Sample 50.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep51"><Description>
        Sample 51.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep52"><Description>
        Sample 52.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep53"><Description>
        Sample 53.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep54"><Description>
        Sample 54.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep55"><Description>
        Sample 55.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep56"><Description>
        Sample 56.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep57"><Description>
        Sample 57.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep58"><Description>
        Sample 58.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep59"><Description>
        Sample 59.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Dep60"><Description>
        Sample 60.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulationCommon"><Description>
        Value common to all samples unless set differently: Wait duration for
        the depth undulation to damp down.
    </Description><Units:minute/><Value>5.0</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation1"><Description>
        Sample 1. Wait duration for the depth undulation to damp down.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

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

    <DefineArg Name="WaitDepUndulation2"><Description>
        Sample 2.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation3"><Description>
        Sample 3.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation4"><Description>
        Sample 4.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation5"><Description>
        Sample 5.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation6"><Description>
        Sample 6.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation7"><Description>
        Sample 7.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation8"><Description>
        Sample 8.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation9"><Description>
        Sample 9.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation10"><Description>
        Sample 10.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation11"><Description>
        Sample 11.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation12"><Description>
        Sample 12.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation13"><Description>
        Sample 13.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation14"><Description>
        Sample 14.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation15"><Description>
        Sample 15.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation16"><Description>
        Sample 16.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation17"><Description>
        Sample 17.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation18"><Description>
        Sample 18.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation19"><Description>
        Sample 19.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation20"><Description>
        Sample 20.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation21"><Description>
        Sample 21.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation22"><Description>
        Sample 22.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation23"><Description>
        Sample 23.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation24"><Description>
        Sample 24.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation25"><Description>
        Sample 25.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation26"><Description>
        Sample 26.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation27"><Description>
        Sample 27.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation28"><Description>
        Sample 28.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation29"><Description>
        Sample 29.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation30"><Description>
        Sample 30.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation31"><Description>
        Sample 31.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation32"><Description>
        Sample 32.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation33"><Description>
        Sample 33.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation34"><Description>
        Sample 34.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation35"><Description>
        Sample 35.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation36"><Description>
        Sample 36.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation37"><Description>
        Sample 37.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation38"><Description>
        Sample 38.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation39"><Description>
        Sample 39.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation40"><Description>
        Sample 40.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation41"><Description>
        Sample 41.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation42"><Description>
        Sample 42.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation43"><Description>
        Sample 43.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation44"><Description>
        Sample 44.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation45"><Description>
        Sample 45.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation46"><Description>
        Sample 46.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation47"><Description>
        Sample 47.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation48"><Description>
        Sample 48.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation49"><Description>
        Sample 49.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation50"><Description>
        Sample 50.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation51"><Description>
        Sample 51.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation52"><Description>
        Sample 52.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation53"><Description>
        Sample 53.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation54"><Description>
        Sample 54.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation55"><Description>
        Sample 55.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation56"><Description>
        Sample 56.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation57"><Description>
        Sample 57.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation58"><Description>
        Sample 58.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation59"><Description>
        Sample 59.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitDepUndulation60"><Description>
        Sample 60.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Reacq1"><Description>
        Sample 1. Before sampling, maneuver vertically to reacquire chl peak
        (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq2"><Description>
        Sample 2.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq3"><Description>
        Sample 3.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq4"><Description>
        Sample 4.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq5"><Description>
        Sample 5.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq6"><Description>
        Sample 6.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq7"><Description>
        Sample 7.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq8"><Description>
        Sample 8.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq9"><Description>
        Sample 9.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq10"><Description>
        Sample 10.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq11"><Description>
        Sample 11.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq12"><Description>
        Sample 12.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq13"><Description>
        Sample 13.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq14"><Description>
        Sample 14.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq15"><Description>
        Sample 15.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq16"><Description>
        Sample 16.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq17"><Description>
        Sample 17.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq18"><Description>
        Sample 18.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq19"><Description>
        Sample 19.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq20"><Description>
        Sample 20.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq21"><Description>
        Sample 21.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq22"><Description>
        Sample 22.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq23"><Description>
        Sample 23.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq24"><Description>
        Sample 24.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq25"><Description>
        Sample 25.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq26"><Description>
        Sample 26.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq27"><Description>
        Sample 27.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq28"><Description>
        Sample 28.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq29"><Description>
        Sample 29.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq30"><Description>
        Sample 30.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq31"><Description>
        Sample 31.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq32"><Description>
        Sample 32.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq33"><Description>
        Sample 33.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq34"><Description>
        Sample 34.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq35"><Description>
        Sample 35.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq36"><Description>
        Sample 36.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq37"><Description>
        Sample 37.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq38"><Description>
        Sample 38.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq39"><Description>
        Sample 39.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq40"><Description>
        Sample 40.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq41"><Description>
        Sample 41.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq42"><Description>
        Sample 42.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq43"><Description>
        Sample 43.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq44"><Description>
        Sample 44.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq45"><Description>
        Sample 45.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq46"><Description>
        Sample 46.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq47"><Description>
        Sample 47.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq48"><Description>
        Sample 48.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq49"><Description>
        Sample 49.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq50"><Description>
        Sample 50.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq51"><Description>
        Sample 51.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq52"><Description>
        Sample 52.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq53"><Description>
        Sample 53.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq54"><Description>
        Sample 54.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq55"><Description>
        Sample 55.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq56"><Description>
        Sample 56.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq57"><Description>
        Sample 57.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq58"><Description>
        Sample 58.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq59"><Description>
        Sample 59.
    </Description><False/></DefineArg>

    <DefineArg Name="Reacq60"><Description>
        Sample 60.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface1"><Description>
        Sample 1. When sampling is completed, go to surface to report
        (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface2"><Description>
        Sample 2.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface3"><Description>
        Sample 3.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface4"><Description>
        Sample 4.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface5"><Description>
        Sample 5.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface6"><Description>
        Sample 6.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface7"><Description>
        Sample 7.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface8"><Description>
        Sample 8.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface9"><Description>
        Sample 9.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface10"><Description>
        Sample 10.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface11"><Description>
        Sample 11.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface12"><Description>
        Sample 12.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface13"><Description>
        Sample 13.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface14"><Description>
        Sample 14.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface15"><Description>
        Sample 15.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface16"><Description>
        Sample 16.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface17"><Description>
        Sample 17.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface18"><Description>
        Sample 18.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface19"><Description>
        Sample 19.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface20"><Description>
        Sample 20.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface21"><Description>
        Sample 21.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface22"><Description>
        Sample 22.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface23"><Description>
        Sample 23.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface24"><Description>
        Sample 24.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface25"><Description>
        Sample 25.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface26"><Description>
        Sample 26.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface27"><Description>
        Sample 27.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface28"><Description>
        Sample 28.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface29"><Description>
        Sample 29.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface30"><Description>
        Sample 30.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface31"><Description>
        Sample 31.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface32"><Description>
        Sample 32.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface33"><Description>
        Sample 33.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface34"><Description>
        Sample 34.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface35"><Description>
        Sample 35.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface36"><Description>
        Sample 36.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface37"><Description>
        Sample 37.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface38"><Description>
        Sample 38.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface39"><Description>
        Sample 39.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface40"><Description>
        Sample 40.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface41"><Description>
        Sample 41.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface42"><Description>
        Sample 42.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface43"><Description>
        Sample 43.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface44"><Description>
        Sample 44.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface45"><Description>
        Sample 45.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface46"><Description>
        Sample 46.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface47"><Description>
        Sample 47.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface48"><Description>
        Sample 48.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface49"><Description>
        Sample 49.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface50"><Description>
        Sample 50.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface51"><Description>
        Sample 51.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface52"><Description>
        Sample 52.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface53"><Description>
        Sample 53.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface54"><Description>
        Sample 54.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface55"><Description>
        Sample 55.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface56"><Description>
        Sample 56.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface57"><Description>
        Sample 57.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface58"><Description>
        Sample 58.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface59"><Description>
        Sample 59.
    </Description><False/></DefineArg>

    <DefineArg Name="RptSurface60"><Description>
        Sample 60.
    </Description><False/></DefineArg>

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

    <DefineArg Name="UpRate"><Description>
        Go-up depth rate (Negative depth rate means going up).
    </Description><Units:meter_per_second/><Value>-0.05</Value></DefineArg>

    <DefineArg Name="DownRate"><Description>
        Go-down depth rate (Positive depth rate means going down).
    </Description><Units:meter_per_second/><Value>0.2</Value></DefineArg>

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

    <DefineArg Name="IntervalRestartLogs"><Description></Description><Units:hour/><Value>24</Value></DefineArg>

    <DefineArg Name="UseCANONSampler"><Description>
        Whether to use CANON Sampler to sample.
    </Description><Science:CANONSampler.loadAtStartup/></DefineArg>

    <DefineArg Name="UseESP"><Description>
        Whether to use ESP to sample.
    </Description><Science:ESPComponent.loadAtStartup/></DefineArg>

    <DefineArg Name="CANONSamplerTriggerTimeout"><Description>
        How long to wait for a CANON Sampler sample to start.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="CANONSamplerTimeout"><Description>
        How long to wait for a CANON Sampler sample to complete.
    </Description><Science:CANONSampler.sampleTimeout/></DefineArg>

    <DefineArg Name="VerticalPerturbation"><Description>
        Vertical perturbation (going up or down) for reacquiring the peak.
    </Description><Units:meter/><Value>6.0</Value></DefineArg>

    <DefineArg Name="RiseFromTurningDepth"><Description>
        The peak chl detected on the initial dive is reported when the vehicle
        has turned from the deepest depth (i.e., the turning depth) onto the
        ascending profile at a depth that is RiseFromDeepTurningPoint shallower
        than the turning depth. For robustness, RiseFromTurningDepth =
        DepChangeThreshAttitudeFlip + 2 meters.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="DepChangeThreshAttitudeFlip"><Description>
        Depth change threshold for determining vehicle attitude flip.
    </Description><Units:meter/><Value>3</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><False/></DefineArg>

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

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

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

    <DefineArg Name="NumberOfProfilesSlidingwindow"><Description>
        Length of horizontal sliding window. Picks the highest yoyo-wise chl
        peak (after low-pass filtering by a filter of length
        FilterWidthHorizontal) within this window. Ignore older highs because
        ocean is changing.
    </Description><Units:count/><Value>100</Value></DefineArg>

    <DefineArg Name="LPWindowLength"><Description>
        Low-pass window length (based on depth sensor sampling interval 0.4
        second) for low-pass filtering.
    </Description><Units:count/><Value>20</Value></DefineArg>

    <DefineArg Name="MedianFilterLength"><Description>
        Median filter length (only for chlorophyll fluorescence which tends to
        have spikes). The median-filtered signal enters the succeeding low-pass
        filter. If set to 1, then no median filtering, i.e., the raw
        fluorescence signal directly enters the low-pass filter.
    </Description><Units:count/><Value>5</Value></DefineArg>

<!--debug
    </Description><Units:count/><Value>1</Value></DefineArg>
-->

    <DefineArg Name="GainProportional"><Description>
        Proportional gain for temperature holding control loop.
    </Description><Units:none/><Value>1</Value></DefineArg>

