Location 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/location_depth_sampling.xml:1457:7
      | 
 1453 |     }
 1454 | 
 1455 |     aggregate SettingsInSpiralMode {
 1456 |       run in sequence
 1457 |       run when ( SpeedSampling > 0.0 meter_per_second )
      |       ^^^
 1458 |       behavior Guidance:SetSpeed  {
 1459 | 
 1460 |         run in parallel
 1461 | 
      | 
Unexpected: `run`
Possible items include (total 15):
  aggregate
  assign
  behavior
  call
  [...7 more...]
  preemptive
  }
  break
  timeout
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mission LocationDepthSampling {
  # Almost every mission should start with an overall timeout and a NeedCommsTime. Drift Missions will have an acoustic timeout instead of a NeedCommsTime.

  # You probably need to change these.

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

    # debug
    #     </Description><Units:count/><Value>3</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 = 168 hour
      """
      Maximum duration of mission
      """

    NeedCommsTimeInTransit = 60 minute
      """
      In transit, 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 = 2 hour
      """
      Maximum wait time the vehicle cannot reach the targeted depth.
      """

    LevelRunToSamplingLocation = true
      """
      Whether the vehicle flies at a constant depth to the sampling location.
      """

    DepthLevelRunToSamplingDepth = 20 meter
      """
      Level run depth (if flying at a constant depth to the sampling
      location).
      """

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

    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>

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

    MaxDepth = 160 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.
      """

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

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

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

    LatSampling = NaN degree
      """
      Latitude of sampling location.
      """

    # debug
    #     </Description><Units:degree/><Value>36.815</Value></DefineArg>
    #     </Description><Units:degree/><Value>36.810</Value></DefineArg>

    LonSampling = NaN degree
      """
      Longitude of sampling location.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.835</Value></DefineArg>
    #     </Description><Units:degree/><Value>-121.825</Value></DefineArg>

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

    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 = 10 meter
      """
      Sample 1. Pre-designated depth. If NaN, will use vertical distance from
      chl-peak depth.
      """

    Dep2 = 5 meter
      """
      Sample 2.
      """

    Dep3 = 150 meter
      """
      Sample 3.
      """

    Dep4 = 5 meter
      """
      Sample 4.
      """

    Dep5 = 150 meter
      """
      Sample 5.
      """

    Dep6 = 5 meter
      """
      Sample 6.
      """

    Dep7 = 150 meter
      """
      Sample 7.
      """

    Dep8 = 5 meter
      """
      Sample 8.
      """

    Dep9 = 150 meter
      """
      Sample 9.
      """

    Dep10 = 5 meter
      """
      Sample 10.
      """

    Dep11 = 150 meter
      """
      Sample 11.
      """

    Dep12 = 5 meter
      """
      Sample 12.
      """

    Dep13 = 150 meter
      """
      Sample 13.
      """

    Dep14 = 5 meter
      """
      Sample 14.
      """

    Dep15 = 150 meter
      """
      Sample 15.
      """

    Dep16 = 5 meter
      """
      Sample 16.
      """

    Dep17 = 150 meter
      """
      Sample 17.
      """

    Dep18 = 5 meter
      """
      Sample 18.
      """

    Dep19 = 150 meter
      """
      Sample 19.
      """

    Dep20 = 5 meter
      """
      Sample 20.
      """

    Dep21 = 150 meter
      """
      Sample 21.
      """

    Dep22 = 5 meter
      """
      Sample 22.
      """

    Dep23 = 150 meter
      """
      Sample 23.
      """

    Dep24 = 5 meter
      """
      Sample 24.
      """

    Dep25 = 150 meter
      """
      Sample 25.
      """

    Dep26 = 5 meter
      """
      Sample 26.
      """

    Dep27 = 150 meter
      """
      Sample 27.
      """

    Dep28 = 5 meter
      """
      Sample 28.
      """

    Dep29 = 150 meter
      """
      Sample 29.
      """

    Dep30 = 5 meter
      """
      Sample 30.
      """

    Dep31 = 150 meter
      """
      Sample 31.
      """

    Dep32 = 5 meter
      """
      Sample 32.
      """

    Dep33 = 150 meter
      """
      Sample 33.
      """