<!--debug
    </Description><Units:none/><Value>2</Value></DefineArg>
-->

    <DefineArg Name="GainIntegral"><Description>
        Integral gain for temperature holding control loop.
    </Description><Units:none/><Value>0</Value></DefineArg>

<!--debug
    </Description><Units:none/><Value>0.75</Value></DefineArg>
-->

    <DefineArg Name="GainDerivative"><Description>
        Derivative gain for temperature holding control loop.
    </Description><Units:none/><Value>0</Value></DefineArg>

    <DefineArg Name="VariationPerMeter"><Description>
        Expected temperature change per meter.
<!--debug
    </Description><Units:reciprocal_meter/><Value>0.25</Value></DefineArg>
    </Description><Units:reciprocal_meter/><Value>0.01</Value></DefineArg>
-->
    </Description><Units:reciprocal_meter/><Value>0.2</Value></DefineArg>

    <DefineArg Name="BuoyDiveAccel"><Description>
        In buoyancy-only mode, maxBuoyDiveAccel needs to be set at least an
        order of magnitude higher than that in Control.cfg.
    </Description><Units:meter_per_second_squared/><Value>0.0025</Value></DefineArg>

    <DefineArg Name="SurfacePitch"><Description>
        Pitch to maintain while ascending
    </Description><Units:degree/><Value>20</Value></DefineArg>

    <DefineArg Name="SurfaceDepthRate"><Description>
        Depth rate to maintain while ascending. Set to NaN if using pitch
    </Description><Units:meter_per_second/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Set to NaN mm for active
        mass position
    </Description><Control:VerticalControl.massDefault/></DefineArg>

<!-- Internal variables that you should not change -->

    <DefineOutput Name="SetFinalWaypointToWaypoint1Completed"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SetFinalWaypointToWaypoint2Completed"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SetFinalWaypointToWaypoint3Completed"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SetFinalWaypointToWaypoint4Completed"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

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

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

    <DefineOutput Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior. Program will set to
        TransitYoYoMinDepth, and then CylinderYoYoMinDep, and then possibly
        LeaveWallOrShoreYoYoMinDep.
    </Description><Units:meter/><Value>4.5</Value></DefineOutput>

    <DefineOutput Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior. Program will set to
        TransitYoYoMaxDepth, and then CylinderYoYoMaxDep, and then possibly
        LeaveWallOrShoreYoYoMaxDep.
    </Description><Units:meter/><Value>27</Value></DefineOutput>

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

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

    <DefineOutput Name="WaypointLat"><Description>
        Latitude of cylinder center if set to a waypoint. Initialized to NaN.
    </Description><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="WaypointLon"><Description>
        Longitude of cylinder center if set to a waypoint. Initialized to NaN.
    </Description><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="TempSet"><Description>
        Temperature for sampling. Initialized to NaN.
    </Description><Units:kelvin/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="TempDesignated"><Description>
        Temperature if pre-designated. Initialized to NaN.
    </Description><Units:kelvin/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="TempIndividual"><Description>
        Initialized to NaN.
    </Description><Units:kelvin/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="TempDiffFromPeakChl"><Description>
        Temp difference if setting relative to peak-chl temperature. Initialized
        to NaN.
    </Description><Units:kelvin/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="TempDiffFromPeakChlIndividual"><Description>
        Initialized to NaN.
    </Description><Units:kelvin/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="DepthSet"><Description>
        Depth for sampling. Initialized to 10 m.
    </Description><Units:meter/><Value>10.0</Value></DefineOutput>

    <DefineOutput Name="DepthDesignated"><Description>
        Depth if pre-designated. Initialized to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="DepIndividual"><Description>
        Initialized to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="DepDiffFromPeakChl"><Description>
        Depth difference (positive: deeper; negative: shallower) from the
        peak-chl depth for taking comparison samples. Initialized to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="DepDiffFromPeakChlIndividual"><Description>
        Depth difference (positive: deeper; negative: shallower) from the
        peak-chl depth for taking comparison samples. Initialized to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="WaitDepthUndulation"><Description>
        Wait duration for the depth undulation to damp down. Initialized to 10
        minutes.
    </Description><Units:minute/><Value>10.0</Value></DefineOutput>

    <DefineOutput Name="WaitDepUndulationIndividual"><Description>
        Wait duration for the depth undulation to damp down. Initialized to 10
        minutes.
    </Description><Units:minute/><Value>10.0</Value></DefineOutput>

    <DefineOutput Name="SampleCountIncreased"><Description>
        Sample count is increased.
    </Description><True/></DefineOutput>

    <DefineOutput Name="ReportAtSurface"><Description>
        When sampling is completed, go to surface to report. Initialized to
        false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="ReportAtSurfaceDone"><Description>
        Have completed surface reporting. Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="ReportAtSurfaceToUse"><Description>
        For next sample. When sampling is completed, go to surface to report.
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="ReportAtSurfaceToUseIndividual"><Description>
        For next sample. When sampling is completed, go to surface to report.
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="ReacquirePeak"><Description>
        Before sampling, maneuver vertically to reacquire chl peak. Initialized
        to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="ReacquirePeakIndividual"><Description>
        Before sampling, maneuver vertically to reacquire chl peak. Initialized
        to false.
    </Description><False/></DefineOutput>

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

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

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

    <DefineOutput Name="StoppedForBeingOutsideOfPolygon"><Description>
        Mission stopped because the vehicle is outside of the polygon.
        Initialized to False.
    </Description><False/></DefineOutput>

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

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

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

    <DefineOutput Name="MissionStartCommsCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="TransitCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="NoTransitCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="DistanceFromWallsAndShoreChecked"><Description>
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="DriveAwayFromWallOrShore"><Description>
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StartVerticalManeuver"><Description>
        Start vertical maneuver and sampling (initialized to false).
    </Description><False/></DefineOutput>

    <DefineOutput Name="Surfacing"><Description>
        Surfacing for communications (set to true when going down. Initialized
        to false).
    </Description><False/></DefineOutput>

    <DefineOutput Name="FlagTempSet"><Description>
        Flag of target temperature having been set. Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="FlagTargetDepthSet"><Description>
        Flag of target depth having been set. Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="FlagGoUp"><Description>
        Go-up flag (set to true when going up. Initialized to false).
    </Description><False/></DefineOutput>

    <DefineOutput Name="FlagGoDown"><Description>
        Go-down flag (set to true when going down. Initialized to false).
    </Description><False/></DefineOutput>

    <DefineOutput Name="FlagInitialDiveCompleted"><Description>
        Flag of initial dive completed. Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="FlagPeakChlDepthSet"><Description>
        Flag of peak-chl depth having been set (set to true when the chl-peak
        depth has been set. Initialized to false).
    </Description><False/></DefineOutput>

    <DefineOutput Name="FlagPeakChlTempSet"><Description>
        Flag of peak-chl temperature having been set (set to true when the
        chl-peak temperature has been set. Initialized to false).
    </Description><False/></DefineOutput>

    <DefineOutput Name="EnableSettingPeakDepth"><Description>
        Enables setting peak-chl depth. Initialized to true.
    </Description><True/></DefineOutput>

    <DefineOutput Name="FlagFirstDive"><Description>
        Flag of first dive to find the peak-chl (true only for the first dive;
        false afterwards).
    </Description><True/></DefineOutput>

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

    <DefineOutput Name="PeakChlDepthSet"><Description>
        Peak-chl depth detected on a dive. Initialized to 10 meters.
    </Description><Units:meter/><Value>10.0</Value></DefineOutput>

    <DefineOutput Name="PeakChlTemperatureSet"><Description>
        Peak-chl temperature detected on a dive, and set for chl-peak holding.
        Initialized to NaN.
    </Description><Units:kelvin/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PeakChlSet"><Description>
        Peak-chl value detected on a dive.
    </Description><Units:microgram_per_liter/><Value>0.0</Value></DefineOutput>

    <DefineOutput Name="SyslogGoUp"><Description>
        Flag of logging "GoUp" in syslog (initialized to false).
    </Description><False/></DefineOutput>

    <DefineOutput Name="SyslogGoDown"><Description>
        Flag of logging "GoDown" in syslog (initialized to false).
    </Description><False/></DefineOutput>

    <DefineOutput Name="CylinderLat"><Description>
        Latitude of cylinder center. Initialized to NaN.
    </Description><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="CylinderLon"><Description>
        Longitude of cylinder center. Initialized to NaN.
    </Description><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="CntSamples"><Description>
        Count of water samples (initilized to 1).
    </Description><Units:count/><Value>1</Value></DefineOutput>

    <DefineOutput Name="SendDataCntSamplesCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataESPSampleNumberCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataESPCartridgeTypeCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataESPSampleVolumeCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataCANONSampleNumberCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataSampleDepCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataSampleTempCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataSampleChlCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="SendDataAllCompleted"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="CallSendData"><Description>
        Initialized to true.
    </Description><True/></DefineOutput>

    <DefineOutput Name="TouchedDeepBoundSampler"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="TouchedDeepBoundSamplerFlagSet"><Description>
        Initialized to false.
    </Description><False/></DefineOutput>

    <DefineOutput Name="ModemID"><Description>
        Modem ID. Set to modemId1 or modemId2. Initialized to 1.
    </Description><Units:enum/><Value>1</Value></DefineOutput>

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

    <Timeout Duration="MissionTimeout"/>

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

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

    <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>

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

    <Insert Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive"><Arg Name="SampleAtPeakChl"/></RedefineArg>
        <RedefineArg Name="HighestChlPeakReportActive"><Arg Name="FindHighChlLocation"/></RedefineArg>
        <RedefineArg Name="LowPassWindowLength"><Arg Name="LPWindowLength"/></RedefineArg>
        <RedefineArg Name="MedianFilterLen"><Arg Name="MedianFilterLength"/></RedefineArg>
        <RedefineArg Name="NumProfilesSlidingwindow"><Arg Name="NumberOfProfilesSlidingwindow"/></RedefineArg>
        <RedefineArg Name="PeakShallowBound"><Arg Name="ShallowBoundChl"/></RedefineArg>
        <RedefineArg Name="PeakDeepBound"><Arg Name="DeepBoundChl"/></RedefineArg>
        <RedefineArg Name="DepChangeThreshForAttitudeFlip"><Arg Name="DepChangeThreshAttitudeFlip"/></RedefineArg>
    </Insert>

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

    <Assign><Parallel/><Control:VerticalControl.maxBuoyDiveAccel/><Arg Name="BuoyDiveAccel"/></Assign>

<!-- 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>

    <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="PeakReacquisition">

        <When>
            <Called/>
        </When>

        <Aggregate Id="ReacquireChlPeak">

            <Sequence/>

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

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

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

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

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

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

            <Assign><Sequence/><Arg Name="DepthLogged"/><Universal:depth/></Assign>

            <Assign><Sequence/><Arg Name="TempLogged"/><Universal:sea_water_temperature/></Assign>

            <Assign><Sequence/><Arg Name="ChlLogged"/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Assign>

            <Syslog Severity="Important">Set FlagGoUp to true to reacquire chl peak. DepthLogged, TempLogged, ChlLogged, PeakChlDepthSet, PeakChlTemperatureSet, PeakChlSet = <Arg Name="DepthLogged"/><Units:meter/>, <Arg Name="TempLogged"/><Units:celsius/>, <Arg Name="ChlLogged"/><Units:microgram_per_liter/>, <Arg Name="PeakChlDepthSet"/><Units:meter/>, <Arg Name="PeakChlTemperatureSet"/><Units:celsius/>, <Arg Name="PeakChlSet"/><Units:microgram_per_liter/>.</Syslog>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="TriggerSampling">

        <When>
            <Called/>
        </When>

        <Aggregate Id="TriggerESP">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="DepthLogged"/><Universal:depth/></Assign>

            <Assign><Sequence/><Arg Name="TempLogged"/><Universal:sea_water_temperature/></Assign>

            <Assign><Sequence/><Arg Name="ChlLogged"/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Assign>

            <Syslog Severity="Important">Trigger sampling. DepthLogged, TempLogged, ChlLogged = <Arg Name="DepthLogged"/><Units:meter/>, <Arg Name="TempLogged"/><Units:celsius/>, <Arg Name="ChlLogged"/><Units:microgram_per_liter/>.</Syslog>

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

            <ReadDatum>
                <Science:ESPComponent.sampling/>
            </ReadDatum>

            <Syslog Severity="Important">Wait for ESP sampling to complete.</Syslog>

            <ReadDatum>
                <Science:ESPComponent.sample_number/>
            </ReadDatum>

        </Aggregate>

        <Aggregate Id="TriggerCANON">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="DepthLogged"/><Universal:depth/></Assign>

            <Assign><Sequence/><Arg Name="TempLogged"/><Universal:sea_water_temperature/></Assign>

            <Assign><Sequence/><Arg Name="ChlLogged"/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Assign>

            <Syslog Severity="Important">Trigger sampling. DepthLogged, TempLogged, ChlLogged = <Arg Name="DepthLogged"/><Units:meter/>, <Arg Name="TempLogged"/><Units:celsius/>, <Arg Name="ChlLogged"/><Units:microgram_per_liter/>.</Syslog>

            <Assign><Parallel/><Science:CANONSampler.sampleTimeout/><Arg Name="CANONSamplerTimeout"/></Assign>

            <Assign><Parallel/><Science:CANONSampler.rotateOnly/><Arg Name="CANONSamplerRotateOnly"/></Assign>

            <ReadDatum Id="TriggerCANONSampler">
                <Timeout Duration="CANONSamplerTriggerTimeout">
                    <Syslog Severity="Important">Timed out triggering CANONSampler. Stopping mission.</Syslog>
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                    </Guidance:Execute>
                </Timeout>
                <Science:CANONSampler.sampling/>
            </ReadDatum>

            <ReadDatum>
                <Timeout Duration="CANONSamplerTimeout">
                    <Syslog Severity="Important">Timed out sampling with CANONSampler. Stopping mission.</Syslog>
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                    </Guidance:Execute>
                </Timeout>
                <Science:CANONSampler.sample_number/>
            </ReadDatum>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="DampDown">

        <When>
            <Called/>
        </When>

        <Syslog Severity="Important">Wait <Arg Name="WaitDepthUndulation"/><Units:minute/> for the depth undulation to damp down.</Syslog>

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

    </Aggregate>

    <Aggregate Id="DoSendDirect">

        <When>
            <Called/>
        </When>

        <Syslog Severity="Important">ModemID = <Arg Name="ModemID"/><Units:enum/></Syslog>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
            <Setting><Sensor:SendDirect.destName/><String>_.LRAUVcntSamples</String></Setting>
            <Setting><Sensor:SendDirect.value/><IsothermDepthSampling.CntSamples/></Setting>
            <Setting><Sensor:SendDirect.unit/><String>count</String></Setting>
        </Sensor:SendDirect>

        <Syslog Severity="Important">IsothermDepthSampling.CntSamples = <IsothermDepthSampling.CntSamples/><Units:count/></Syslog>

        <Aggregate Id="SendDirectESP">

            <Sequence/>

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

            <Sensor:SendDirect>
                <Sequence/>
                <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
                <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
                <Setting><Sensor:SendDirect.destName/><String>_.ESPsampleNumber</String></Setting>
                <Setting><Sensor:SendDirect.value/><Science:ESPComponent.sample_number/></Setting>
                <Setting><Sensor:SendDirect.unit/><String>count</String></Setting>
            </Sensor:SendDirect>

            <Sensor:SendDirect>
                <Sequence/>
                <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
                <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
                <Setting><Sensor:SendDirect.destName/><String>_.ESPcartridgeType</String></Setting>
                <Setting><Sensor:SendDirect.value/><Science:ESPComponent.cartridge/></Setting>
                <Setting><Sensor:SendDirect.unit/><String>count</String></Setting>
            </Sensor:SendDirect>

            <Sensor:SendDirect>
                <Sequence/>
                <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
                <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
                <Setting><Sensor:SendDirect.destName/><String>_.ESPsampleVolume</String></Setting>
                <Setting><Sensor:SendDirect.value/><Science:ESPComponent.sampleVolume/></Setting>
                <Setting><Sensor:SendDirect.unit/><String>milliliter</String></Setting>
            </Sensor:SendDirect>

            <Syslog Severity="Important">Science:ESPComponent.sample_number = <Science:ESPComponent.sample_number/><Units:count/></Syslog>

            <Syslog Severity="Important">Science:ESPComponent.cartridge = <Science:ESPComponent.cartridge/><Units:count/></Syslog>

            <Syslog Severity="Important">Science:ESPComponent.sampleVolume = <Science:ESPComponent.sampleVolume/><Units:milliliter/></Syslog>

        </Aggregate>

        <Aggregate Id="SendDirectCANON">

            <Sequence/>

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

            <Sensor:SendDirect>
                <Sequence/>
                <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
                <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
                <Setting><Sensor:SendDirect.destName/><String>_.CANONsampleNumber</String></Setting>
                <Setting><Sensor:SendDirect.value/><Science:CANONSampler.sample_number/></Setting>
                <Setting><Sensor:SendDirect.unit/><String>count</String></Setting>
            </Sensor:SendDirect>

            <Syslog Severity="Important">Science:CANONSampler.sample_number = <Science:CANONSampler.sample_number/><Units:count/></Syslog>

        </Aggregate>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
            <Setting><Sensor:SendDirect.destName/><String>_.sampleDepth</String></Setting>
            <Setting><Sensor:SendDirect.value/><Universal:depth/></Setting>
            <Setting><Sensor:SendDirect.unit/><String>meter</String></Setting>
        </Sensor:SendDirect>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
            <Setting><Sensor:SendDirect.destName/><String>_.sampleTemperature</String></Setting>
            <Setting><Sensor:SendDirect.value/><Universal:sea_water_temperature/></Setting>
            <Setting><Sensor:SendDirect.unit/><String>celsius</String></Setting>
        </Sensor:SendDirect>

        <Sensor:SendDirect>
            <Sequence/>
            <Setting><Sensor:SendDirect.destType/><String>modem</String></Setting>
            <Setting><Sensor:SendDirect.destId/><Arg Name="ModemID"/></Setting>
            <Setting><Sensor:SendDirect.destName/><String>_.sampleChlorophyll</String></Setting>
            <Setting><Sensor:SendDirect.value/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Setting>
            <Setting><Sensor:SendDirect.unit/><String>microgram_per_liter</String></Setting>
        </Sensor:SendDirect>

        <Syslog Severity="Important">Universal:depth = <Universal:depth/><Units:meter/></Syslog>

        <Syslog Severity="Important">Universal:sea_water_temperature = <Universal:sea_water_temperature/><Units:celsius/></Syslog>

        <Syslog Severity="Important">Universal:mass_concentration_of_chlorophyll_in_sea_water = <Universal:mass_concentration_of_chlorophyll_in_sea_water/><Units:microgram_per_liter/></Syslog>

    </Aggregate>

    <Aggregate Id="SendData">

        <Sequence/>

        <When>
            <Called/>
        </When>

        <Aggregate Id="SendTo1Modem">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="ModemID"/><Arg Name="modemId1"/></Assign>

            <Syslog Severity="Important">Set ModemID to <Arg Name="ModemID"/><Units:enum/>.</Syslog>

            <Call RefId="DoSendDirect"/>

        </Aggregate>

        <Aggregate Id="SendTo2Modems">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="ModemID"/><Arg Name="modemId1"/></Assign>

            <Syslog Severity="Important">Set ModemID to <Arg Name="ModemID"/><Units:enum/>.</Syslog>

            <Call RefId="DoSendDirect"/>

            <Assign><Sequence/><Arg Name="ModemID"/><Arg Name="modemId2"/></Assign>

            <Syslog Severity="Important">Set ModemID to <Arg Name="ModemID"/><Units:enum/>.</Syslog>

            <Call RefId="DoSendDirect"/>

        </Aggregate>

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

    </Aggregate>

    <Aggregate Id="SetSampleOptions">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SettingCartridgeTypeIndividual">

            <Sequence/>

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

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

        </Aggregate>

        <Aggregate Id="SettingCartridgeTypeCommon">

            <Sequence/>

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

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

        </Aggregate>

        <Aggregate Id="SettingTempDiffFromPeakChlIndividual">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChl"/><Arg Name="TempDiffFromPeakChlIndividual"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingTempDiffFromPeakChlCommon">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChl"/><Arg Name="TempDiffFromPeakChlCommon"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingDepDiffFromPeakChlIndividual">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChl"/><Arg Name="DepDiffFromPeakChlIndividual"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingDepDiffFromPeakChlCommon">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChl"/><Arg Name="DepDiffFromPeakChlCommon"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingDepIndividual">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="DepthDesignated"/><Arg Name="DepIndividual"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingDepCommon">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="DepthDesignated"/><Arg Name="DepCommon"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingTempIndividual">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="TempDesignated"/><Arg Name="TempIndividual"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingTempCommon">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="TempDesignated"/><Arg Name="TempCommon"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingWaitIndividual">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulationIndividual"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingWaitCommon">

            <Sequence/>

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

            <Assign><Sequence/><Arg Name="WaitDepthUndulation"/><Arg Name="WaitDepUndulationCommon"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingRptSufaceAndReacq">

            <Sequence/>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUse"/><Arg Name="ReportAtSurfaceToUseIndividual"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeak"/><Arg Name="ReacquirePeakIndividual"/></Assign>

        </Aggregate>

        <Syslog Severity="Important">Set CartridgeType (if ESP), TempDiffFromPeakChl, DepDiffFromPeakChl, TempDesignated, DepthDesignated, WaitDepthUndulation to <Arg Name="CartridgeType"/><Units:count/>, <Arg Name="TempDiffFromPeakChl"/><Units:kelvin/>, <Arg Name="DepDiffFromPeakChl"/><Units:meter/>, <Arg Name="TempDesignated"/><Units:celsius/>, <Arg Name="DepthDesignated"/><Units:meter/>, <Arg Name="WaitDepthUndulation"/><Units:minute/>.</Syslog>

    </Aggregate>

<!-- Automatically restart logs -->

    <Aggregate Id="CycleLogs">

        <Parallel/>

        <Aggregate>

            <Sequence/>

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

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

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="MissionStart">

        <Sequence/>

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

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

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

    </Aggregate>

    <Aggregate Id="TransitToSamplingLocationComms">

        <Sequence/>

        <When>
            <Arg Name="MissionStartCommsCompleted"/>
            <And><Arg Name="CommsAtEndOfTransit"/></And>
            <And><Not><Arg Name="TransitCompleted"/></Not></And>
        </When>