    Dep34 = 5 meter
      """
      Sample 34.
      """

    Dep35 = 150 meter
      """
      Sample 35.
      """

    Dep36 = 5 meter
      """
      Sample 36.
      """

    Dep37 = 150 meter
      """
      Sample 37.
      """

    Dep38 = 5 meter
      """
      Sample 38.
      """

    Dep39 = 150 meter
      """
      Sample 39.
      """

    Dep40 = 5 meter
      """
      Sample 40.
      """

    Dep41 = 150 meter
      """
      Sample 41.
      """

    Dep42 = 5 meter
      """
      Sample 42.
      """

    Dep43 = 150 meter
      """
      Sample 43.
      """

    Dep44 = 5 meter
      """
      Sample 44.
      """

    Dep45 = 150 meter
      """
      Sample 45.
      """

    Dep46 = 5 meter
      """
      Sample 46.
      """

    Dep47 = 150 meter
      """
      Sample 47.
      """

    Dep48 = 5 meter
      """
      Sample 48.
      """

    Dep49 = 150 meter
      """
      Sample 49.
      """

    Dep50 = 5 meter
      """
      Sample 50.
      """

    Dep51 = 150 meter
      """
      Sample 51.
      """

    Dep52 = 5 meter
      """
      Sample 52.
      """

    Dep53 = 150 meter
      """
      Sample 53.
      """

    Dep54 = 5 meter
      """
      Sample 54.
      """

    Dep55 = 150 meter
      """
      Sample 55.
      """

    Dep56 = 5 meter
      """
      Sample 56.
      """

    Dep57 = 150 meter
      """
      Sample 57.
      """

    Dep58 = 5 meter
      """
      Sample 58.
      """

    Dep59 = 150 meter
      """
      Sample 59.
      """

    Dep60 = 5 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 = NaN minute
      """
      Sample 1. Wait duration for the depth undulation to damp down.
      """

    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.
      """

    # You probably do not need to change these.

    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.
      """

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

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

    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.
      """

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

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

  }

  # Internal variables that you do not need to change

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

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

    CartridgeType = -10 count
      """
      Cartridge type. Initialized to -10.
      """

    CartridgeTypeIndividual = -10 count
      """
      Initialized to -10.
      """

    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.
      """

    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.
      """

    SampleOptionsSet = false
      """
      Sample settings 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.
      """

    DepthLogged = 0.0 meter


    TempLogged = 0.0 celsius


    ChlLogged = 0.0 microgram_per_liter


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

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

    CntSamples = 0 count
      """
      Count of water samples (initilized to 0).
      """

  }

  # 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.xml

  assign in sequence  StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence  StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence  StandardEnvelopes:MinOffshore = MinOffshore
  insert Insert/AbortDrift.xml {

    redefineArg AcousticTimeout = AcousticTrackingTimeout

  }


  insert Insert/SampleAtDepth.xml {

    redefineArg MaxWaitNotReachingDepth = MaxWaitNotAchievingDepth

  }


  insert Insert/Science.xml {

    """
    Most missions will run the science sensors. If you don't place this
    aggregate above NeedComms, science instruments get turned off on the
    last upcast and while floating on the surface.
    """

  }


  insert Insert/NeedComms.xml 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.xml in order to avoid commanding high pitch
    angles for bottom-terminated YoYos.
    """
    run in parallel



    set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude

    set Guidance:AltitudeEnvelope.upPitch = YoYoUpPitch

  }


  aggregate 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 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 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
    }

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

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

  aggregate GoToLocationToSample {
    run in sequence repeat=NumSamplers
    break if ( CntSamples > NumSamplers )
    assign in sequence  CntSamples = CntSamples + 1 count
    assign in sequence  SampleOptionsSet = false
    assign in sequence  SampleCompleted = false
    aggregate GoToSamplingLocation {
      run in sequence
      break if ( FlagSamplingOngoing )
      aggregate YoYo {
        run in sequence
        break if ( LevelRunToSamplingLocation )
        call id="TransitStartComms" refId="NeedComms"
        assign in sequence  NeedComms:DiveInterval = NeedCommsTimeInTransit
        behavior Guidance:SetSpeed  {