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

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

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

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

        <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="Lap">

            <Sequence Repeat="RepeatTransects"/>

            <Aggregate Id="Wpt1">

                <Sequence/>

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

                <Aggregate Id="SetFinalWaypointToWaypoint1">

                    <When>
                        <Arg Name="Lat1"/>
                        <Ge><Units:degree/><Value>0</Value></Ge>
                        <Or><Arg Name="Lat1"/><Lt><Units:degree/><Value>0</Value></Lt></Or>
                        <And><Arg Name="Lon1"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="Lon1"/><Lt><Units:degree/><Value>0</Value></Lt></Or></And>
                    </When>

                    <Break><Arg Name="SetFinalWaypointToWaypoint1Completed"/>
                    </Break>

                    <Assign><Sequence/><Arg Name="WaypointLat"/><Arg Name="Lat1"/></Assign>

                    <Assign><Sequence/><Arg Name="WaypointLon"/><Arg Name="Lon1"/></Assign>

                    <Assign><Sequence/><Arg Name="SetFinalWaypointToWaypoint1Completed"/><True/></Assign>

                </Aggregate>

            </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 Id="SetFinalWaypointToWaypoint2">

                    <Sequence/>

                    <When>
                        <Arg Name="Lat2"/>
                        <Ge><Units:degree/><Value>0</Value></Ge>
                        <Or><Arg Name="Lat2"/><Lt><Units:degree/><Value>0</Value></Lt></Or>
                        <And><Arg Name="Lon2"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="Lon2"/><Lt><Units:degree/><Value>0</Value></Lt></Or></And>
                    </When>

                    <Break><Arg Name="SetFinalWaypointToWaypoint2Completed"/>
                    </Break>

                    <Assign><Sequence/><Arg Name="WaypointLat"/><Arg Name="Lat2"/></Assign>

                    <Assign><Sequence/><Arg Name="WaypointLon"/><Arg Name="Lon2"/></Assign>

                    <Assign><Sequence/><Arg Name="SetFinalWaypointToWaypoint2Completed"/><True/></Assign>

                </Aggregate>

            </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 Id="SetFinalWaypointToWaypoint3">

                    <Sequence/>

                    <When>
                        <Arg Name="Lat3"/>
                        <Ge><Units:degree/><Value>0</Value></Ge>
                        <Or><Arg Name="Lat3"/><Lt><Units:degree/><Value>0</Value></Lt></Or>
                        <And><Arg Name="Lon3"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="Lon3"/><Lt><Units:degree/><Value>0</Value></Lt></Or></And>
                    </When>

                    <Break><Arg Name="SetFinalWaypointToWaypoint3Completed"/>
                    </Break>

                    <Assign><Sequence/><Arg Name="WaypointLat"/><Arg Name="Lat3"/></Assign>

                    <Assign><Sequence/><Arg Name="WaypointLon"/><Arg Name="Lon3"/></Assign>

                    <Assign><Sequence/><Arg Name="SetFinalWaypointToWaypoint3Completed"/><True/></Assign>

                </Aggregate>

            </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 Id="SetFinalWaypointToWaypoint4">

                    <Sequence/>

                    <When>
                        <Arg Name="Lat4"/>
                        <Ge><Units:degree/><Value>0</Value></Ge>
                        <Or><Arg Name="Lat4"/><Lt><Units:degree/><Value>0</Value></Lt></Or>
                        <And><Arg Name="Lon4"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="Lon4"/><Lt><Units:degree/><Value>0</Value></Lt></Or></And>
                    </When>

                    <Break><Arg Name="SetFinalWaypointToWaypoint4Completed"/>
                    </Break>

                    <Assign><Sequence/><Arg Name="WaypointLat"/><Arg Name="Lat4"/></Assign>

                    <Assign><Sequence/><Arg Name="WaypointLon"/><Arg Name="Lon4"/></Assign>

                    <Assign><Sequence/><Arg Name="SetFinalWaypointToWaypoint4Completed"/><True/></Assign>

                </Aggregate>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="SetCylinderCenterToWaypoint">

            <Sequence/>

            <Break>
                <Not><Arg Name="CylinderYoYo"/></Not>
                <Or><Arg Name="FindHighChlLocation"/></Or>
            </Break>

            <Assign><Sequence/><Arg Name="CylinderLat"/><Arg Name="WaypointLat"/></Assign>

            <Assign><Sequence/><Arg Name="CylinderLon"/><Arg Name="WaypointLon"/></Assign>

            <Syslog Severity="Important">Set cylinder center to Waypoint <Arg Name="CylinderLat"/><Units:degree/>,<Arg Name="CylinderLon"/><Units:degree/>.</Syslog>

        </Aggregate>

        <Aggregate Id="SetCylinderCenterToHiChlLocation">

            <Sequence/>

            <Break>
                <Not><Arg Name="CylinderYoYo"/></Not>
                <Or><Not><Arg Name="FindHighChlLocation"/></Not></Or>
                <Or><IsNaN><Arg Name="Science:PatchChlLatitude"/>
                </IsNaN></Or>
                <Or><IsNaN><Arg Name="Science:PatchChlLongitude"/>
                </IsNaN></Or>
            </Break>

            <Assign><Sequence/><Arg Name="CylinderLat"/><Arg Name="Science:PatchChlLatitude"/></Assign>

            <Assign><Sequence/><Arg Name="CylinderLon"/><Arg Name="Science:PatchChlLongitude"/></Assign>

            <Syslog Severity="Important">Set cylinder center to hi-chl location <Arg Name="CylinderLat"/><Units:degree/>,<Arg Name="CylinderLon"/><Units:degree/>,<Arg Name="Science:PatchChl"/><Units:microgram_per_liter/>.</Syslog>

        </Aggregate>

        <Aggregate Id="CylinderYoYoAroundSamplingLocation">

            <Sequence/>

            <Timeout Duration="CylinderTimeout"/>

            <Aggregate Id="CylinderIfNonNaNLatLon">

                <Sequence/>

                <Break>
                    <Not><Arg Name="CylinderYoYo"/></Not>
                    <Or><IsNaN><Arg Name="CylinderLat"/>
                    </IsNaN></Or>
                    <Or><IsNaN><Arg Name="CylinderLon"/>
                    </IsNaN></Or>
                </Break>

                <Syslog Severity="Important">Yoyo profile on a cylinder around sampling location <Arg Name="CylinderLat"/><Units:degree/>,<Arg Name="CylinderLon"/><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="CylinderLat"/></Setting>
                        <Setting><Guidance:Circle.longitude/><Arg Name="CylinderLon"/></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>

        </Aggregate>

        <Aggregate Id="GoToCylinderCenter">

            <Sequence/>

            <Break>
                <Not><Arg Name="CylinderYoYo"/></Not>
                <Or><IsNaN><Arg Name="CylinderLat"/>
                </IsNaN></Or>
                <Or><IsNaN><Arg Name="CylinderLon"/>
                </IsNaN></Or>
            </Break>

            <Syslog Severity="Important">Go to cylinder center (i.e., sampling location): <Arg Name="CylinderLat"/><Units:degree/>,<Arg Name="CylinderLon"/><Units:degree/></Syslog>

            <Guidance:Waypoint Id="ToCylinderCenter">
                <Sequence/>
                <Setting><Guidance:Waypoint.latitude/><Arg Name="CylinderLat"/></Setting>
                <Setting><Guidance:Waypoint.longitude/><Arg Name="CylinderLon"/></Setting>
            </Guidance:Waypoint>

        </Aggregate>

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

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

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

        <Aggregate Id="TransitCommsSetFlagGoDown">

            <Sequence/>

            <Break>
                <Not><Arg Name="SampleAtPeakChl"/></Not>
                <Or><IsNaN><Arg Name="TempDiffFromPeakChl1"/>
                </IsNaN><And><IsNaN><Arg Name="TempDiffFromPeakChlCommon"/>
                </IsNaN></And><And><IsNaN><Arg Name="DepDiffFromPeakChl1"/>
                </IsNaN></And><And><IsNaN><Arg Name="DepDiffFromPeakChlCommon"/>
                </IsNaN></And></Or>
            </Break>

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

        </Aggregate>

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

    </Aggregate>

    <Aggregate Id="TransitToSamplingLocationNoCommsOrNoTransit">

        <Sequence/>

        <When>
            <Arg Name="MissionStartCommsCompleted"/>
            <And><Not><Arg Name="CommsAtEndOfTransit"/></Not></And>
            <And><Not><Arg Name="TransitCompleted"/></Not></And>
        </When>

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

        <Aggregate Id="Wpt1NoComms">

            <Sequence/>

            <Break>
                <Not><Arg Name="Lat1"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="Lat1"/><Lt><Units:degree/><Value>0</Value></Lt></Or><And><Arg Name="Lon1"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="Lon1"/><Lt><Units:degree/><Value>0</Value></Lt></Or></And></Not>
            </Break>

            <Aggregate Id="Wpt1">

                <Sequence/>

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

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

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

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

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

            </Aggregate>

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

<!--Go to surface to be prepared for the intial dive for finding the chl peak in the vertical domain.-->

            <Guidance:GoToSurface>
                <Sequence/>
                <Setting><Guidance:GoToSurface.pitch/><Arg Name="SurfacePitch"/></Setting>
                <Setting><Guidance:GoToSurface.depthRate/><Arg Name="SurfaceDepthRate"/></Setting>
                <Setting><Guidance:GoToSurface.speed/><Arg Name="SpeedTransit"/></Setting>
            </Guidance:GoToSurface>

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

        </Aggregate>

        <Aggregate Id="NoTransit">

            <Sequence/>

            <Break><Arg Name="Lat1"/>
                <Ge><Units:degree/><Value>0</Value></Ge>
                <Or><Arg Name="Lat1"/><Lt><Units:degree/><Value>0</Value></Lt></Or>
                <And><Arg Name="Lon1"/><Ge><Units:degree/><Value>0</Value></Ge><Or><Arg Name="Lon1"/><Lt><Units:degree/><Value>0</Value></Lt></Or></And>
            </Break>

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

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

        </Aggregate>

        <Aggregate Id="TransitNoCommsOrNoTransitSetFlagGoDown">

            <Sequence/>

            <Break>
                <Not><Arg Name="SampleAtPeakChl"/></Not>
                <Or><IsNaN><Arg Name="TempDiffFromPeakChl1"/>
                </IsNaN><And><IsNaN><Arg Name="TempDiffFromPeakChlCommon"/>
                </IsNaN></And><And><IsNaN><Arg Name="DepDiffFromPeakChl1"/>
                </IsNaN></And><And><IsNaN><Arg Name="DepDiffFromPeakChlCommon"/>
                </IsNaN></And></Or>
            </Break>

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

        </Aggregate>

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

    </Aggregate>

    <Aggregate Id="StayAwayFromWallsAndShore">

        <Sequence/>

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

        <Aggregate Id="FarEnoughFromWallsAndShore">

            <When>
                <Not><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/></Not>
                <Or><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/><And><Not><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Ge><Units:meter/><Value>0.0</Value></Ge></Not><Or><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Gt><Arg Name="MinDistFromPolygonSides"/></Gt></Or></And></Or>
                <And><Universal:distance_from_shore/><Gt><Arg Name="MinOffshore"/><Add><Arg Name="MarginMinOffshore"/></Add></Gt></And>
                <And><Not><Arg Name="DistanceFromWallsAndShoreChecked"/></Not></And>
            </When>

            <Syslog Severity="Important">Far enough from walls and shore. Latitude = <Universal:latitude/><Units:degree/>, longitude = <Universal:longitude/><Units:degree/>. Distance from shore = <Universal:distance_from_shore/><Units:meter/>. OffshoreDistanceTurnBack (MinOffshore + MarginMinOffshore) = <Arg Name="MinOffshore"/><Units:meter/> + <Arg Name="MarginMinOffshore"/><Units:meter/>. Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/>. MinDistFromPolygonSides = <Arg Name="MinDistFromPolygonSides"/><Units:meter/>.</Syslog>

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

        </Aggregate>

        <Aggregate Id="LeaveWallOrShore">

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

            <When>
                <Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/>
                <And><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Le><Arg Name="MinDistFromPolygonSides"/></Le></And>
                <Or><Universal:distance_from_shore/><Le><Arg Name="MinOffshore"/><Add><Arg Name="MarginMinOffshore"/></Add></Le></Or>
            </When>

            <Syslog Severity="Important">Hitting wall or shore. Latitude = <Universal:latitude/><Units:degree/>, longitude = <Universal:longitude/><Units:degree/>. Distance from shore = <Universal:distance_from_shore/><Units:meter/>. OffshoreDistanceTurnBack (MinOffshore + MarginMinOffshore) = <Arg Name="MinOffshore"/><Units:meter/> + <Arg Name="MarginMinOffshore"/><Units:meter/>. Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/>. MinDistFromPolygonSides = <Arg Name="MinDistFromPolygonSides"/><Units:meter/>.</Syslog>

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

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

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

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

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

            <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>

            <Aggregate Id="HittingSide0">

                <Sequence/>

                <Break>
                    <Not><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/><And><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Le><Arg Name="MinDistFromPolygonSides"/></Le></And><And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>0</Value></Eq></And></Not>
                </Break>

                <Syslog Severity="Important">Drive <Arg Name="DriveFromWallOrShoreDuration"/><Units:minute/> on <Arg Name="HeadingLeavingSide0"/><Units:degree/> heading to leave the wall or the shore.</Syslog>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.heading/><Arg Name="HeadingLeavingSide0"/></Setting>
                </Guidance:Point>

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

            </Aggregate>

            <Aggregate Id="HittingSide1">

                <Break>
                    <Not><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/><And><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Le><Arg Name="MinDistFromPolygonSides"/></Le></And><And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>1</Value></Eq></And></Not>
                </Break>

                <Syslog Severity="Important">Drive <Arg Name="DriveFromWallOrShoreDuration"/><Units:minute/> on <Arg Name="HeadingLeavingSide1"/><Units:degree/> heading to leave the wall or the shore.</Syslog>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.heading/><Arg Name="HeadingLeavingSide1"/></Setting>
                </Guidance:Point>

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

            </Aggregate>

            <Aggregate Id="HittingSide2">

                <Break>
                    <Not><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/><And><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Le><Arg Name="MinDistFromPolygonSides"/></Le></And><And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>2</Value></Eq></And></Not>
                </Break>

                <Syslog Severity="Important">Drive <Arg Name="DriveFromWallOrShoreDuration"/><Units:minute/> on <Arg Name="HeadingLeavingSide2"/><Units:degree/> heading to leave the wall or the shore.</Syslog>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.heading/><Arg Name="HeadingLeavingSide2"/></Setting>
                </Guidance:Point>

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

            </Aggregate>

            <Aggregate Id="HittingSide3">

                <Break>
                    <Not><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/><And><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Le><Arg Name="MinDistFromPolygonSides"/></Le></And><And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>3</Value></Eq></And></Not>
                </Break>

                <Syslog Severity="Important">Drive <Arg Name="DriveFromWallOrShoreDuration"/><Units:minute/> on <Arg Name="HeadingLeavingSide3"/><Units:degree/> heading to leave the wall or the shore.</Syslog>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.heading/><Arg Name="HeadingLeavingSide3"/></Setting>
                </Guidance:Point>

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

            </Aggregate>

            <Aggregate Id="HittingSide4">

                <Break>
                    <Not><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/><And><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Le><Arg Name="MinDistFromPolygonSides"/></Le></And><And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>4</Value></Eq></And></Not>
                </Break>

                <Syslog Severity="Important">Drive <Arg Name="DriveFromWallOrShoreDuration"/><Units:minute/> on <Arg Name="HeadingLeavingSide4"/><Units:degree/> heading to leave the wall or the shore.</Syslog>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.heading/><Arg Name="HeadingLeavingSide4"/></Setting>
                </Guidance:Point>

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

            </Aggregate>

            <Aggregate Id="HittingSide5">

                <Break>
                    <Not><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/><And><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Le><Arg Name="MinDistFromPolygonSides"/></Le></And><And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>5</Value></Eq></And></Not>
                </Break>

                <Syslog Severity="Important">Drive <Arg Name="DriveFromWallOrShoreDuration"/><Units:minute/> on <Arg Name="HeadingLeavingSide5"/><Units:degree/> heading to leave the wall or the shore.</Syslog>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.heading/><Arg Name="HeadingLeavingSide5"/></Setting>
                </Guidance:Point>

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

            </Aggregate>

            <Aggregate Id="HittingSide6">

                <Break>
                    <Not><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/><And><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Le><Arg Name="MinDistFromPolygonSides"/></Le></And><And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>6</Value></Eq></And></Not>
                </Break>

                <Syslog Severity="Important">Drive <Arg Name="DriveFromWallOrShoreDuration"/><Units:minute/> on <Arg Name="HeadingLeavingSide6"/><Units:degree/> heading to leave the wall or the shore.</Syslog>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.heading/><Arg Name="HeadingLeavingSide6"/></Setting>
                </Guidance:Point>

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

            </Aggregate>

            <Aggregate Id="HittingSide7">

                <Break>
                    <Not><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/><And><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Le><Arg Name="MinDistFromPolygonSides"/></Le></And><And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>7</Value></Eq></And></Not>
                </Break>

                <Syslog Severity="Important">Drive <Arg Name="DriveFromWallOrShoreDuration"/><Units:minute/> on <Arg Name="HeadingLeavingSide7"/><Units:degree/> heading to leave the wall or the shore.</Syslog>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.heading/><Arg Name="HeadingLeavingSide7"/></Setting>
                </Guidance:Point>

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

            </Aggregate>

            <Aggregate Id="TooCloseToShore">

                <Break>
                    <Universal:distance_from_shore/>
                    <Gt><Arg Name="MinOffshore"/><Add><Arg Name="MarginMinOffshore"/></Add></Gt>
                </Break>

                <Syslog Severity="Important">Drive <Arg Name="DriveFromWallOrShoreDuration"/><Units:minute/> on <Arg Name="HeadingLeavingShore"/><Units:degree/> heading to leave the wall or the shore.</Syslog>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.heading/><Arg Name="HeadingLeavingShore"/></Setting>
                </Guidance:Point>

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

            </Aggregate>

            <Syslog Severity="Important">Has completed drive-away from the wall. Latitude = <Universal:latitude/><Units:degree/>, longitude = <Universal:longitude/><Units:degree/>. Distance from shore = <Universal:distance_from_shore/><Units:meter/>. Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/>.</Syslog>

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="BeforeDiving">

        <Sequence/>

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

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

        <Aggregate Id="Surface">

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

            <Guidance:GoToSurface>
                <Sequence/>
                <Setting><Guidance:GoToSurface.pitch/><Arg Name="SurfacePitch"/></Setting>
                <Setting><Guidance:GoToSurface.depthRate/><Arg Name="SurfaceDepthRate"/></Setting>
                <Setting><Guidance:GoToSurface.speed/><Arg Name="SpeedTransit"/></Setting>
            </Guidance:GoToSurface>

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

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

        </Aggregate>

        <Aggregate Id="NoNeedToSurface">

            <When>
                <Not><Arg Name="DriveAwayFromWallOrShore"/></Not>
            </When>

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

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SetSpeedRudderAngleInitialDive">

        <Sequence/>

        <When>
            <Arg Name="StartVerticalManeuver"/>
            <And><Not><Arg Name="FlagInitialDiveCompleted"/></Not></And>
            <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>1</Value></Eq></And>
            <Or><Arg Name="StartVerticalManeuver"/><And><Not><Arg Name="FlagInitialDiveCompleted"/></Not></And><And><Arg Name="ReportAtSurfaceDone"/></And></Or>
        </When>

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

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

        <Guidance:Point>
            <Parallel/>
            <Setting><Guidance:Point.rudderAngle/><Arg Name="RudderAngleInitialDive"/></Setting>
        </Guidance:Point>

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

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

    </Aggregate>

    <Aggregate Id="FindPeakChlVertical">

        <Sequence/>

        <Break><Arg Name="CntSamples"/>
            <Gt><Arg Name="NumSamplers"/></Gt>
        </Break>

        <Aggregate Id="FindPeak">

            <Sequence/>

            <While>
                <Arg Name="SampleAtPeakChl"/>
                <And><Arg Name="StartVerticalManeuver"/></And>
            </While>

            <Aggregate Id="FindPeakSpiralMode">

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

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

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.rudderAngle/><Arg Name="RudderAngleDonutSampling"/></Setting>
                </Guidance:Point>

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

            </Aggregate>

            <Aggregate Id="FindPeakDriftMode">

                <While>
                    <Not><Arg Name="SpeedSampling"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></Not>
                </While>

                <Guidance:SetSpeed>
                    <Parallel/>
                    <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.0</Value></Setting>
                </Guidance:SetSpeed>

                <Guidance:Point>
                    <Parallel/>
                    <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>0.0</Value></Setting>
                </Guidance:Point>

            </Aggregate>

            <Aggregate Id="SetDepthRateGoDown">

                <While>
                    <Arg Name="FlagGoDown"/>
                    <And><Arg Name="StartVerticalManeuver"/></And>
                </While>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depthRate/><Arg Name="DownRate"/></Setting>
                </Guidance:Pitch>

            </Aggregate>

            <Aggregate Id="SetDepthRateGoUp">

                <While>
                    <Arg Name="FlagGoUp"/>
                    <And><Arg Name="StartVerticalManeuver"/></And>
                </While>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depthRate/><Arg Name="UpRate"/></Setting>
                </Guidance:Pitch>

            </Aggregate>

            <Aggregate Id="SetFlagGoDown">

                <When>
                    <Not><Arg Name="Surfacing"/></Not>
                    <And><IsNaN><Arg Name="TempDesignated"/>
                    </IsNaN></And>
                    <And><IsNaN><Arg Name="DepthDesignated"/>
                    </IsNaN></And>
                    <And><Not><Arg Name="FlagFirstDive"/></Not></And>
                    <And><Not><Arg Name="FlagPeakChlDepthSet"/></Not></And>
                    <And><Universal:depth/><Lt><Arg Name="PeakChlDepthSet"/><Sub><Arg Name="VerticalPerturbation"/></Sub></Lt></And>
                    <And><Not><Arg Name="FlagGoDown"/></Not></And>
                    <And><Arg Name="StartVerticalManeuver"/></And>
                </When>