          run in parallel


          set Guidance:SetSpeed.speed = SpeedTransit

        }


        behavior Guidance:DepthEnvelope  {

          run in parallel


          set Guidance:DepthEnvelope.minDepth = TransitYoYoMinDepth

          set Guidance:DepthEnvelope.maxDepth = TransitYoYoMaxDepth

          set Guidance:DepthEnvelope.downPitch = YoYoDownPitch

          set Guidance:DepthEnvelope.upPitch = YoYoUpPitch

        }


        behavior Guidance:YoYo  {

          run in parallel


          set Guidance:YoYo.downPitch = YoYoDownPitch

          set Guidance:YoYo.upPitch = YoYoUpPitch

        }


        behavior Guidance:Buoyancy  {

          run in parallel


          set Guidance:Buoyancy.position = BuoyancyNeutral

        }


        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = LatSampling

          set Guidance:Waypoint.longitude = LonSampling

        }


        assign in sequence  NeedComms:DiveInterval = MissionTimeout
      }

      aggregate LevelRun {
        run in sequence
        break if ( not ( LevelRunToSamplingLocation ) )
        call id="TransitStartComms" refId="NeedComms"
        assign in sequence  NeedComms:DiveInterval = NeedCommsTimeInTransit
        behavior Guidance:SetSpeed  {

          run in parallel


          set Guidance:SetSpeed.speed = SpeedTransit

        }


        behavior Guidance:Mass  {

          run in parallel


          set Guidance:Mass.position = MassDefault

        }


        behavior Guidance:Buoyancy  {

          run in parallel


          set Guidance:Buoyancy.position = BuoyancyNeutral

        }


        behavior Guidance:Pitch  {

          run in parallel


          set Guidance:Pitch.depth = DepthLevelRunToSamplingDepth

        }


        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = LatSampling

          set Guidance:Waypoint.longitude = LonSampling

        }


        assign in sequence  NeedComms:DiveInterval = MissionTimeout
      }

    }

    aggregate SettingsInSpiralMode {
      run in sequence
      run when ( SpeedSampling > 0.0 meter_per_second )
      behavior Guidance:SetSpeed  {