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

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

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

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

            </Aggregate>

            <Aggregate Id="LogGoDown">

                <When>
                    <Arg Name="FlagGoDown"/>
                    <And><Not><Arg Name="SyslogGoDown"/></Not></And>
                    <And><Arg Name="StartVerticalManeuver"/></And>
                </When>

                <Assign><Sequence/><Arg Name="DepthLogged"/><Universal:depth/></Assign>

                <Syslog Severity="Important">Go down from <Arg Name="DepthLogged"/><Units:meter/></Syslog>

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

            </Aggregate>

            <Aggregate Id="SetFlagGoUp">

                <When>
                    <Not><Arg Name="Surfacing"/></Not>
                    <And><IsNaN><Arg Name="TempDesignated"/>
                    </IsNaN></And>
                    <And><IsNaN><Arg Name="DepthDesignated"/>
                    </IsNaN></And>
                    <And><Arg Name="SampleAtPeakChl"/></And>
                    <And><Arg Name="FlagFirstDive"/></And>
                    <And><Universal:depth/><Gt><Arg Name="DeepBoundChl"/></Gt></And>
                    <And><Not><Arg Name="FlagGoUp"/></Not></And>
                    <And><Arg Name="StartVerticalManeuver"/></And>
                    <Or><Not><Arg Name="Surfacing"/></Not><And><IsNaN><Arg Name="TempDesignated"/>
                    </IsNaN></And><And><IsNaN><Arg Name="DepthDesignated"/>
                    </IsNaN></And><And><Not><Arg Name="FlagFirstDive"/></Not></And><And><Arg Name="SampleAtPeakChl"/></And><And><Not><Arg Name="FlagPeakChlDepthSet"/></Not></And><And><Universal:depth/><Gt><Arg Name="PeakChlDepthSet"/><Add><Arg Name="VerticalPerturbation"/></Add></Gt></And><And><Not><Arg Name="FlagGoUp"/></Not></And><And><Arg Name="StartVerticalManeuver"/></And></Or>
                </When>

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

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

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

            </Aggregate>

            <Aggregate Id="LogGoUp">

                <When>
                    <Arg Name="FlagGoUp"/>
                    <And><Not><Arg Name="SyslogGoUp"/></Not></And>
                    <And><Arg Name="StartVerticalManeuver"/></And>
                </When>

                <Assign><Sequence/><Arg Name="DepthLogged"/><Universal:depth/></Assign>

                <Syslog Severity="Important">Go up from <Arg Name="DepthLogged"/><Units:meter/></Syslog>

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

            </Aggregate>

            <Aggregate Id="SetChlPeakTempDepth">

                <When>
                    <Not><Arg Name="Surfacing"/></Not>
                    <And><Arg Name="FlagFirstDive"/></And>
                    <And><Arg Name="SampleAtPeakChl"/></And>
                    <And><Arg Name="EnableSettingPeakDepth"/></And>
                    <And><Not><Arg Name="FlagPeakChlDepthSet"/></Not></And>
                    <And><Arg Name="FlagGoUp"/></And>
                    <And><Universal:depth/><Lt><Arg Name="DeepBoundChl"/><Sub><Arg Name="RiseFromTurningDepth"/></Sub></Lt></And>
                    <And><Arg Name="Science:PeakChlDepth"/><Gt><Arg Name="ShallowBoundChl"/></Gt></And>
                    <And><Arg Name="StartVerticalManeuver"/></And>
                    <Or><Not><Arg Name="Surfacing"/></Not><And><Not><Arg Name="FlagFirstDive"/></Not></And><And><Arg Name="SampleAtPeakChl"/></And><And><Arg Name="EnableSettingPeakDepth"/></And><And><Not><Arg Name="FlagPeakChlDepthSet"/></Not></And><And><Arg Name="FlagGoUp"/></And><And><Universal:depth/><Lt><Arg Name="PeakChlDepthSet"/> <Add><Arg Name="VerticalPerturbation"/></Add> <Sub><Arg Name="RiseFromTurningDepth"/></Sub></Lt></And><And><Arg Name="StartVerticalManeuver"/></And></Or>
                </When>

                <Assign><Sequence/><Arg Name="PeakChlDepthSet"/><Arg Name="Science:PeakChlDepth"/></Assign>

                <Assign><Sequence/><Arg Name="PeakChlTemperatureSet"/><Arg Name="Science:PeakChlTemperature"/></Assign>

                <Assign><Sequence/><Arg Name="PeakChlSet"/><Arg Name="Science:PeakChl"/></Assign>

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

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

                <Assign><Sequence/><Arg Name="DepthLogged"/><Universal:depth/></Assign>

                <Assign><Sequence/><Arg Name="ChlLogged"/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Assign>

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

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

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

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

                <Syslog Severity="Important">Set peak-chl depth and temp. DepthLogged, ChlLogged, PeakChlDepthSet, PeakChlTemperatureSet, PeakChlSet = <Arg Name="DepthLogged"/><Units:meter/>, <Arg Name="ChlLogged"/><Units:microgram_per_liter/>, <Arg Name="PeakChlDepthSet"/><Units:meter/>, <Arg Name="PeakChlTemperatureSet"/><Units:celsius/>, <Arg Name="PeakChlSet"/><Units:microgram_per_liter/></Syslog>

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

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="ClampDepthDuringIsothermHolding">

        <Parallel/>

        <Break><Arg Name="CntSamples"/>
            <Gt><Arg Name="NumSamplers"/></Gt>
        </Break>

        <Aggregate Id="ClampToDeepBoundSampler">

            <While>
                <Arg Name="FlagTempSet"/>
                <And><Arg Name="StartVerticalManeuver"/></And>
                <And><Arg Name="TouchedDeepBoundSampler"/></And>
            </While>

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SetFlagClampDepthDuringIsothermHolding">

        <Parallel/>

        <Break><Arg Name="CntSamples"/>
            <Gt><Arg Name="NumSamplers"/></Gt>
        </Break>

        <Aggregate Id="SetFlagDeepBoundSampler">

            <When>
                <Arg Name="FlagTempSet"/>
                <And><Universal:depth/><Gt><Arg Name="DeepBoundSampler"/></Gt></And>
                <And><Not><Arg Name="TouchedDeepBoundSamplerFlagSet"/></Not></And>
            </When>

            <Syslog Severity="Important">Clamp depth to DeepBoundSampler = <Arg Name="DeepBoundSampler"/><Units:meter/>, because attempted temp is deeper.</Syslog>

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

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="IsothermOrDepthHolding">

        <Parallel/>

        <Break><Arg Name="CntSamples"/>
            <Gt><Arg Name="NumSamplers"/></Gt>
        </Break>

        <Aggregate Id="HoldTempInDonutMode">

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

            <While>
                <Arg Name="FlagTempSet"/>
                <And><Arg Name="StartVerticalManeuver"/></And>
                <And><Not><Arg Name="TouchedDeepBoundSampler"/></Not></And>
                <And><Not><Arg Name="FlagGoUp"/></Not></And>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Arg Name="SpeedSampling"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></And>
            </While>

            <Guidance:DepthServo>
                <Parallel/>
                <Setting><Guidance:DepthServo.input/><Universal:sea_water_temperature/></Setting>
                <Setting><Guidance:DepthServo.holdValue/><Arg Name="TempSet"/></Setting>
                <Setting><Guidance:DepthServo.proportionalGain/><Arg Name="GainProportional"/></Setting>
                <Setting><Guidance:DepthServo.integralGain/><Arg Name="GainIntegral"/></Setting>
                <Setting><Guidance:DepthServo.derivativeGain/><Arg Name="GainDerivative"/></Setting>
                <Setting><Guidance:DepthServo.changePerMeter/><Arg Name="VariationPerMeter"/></Setting>
            </Guidance:DepthServo>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle/><Arg Name="RudderAngleDonutSampling"/></Setting>
            </Guidance:Point>

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

        </Aggregate>

        <Aggregate Id="HoldTempInDriftMode">

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

            <While>
                <Arg Name="FlagTempSet"/>
                <And><Arg Name="StartVerticalManeuver"/></And>
                <And><Not><Arg Name="TouchedDeepBoundSampler"/></Not></And>
                <And><Not><Arg Name="FlagGoUp"/></Not></And>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Not><Arg Name="SpeedSampling"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></Not></And>
            </While>

            <Guidance:DepthServo>
                <Parallel/>
                <Setting><Guidance:DepthServo.input/><Universal:sea_water_temperature/></Setting>
                <Setting><Guidance:DepthServo.holdValue/><Arg Name="TempSet"/></Setting>
                <Setting><Guidance:DepthServo.proportionalGain/><Arg Name="GainProportional"/></Setting>
                <Setting><Guidance:DepthServo.integralGain/><Arg Name="GainIntegral"/></Setting>
                <Setting><Guidance:DepthServo.derivativeGain/><Arg Name="GainDerivative"/></Setting>
                <Setting><Guidance:DepthServo.changePerMeter/><Arg Name="VariationPerMeter"/></Setting>
            </Guidance:DepthServo>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.0</Value></Setting>
            </Guidance:SetSpeed>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>0.0</Value></Setting>
            </Guidance:Point>

        </Aggregate>

        <Aggregate Id="HoldDepthInDonutMode">

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

            <While>
                <Not><Arg Name="Surfacing"/></Not>
                <And><Arg Name="FlagTargetDepthSet"/></And>
                <And><Arg Name="StartVerticalManeuver"/></And>
                <And><Not><Arg Name="TouchedDeepBoundSampler"/></Not></And>
                <And><Not><Arg Name="FlagGoUp"/></Not></And>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Arg Name="SpeedSampling"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></And>
            </While>

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle/><Arg Name="RudderAngleDonutSampling"/></Setting>
            </Guidance:Point>

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

        </Aggregate>

        <Aggregate Id="HoldDepthInDriftMode">

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

            <While>
                <Not><Arg Name="Surfacing"/></Not>
                <And><Arg Name="FlagTargetDepthSet"/></And>
                <And><Arg Name="StartVerticalManeuver"/></And>
                <And><Not><Arg Name="TouchedDeepBoundSampler"/></Not></And>
                <And><Not><Arg Name="FlagGoUp"/></Not></And>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Not><Arg Name="SpeedSampling"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></Not></And>
            </While>

            <Guidance:SetSpeed>
                <Parallel/>
                <Setting><Guidance:SetSpeed.speed/><Units:meter_per_second/><Value>0.0</Value></Setting>
            </Guidance:SetSpeed>

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle/><Units:degree/><Value>0.0</Value></Setting>
            </Guidance:Point>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="TakeSamples">

        <Parallel/>

        <Break><Arg Name="CntSamples"/>
            <Gt><Arg Name="NumSamplers"/></Gt>
            <Or><Not><Arg Name="StartVerticalManeuver"/></Not></Or>
            <Or><Arg Name="SampleAtPeakChl"/><And><Not><Arg Name="FlagInitialDiveCompleted"/></Not></And></Or>
        </Break>

        <Aggregate Id="OutsideOfPolygon">

            <Parallel/>

            <Break>
                <Not><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/></Not>
                <Or><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/><And><Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon/></And></Or>
                <Or><Arg Name="StoppedForBeingOutsideOfPolygon"/></Or>
            </Break>

            <Syslog Severity="Important">Latitude = <Universal:latitude/><Units:degree/>, longitude = <Universal:longitude/><Units:degree/>. Outside of the polygon. Stopping mission.</Syslog>

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

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

        </Aggregate>

        <Aggregate Id="NoFiringForTooLong">

            <When>
                <Elapsed><Arg Name="ElapsedSinceStartOrLastSample"/></Elapsed>
                <Gt><Arg Name="MaxWaitNoFiring"/></Gt>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Not><Arg Name="StoppedForNoFiringForTooLong"/></Not></And>
            </When>

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

            <Syslog Severity="Important">No firing for too long. Stopping mission. ElapsedTime, MaxWaitNoFiring = <Arg Name="ElapsedTime"/><Units:minute/>, <Arg Name="MaxWaitNoFiring"/><Units:minute/></Syslog>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample1">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>1</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl1"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl1"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep1"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp1"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation1"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface1"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq1"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample2">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>2</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl2"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl2"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep2"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp2"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation2"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface2"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq2"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample3">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>3</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl3"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl3"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep3"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp3"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation3"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface3"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq3"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample4">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>4</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl4"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl4"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep4"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp4"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation4"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface4"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq4"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample5">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>5</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl5"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl5"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep5"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp5"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation5"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface5"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq5"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample6">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>6</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl6"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl6"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep6"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp6"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation6"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface6"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq6"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample7">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>7</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl7"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl7"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep7"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp7"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation7"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface7"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq7"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample8">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>8</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl8"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl8"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep8"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp8"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation8"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface8"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq8"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample9">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>9</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl9"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl9"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep9"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp9"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation9"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface9"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq9"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample10">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>10</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl10"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl10"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep10"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp10"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation10"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface10"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq10"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample11">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>11</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl11"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl11"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep11"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp11"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation11"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface11"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq11"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample12">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>12</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl12"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl12"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep12"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp12"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation12"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface12"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq12"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample13">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>13</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl13"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl13"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep13"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp13"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation13"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface13"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq13"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample14">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>14</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl14"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl14"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep14"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp14"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation14"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface14"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq14"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample15">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>15</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl15"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl15"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep15"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp15"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation15"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface15"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq15"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample16">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>16</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl16"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl16"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep16"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp16"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation16"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface16"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq16"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample17">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>17</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl17"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl17"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep17"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp17"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation17"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface17"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq17"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample18">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>18</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl18"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl18"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep18"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp18"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation18"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface18"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq18"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample19">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>19</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl19"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl19"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep19"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp19"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation19"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface19"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq19"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample20">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>20</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl20"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl20"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep20"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp20"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation20"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface20"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq20"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample21">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>21</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl21"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl21"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep21"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp21"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation21"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface21"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq21"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample22">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>22</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl22"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl22"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep22"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp22"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation22"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface22"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq22"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample23">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>23</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl23"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl23"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep23"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp23"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation23"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface23"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq23"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample24">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>24</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl24"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl24"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep24"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp24"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation24"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface24"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq24"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample25">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>25</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl25"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl25"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep25"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp25"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation25"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface25"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq25"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample26">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>26</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl26"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl26"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep26"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp26"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation26"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface26"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq26"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample27">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>27</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl27"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl27"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep27"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp27"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation27"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface27"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq27"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample28">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>28</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl28"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl28"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep28"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp28"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation28"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface28"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq28"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample29">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>29</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl29"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl29"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep29"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp29"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation29"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface29"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq29"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample30">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>30</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl30"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl30"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep30"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp30"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation30"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface30"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq30"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample31">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>31</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl31"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl31"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep31"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp31"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation31"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface31"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq31"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample32">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>32</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl32"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl32"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep32"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp32"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation32"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface32"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq32"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample33">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>33</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl33"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl33"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep33"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp33"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation33"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface33"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq33"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample34">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>34</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl34"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl34"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep34"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp34"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation34"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface34"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq34"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample35">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>35</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl35"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl35"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep35"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp35"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation35"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface35"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq35"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample36">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>36</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl36"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl36"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep36"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp36"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation36"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface36"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq36"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample37">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>37</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl37"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl37"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep37"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp37"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation37"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface37"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq37"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample38">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>38</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl38"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl38"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep38"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp38"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation38"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface38"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq38"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample39">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>39</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl39"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl39"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep39"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp39"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation39"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface39"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq39"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample40">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>40</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl40"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl40"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep40"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp40"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation40"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface40"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq40"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample41">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>41</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl41"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl41"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep41"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp41"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation41"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface41"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq41"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample42">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>42</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl42"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl42"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep42"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp42"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation42"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface42"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq42"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample43">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>43</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl43"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl43"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep43"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp43"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation43"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface43"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq43"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample44">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>44</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl44"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl44"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep44"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp44"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation44"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface44"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq44"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample45">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>45</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl45"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl45"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep45"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp45"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation45"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface45"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq45"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample46">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>46</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl46"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl46"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep46"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp46"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation46"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface46"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq46"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample47">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>47</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl47"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl47"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep47"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp47"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation47"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface47"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq47"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample48">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>48</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

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

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl48"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl48"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep48"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp48"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation48"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface48"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq48"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample49">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>49</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType49"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl49"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl49"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep49"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp49"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation49"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface49"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq49"/></Assign>

            <Call Id="SetOptionsForSample49" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample50">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>50</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType50"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl50"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl50"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep50"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp50"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation50"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface50"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq50"/></Assign>

            <Call Id="SetOptionsForSample50" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample51">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>51</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType51"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl51"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl51"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep51"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp51"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation51"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface51"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq51"/></Assign>

            <Call Id="SetOptionsForSample51" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample52">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>52</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType52"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl52"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl52"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep52"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp52"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation52"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface52"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq52"/></Assign>

            <Call Id="SetOptionsForSample52" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample53">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>53</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType53"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl53"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl53"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep53"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp53"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation53"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface53"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq53"/></Assign>

            <Call Id="SetOptionsForSample53" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample54">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>54</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType54"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl54"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl54"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep54"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp54"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation54"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface54"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq54"/></Assign>

            <Call Id="SetOptionsForSample54" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample55">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>55</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType55"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl55"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl55"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep55"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp55"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation55"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface55"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq55"/></Assign>

            <Call Id="SetOptionsForSample55" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample56">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>56</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType56"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl56"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl56"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep56"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp56"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation56"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface56"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq56"/></Assign>

            <Call Id="SetOptionsForSample56" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample57">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>57</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType57"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl57"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl57"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep57"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp57"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation57"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface57"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq57"/></Assign>

            <Call Id="SetOptionsForSample57" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample58">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>58</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType58"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl58"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl58"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep58"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp58"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation58"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface58"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq58"/></Assign>

            <Call Id="SetOptionsForSample58" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample59">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>59</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType59"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl59"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl59"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep59"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp59"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation59"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface59"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq59"/></Assign>

            <Call Id="SetOptionsForSample59" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample60">

            <When>
                <Arg Name="CntSamples"/>
                <Add><Arg Name="StartIndex"/></Add>

                <Sub><Units:count/><Value>1</Value></Sub>

                <Eq><Units:count/><Value>60</Value></Eq>
                <And><Not><Arg Name="SampleOptionsSet"/></Not></And>
                <And><Arg Name="SampleCountIncreased"/></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType60"/></Assign>

            <Assign><Sequence/><Arg Name="TempDiffFromPeakChlIndividual"/><Arg Name="TempDiffFromPeakChl60"/></Assign>

            <Assign><Sequence/><Arg Name="DepDiffFromPeakChlIndividual"/><Arg Name="DepDiffFromPeakChl60"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep60"/></Assign>

            <Assign><Sequence/><Arg Name="TempIndividual"/><Arg Name="Temp60"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation60"/></Assign>

            <Assign><Sequence/><Arg Name="ReportAtSurfaceToUseIndividual"/><Arg Name="RptSurface60"/></Assign>

            <Assign><Sequence/><Arg Name="ReacquirePeakIndividual"/><Arg Name="Reacq60"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="ReacquireChlPeak">

            <When>
                <Arg Name="FlagPeakChlTempSet"/>
                <And><Not><Arg Name="FlagGoUp"/></Not></And>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Arg Name="SampleOptionsSet"/></And>
                <And><Arg Name="ReacquirePeak"/></And>
            </When>

            <Call RefId="PeakReacquisition"/>

        </Aggregate>

        <Aggregate Id="SetFiringTempRelativeToChlPeak">

            <When>
                <Arg Name="StartVerticalManeuver"/>
                <And><Not><Arg Name="Surfacing"/></Not></And>
                <And><Arg Name="SampleOptionsSet"/></And>
                <And><Not><IsNaN><Arg Name="TempDiffFromPeakChl"/>
                </IsNaN></Not></And>
                <And><Arg Name="FlagPeakChlTempSet"/></And>
                <And><Not><Arg Name="FlagTempSet"/></Not></And>
                <And><Not><Arg Name="ReacquirePeak"/></Not></And>
                <And><Arg Name="ReportAtSurface"/></And>
                <And><Arg Name="ReportAtSurfaceDone"/></And>
                <Or><Arg Name="StartVerticalManeuver"/><And><Not><Arg Name="Surfacing"/></Not></And><And><Arg Name="SampleOptionsSet"/></And><And><Not><IsNaN><Arg Name="TempDiffFromPeakChl"/>
                </IsNaN></Not></And><And><Arg Name="FlagPeakChlTempSet"/></And><And><Not><Arg Name="FlagTempSet"/></Not></And><And><Not><Arg Name="ReacquirePeak"/></Not></And><And><Not><Arg Name="ReportAtSurface"/></Not></And><And><Not><Arg Name="ReportAtSurfaceDone"/></Not></And></Or>
            </When>

            <Assign><Sequence/><Arg Name="TempSet"/><Arg Name="PeakChlTemperatureSet"/><Add><Arg Name="TempDiffFromPeakChl"/></Add></Assign>

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

            <Assign><Sequence/><Arg Name="ReportAtSurface"/><Arg Name="ReportAtSurfaceToUse"/></Assign>

        </Aggregate>

        <Aggregate Id="SetFiringTempAbsolute">

            <When>
                <Arg Name="StartVerticalManeuver"/>
                <And><Not><Arg Name="Surfacing"/></Not></And>
                <And><Arg Name="SampleOptionsSet"/></And>
                <And><Not><IsNaN><Arg Name="TempDesignated"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagTempSet"/></Not></And>
                <And><Arg Name="ReportAtSurface"/></And>
                <And><Arg Name="ReportAtSurfaceDone"/></And>
                <Or><Arg Name="StartVerticalManeuver"/><And><Not><Arg Name="Surfacing"/></Not></And><And><Arg Name="SampleOptionsSet"/></And><And><Not><IsNaN><Arg Name="TempDesignated"/>
                </IsNaN></Not></And><And><Not><Arg Name="FlagTempSet"/></Not></And><And><Not><Arg Name="ReportAtSurface"/></Not></And><And><Not><Arg Name="ReportAtSurfaceDone"/></Not></And></Or>
            </When>

            <Assign><Sequence/><Arg Name="TempSet"/><Arg Name="TempDesignated"/></Assign>

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

            <Assign><Sequence/><Arg Name="ReportAtSurface"/><Arg Name="ReportAtSurfaceToUse"/></Assign>

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

        </Aggregate>

        <Aggregate Id="SetFiringDepthRelativeToChlPeakNormal">

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Arg Name="FlagPeakChlDepthSet"/></And>
                <And><Not><IsNaN><Arg Name="DepDiffFromPeakChl"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagTargetDepthSet"/></Not></And>
                <And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Ge><Arg Name="ShallowBoundChl"/></Ge></And>
                <And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Le><Arg Name="DeepBoundChl"/></Le></And>
                <And><Not><Arg Name="ReacquirePeak"/></Not></And>
                <And><Arg Name="ReportAtSurface"/></And>
                <And><Arg Name="ReportAtSurfaceDone"/></And>
                <Or><Arg Name="SampleOptionsSet"/><And><Arg Name="FlagPeakChlDepthSet"/></And><And><Not><IsNaN><Arg Name="DepDiffFromPeakChl"/>
                </IsNaN></Not></And><And><Not><Arg Name="FlagTargetDepthSet"/></Not></And><And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Ge><Arg Name="ShallowBoundChl"/></Ge></And><And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Le><Arg Name="DeepBoundChl"/></Le></And><And><Not><Arg Name="ReacquirePeak"/></Not></And><And><Not><Arg Name="ReportAtSurface"/></Not></And><And><Not><Arg Name="ReportAtSurfaceDone"/></Not></And></Or>
            </When>

            <Assign><Sequence/><Arg Name="DepthSet"/><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add></Assign>

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

            <Assign><Sequence/><Arg Name="ReportAtSurface"/><Arg Name="ReportAtSurfaceToUse"/></Assign>

        </Aggregate>

        <Aggregate Id="SetFiringDepthRelativeToChlPeakClampedToShallowest">

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Arg Name="FlagPeakChlDepthSet"/></And>
                <And><Not><IsNaN><Arg Name="DepDiffFromPeakChl"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagTargetDepthSet"/></Not></And>
                <And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Lt><Arg Name="ShallowBoundChl"/></Lt></And>
                <And><Not><Arg Name="ReacquirePeak"/></Not></And>
                <And><Arg Name="ReportAtSurface"/></And>
                <And><Arg Name="ReportAtSurfaceDone"/></And>
                <Or><Arg Name="SampleOptionsSet"/><And><Arg Name="FlagPeakChlDepthSet"/></And><And><Not><IsNaN><Arg Name="DepDiffFromPeakChl"/>
                </IsNaN></Not></And><And><Not><Arg Name="FlagTargetDepthSet"/></Not></And><And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Lt><Arg Name="ShallowBoundChl"/></Lt></And><And><Not><Arg Name="ReacquirePeak"/></Not></And><And><Not><Arg Name="ReportAtSurface"/></Not></And><And><Not><Arg Name="ReportAtSurfaceDone"/></Not></And></Or>
            </When>

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

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

            <Assign><Sequence/><Arg Name="ReportAtSurface"/><Arg Name="ReportAtSurfaceToUse"/></Assign>

        </Aggregate>

        <Aggregate Id="SetFiringDepthRelativeToChlPeakClampedToDeepest">

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Arg Name="FlagPeakChlDepthSet"/></And>
                <And><Not><IsNaN><Arg Name="DepDiffFromPeakChl"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagTargetDepthSet"/></Not></And>
                <And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Gt><Arg Name="DeepBoundChl"/></Gt></And>
                <And><Not><Arg Name="ReacquirePeak"/></Not></And>
                <And><Arg Name="ReportAtSurface"/></And>
                <And><Arg Name="ReportAtSurfaceDone"/></And>
                <Or><Arg Name="SampleOptionsSet"/><And><Arg Name="FlagPeakChlDepthSet"/></And><And><Not><IsNaN><Arg Name="DepDiffFromPeakChl"/>
                </IsNaN></Not></And><And><Not><Arg Name="FlagTargetDepthSet"/></Not></And><And><Arg Name="PeakChlDepthSet"/><Add><Arg Name="DepDiffFromPeakChl"/></Add><Gt><Arg Name="DeepBoundChl"/></Gt></And><And><Not><Arg Name="ReacquirePeak"/></Not></And><And><Not><Arg Name="ReportAtSurface"/></Not></And><And><Not><Arg Name="ReportAtSurfaceDone"/></Not></And></Or>
            </When>

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

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

            <Assign><Sequence/><Arg Name="ReportAtSurface"/><Arg Name="ReportAtSurfaceToUse"/></Assign>

        </Aggregate>

        <Aggregate Id="SetFiringDepthAbsolute">

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Not><IsNaN><Arg Name="DepthDesignated"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagTargetDepthSet"/></Not></And>
                <And><Arg Name="ReportAtSurface"/></And>
                <And><Arg Name="ReportAtSurfaceDone"/></And>
                <Or><Arg Name="SampleOptionsSet"/><And><Not><IsNaN><Arg Name="DepthDesignated"/>
                </IsNaN></Not></And><And><Not><Arg Name="FlagTargetDepthSet"/></Not></And><And><Not><Arg Name="ReportAtSurface"/></Not></And><And><Not><Arg Name="ReportAtSurfaceDone"/></Not></And></Or>
            </When>

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

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

            <Assign><Sequence/><Arg Name="ReportAtSurface"/><Arg Name="ReportAtSurfaceToUse"/></Assign>

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

        </Aggregate>

        <Aggregate Id="FiringOnTemp">

            <When>
                <Arg Name="MissionStartCommsCompleted"/>
                <And><Arg Name="StartVerticalManeuver"/></And>
                <And><Arg Name="FlagTempSet"/></And>
                <And><Not><Arg Name="Surfacing"/></Not></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Arg Name="SampleOptionsSet"/></And>
                <And><Not><Arg Name="SampleCompleted"/></Not></And>
            </When>

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

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

            <Syslog Severity="Important">Taking sample No.<Arg Name="CntSamples"/><Units:count/>. Target temp = <Arg Name="TempSet"/><Units:celsius/>.</Syslog>

            <Syslog Severity="Important">If ESP, requesting ESP cartridge type:<Arg Name="CartridgeType"/><Units:count/></Syslog>

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

            <Aggregate Id="TriggerOnTemp">

                <Sequence/>

                <Break><Arg Name="UseESP"/>
                    <And><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></And>
                </Break>

                <Call Id="WaitForDepthDampingDown" RefId="DampDown"/>

                <Call Id="Sampling" RefId="TriggerSampling"/>

                <Syslog Severity="Important">Sample No.<Arg Name="CntSamples"/><Units:count/> completed.</Syslog>

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

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

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

<!-- Don't move the following line -->

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

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

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

            </Aggregate>

            <Aggregate Id="SkipOnTemp">

                <Sequence/>

                <Break>
                    <Not><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></Not>
                    <Or><Arg Name="UseCANONSampler"/></Or>
                </Break>

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

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

<!-- Don't move the following line -->

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

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

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

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

                <Syslog Severity="Important">ESP sample skipped (because cartridge type is NaN).</Syslog>

            </Aggregate>

            <Aggregate Id="FireOnTempSendData">

                <Sequence/>

                <When>
                    <Not><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></Not>
                    <And><Arg Name="SampleCompleted"/></And>
                    <And><Arg Name="SendSampleStatusAndData"/></And>
                    <And><Arg Name="CallSendData"/></And>
                </When>

                <Call Id="SendDataFireOnTemp" RefId="SendData"/>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="FiringOnDepth">

            <When>
                <Arg Name="MissionStartCommsCompleted"/>
                <And><Arg Name="StartVerticalManeuver"/></And>
                <And><Arg Name="FlagTargetDepthSet"/></And>
                <And><Not><Arg Name="FlagGoUp"/></Not></And>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Arg Name="SampleOptionsSet"/></And>
                <And><Not><Arg Name="SampleCompleted"/></Not></And>
            </When>

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

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

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

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

            <Syslog Severity="Important">Taking sample No.<Arg Name="CntSamples"/><Units:count/>. Target depth = <Arg Name="DepthSet"/><Units:meter/>.</Syslog>

            <Syslog Severity="Important">If ESP, requesting ESP cartridge type:<Arg Name="CartridgeType"/><Units:count/></Syslog>

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

            <Aggregate Id="TriggerOnDepth">

                <Break><Arg Name="UseESP"/>
                    <And><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></And>
                </Break>

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

                <Call Id="Sampling" RefId="SampleAtDepth"/>

                <Syslog Severity="Important">Sample No.<Arg Name="CntSamples"/><Units:count/> completed.</Syslog>

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

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

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

<!-- Don't move the following line -->

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

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

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

            </Aggregate>

            <Aggregate Id="SkipOnDepth">

                <Break>
                    <Not><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></Not>
                    <Or><Arg Name="UseCANONSampler"/></Or>
                </Break>

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

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

<!-- Don't move the following line -->

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

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

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

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

                <Syslog Severity="Important">ESP sample skipped (because cartridge type is NaN).</Syslog>

            </Aggregate>

            <Aggregate Id="FireOnDepSendData">

                <Sequence/>

                <When>
                    <Not><IsNaN><Arg Name="CartridgeType"/>
                    </IsNaN></Not>
                    <And><Arg Name="SampleCompleted"/></And>
                    <And><Arg Name="SendSampleStatusAndData"/></And>
                    <And><Arg Name="CallSendData"/></And>
                </When>

                <Call Id="SendDataFireOnDep" RefId="SendData"/>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="ReportAtSurface">

            <When>
                <Not><Arg Name="FlagGoUp"/></Not>
                <And><Not><Arg Name="FlagGoDown"/></Not></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Arg Name="SampleCompleted"/></And>
                <And><Arg Name="ReportAtSurface"/></And>
            </When>

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

<!-- Don't move the following lines -->

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

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

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

            <Syslog Severity="Important">Surfacing to report sampling results to shore.</Syslog>

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

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

            <Aggregate Id="SetFlagGoDownIfFindingPeakChlVertical_2">

                <Sequence/>

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

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

            </Aggregate>

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

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

        </Aggregate>

        <Aggregate Id="IncreaseSampleCount">

            <When>
                <Arg Name="SampleCompleted"/>
                <And><Not><Arg Name="SendSampleStatusAndData"/></Not></And>
                <Or><Arg Name="SampleCompleted"/><And><Arg Name="SendSampleStatusAndData"/></And><And><Arg Name="SendDataAllCompleted"/></And></Or>
                <Or><Arg Name="SampleOptionsSet"/><And><IsNaN><Arg Name="TempDiffFromPeakChl"/>
                </IsNaN></And><And><IsNaN><Arg Name="DepDiffFromPeakChl"/>
                </IsNaN></And><And><IsNaN><Arg Name="TempDesignated"/>
                </IsNaN></And><And><IsNaN><Arg Name="DepthDesignated"/>
                </IsNaN></And></Or>
            </When>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

        </Aggregate>

    </Aggregate>

</Mission>