        run in parallel


        set Guidance:SetSpeed.speed = SpeedSampling

      }


      behavior Guidance:Buoyancy  {

        run in parallel


        set Guidance:Buoyancy.position = BuoyancyNeutral

      }


      behavior Guidance:Point  {

        run in parallel


        set Guidance:Point.rudderAngle = RudderAngleDonutSampling

      }


    }

    aggregate SettingsInDriftMode {
      run in sequence
      run when ( 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 NoFiringForTooLong {
      run in sequence
      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 ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType1
      assign in sequence  DepIndividual = Dep1
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation1
      call id="SetOptionsForSample1" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample2 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 2 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType2
      assign in sequence  DepIndividual = Dep2
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation2
      call id="SetOptionsForSample2" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample3 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 3 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType3
      assign in sequence  DepIndividual = Dep3
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation3
      call id="SetOptionsForSample3" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample4 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 4 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType4
      assign in sequence  DepIndividual = Dep4
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation4
      call id="SetOptionsForSample4" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample5 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 5 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType5
      assign in sequence  DepIndividual = Dep5
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation5
      call id="SetOptionsForSample5" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample6 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 6 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType6
      assign in sequence  DepIndividual = Dep6
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation6
      call id="SetOptionsForSample6" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample7 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 7 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType7
      assign in sequence  DepIndividual = Dep7
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation7
      call id="SetOptionsForSample7" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample8 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 8 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType8
      assign in sequence  DepIndividual = Dep8
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation8
      call id="SetOptionsForSample8" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample9 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 9 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType9
      assign in sequence  DepIndividual = Dep9
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation9
      call id="SetOptionsForSample9" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample10 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 10 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType10
      assign in sequence  DepIndividual = Dep10
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation10
      call id="SetOptionsForSample10" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample11 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 11 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType11
      assign in sequence  DepIndividual = Dep11
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation11
      call id="SetOptionsForSample11" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample12 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 12 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType12
      assign in sequence  DepIndividual = Dep12
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation12
      call id="SetOptionsForSample12" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample13 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 13 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType13
      assign in sequence  DepIndividual = Dep13
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation13
      call id="SetOptionsForSample13" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample14 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 14 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType14
      assign in sequence  DepIndividual = Dep14
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation14
      call id="SetOptionsForSample14" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample15 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 15 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType15
      assign in sequence  DepIndividual = Dep15
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation15
      call id="SetOptionsForSample15" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample16 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 16 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType16
      assign in sequence  DepIndividual = Dep16
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation16
      call id="SetOptionsForSample16" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample17 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 17 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType17
      assign in sequence  DepIndividual = Dep17
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation17
      call id="SetOptionsForSample17" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample18 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 18 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType18
      assign in sequence  DepIndividual = Dep18
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation18
      call id="SetOptionsForSample18" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample19 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 19 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType19
      assign in sequence  DepIndividual = Dep19
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation19
      call id="SetOptionsForSample19" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample20 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 20 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType20
      assign in sequence  DepIndividual = Dep20
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation20
      call id="SetOptionsForSample20" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample21 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 21 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType21
      assign in sequence  DepIndividual = Dep21
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation21
      call id="SetOptionsForSample21" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample22 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 22 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType22
      assign in sequence  DepIndividual = Dep22
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation22
      call id="SetOptionsForSample22" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample23 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 23 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType23
      assign in sequence  DepIndividual = Dep23
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation23
      call id="SetOptionsForSample23" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample24 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 24 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType24
      assign in sequence  DepIndividual = Dep24
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation24
      call id="SetOptionsForSample24" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample25 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 25 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType25
      assign in sequence  DepIndividual = Dep25
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation25
      call id="SetOptionsForSample25" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample26 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 26 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType26
      assign in sequence  DepIndividual = Dep26
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation26
      call id="SetOptionsForSample26" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample27 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 27 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType27
      assign in sequence  DepIndividual = Dep27
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation27
      call id="SetOptionsForSample27" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample28 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 28 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType28
      assign in sequence  DepIndividual = Dep28
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation28
      call id="SetOptionsForSample28" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample29 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 29 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType29
      assign in sequence  DepIndividual = Dep29
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation29
      call id="SetOptionsForSample29" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample30 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 30 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType30
      assign in sequence  DepIndividual = Dep30
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation30
      call id="SetOptionsForSample30" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample31 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 31 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType31
      assign in sequence  DepIndividual = Dep31
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation31
      call id="SetOptionsForSample31" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample32 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 32 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType32
      assign in sequence  DepIndividual = Dep32
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation32
      call id="SetOptionsForSample32" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample33 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 33 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType33
      assign in sequence  DepIndividual = Dep33
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation33
      call id="SetOptionsForSample33" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample34 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 34 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType34
      assign in sequence  DepIndividual = Dep34
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation34
      call id="SetOptionsForSample34" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample35 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 35 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType35
      assign in sequence  DepIndividual = Dep35
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation35
      call id="SetOptionsForSample35" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample36 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 36 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType36
      assign in sequence  DepIndividual = Dep36
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation36
      call id="SetOptionsForSample36" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample37 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 37 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType37
      assign in sequence  DepIndividual = Dep37
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation37
      call id="SetOptionsForSample37" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample38 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 38 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType38
      assign in sequence  DepIndividual = Dep38
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation38
      call id="SetOptionsForSample38" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample39 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 39 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType39
      assign in sequence  DepIndividual = Dep39
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation39
      call id="SetOptionsForSample39" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample40 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 40 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType40
      assign in sequence  DepIndividual = Dep40
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation40
      call id="SetOptionsForSample40" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample41 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 41 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType41
      assign in sequence  DepIndividual = Dep41
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation41
      call id="SetOptionsForSample41" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample42 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 42 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType42
      assign in sequence  DepIndividual = Dep42
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation42
      call id="SetOptionsForSample42" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample43 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 43 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType43
      assign in sequence  DepIndividual = Dep43
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation43
      call id="SetOptionsForSample43" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample44 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 44 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType44
      assign in sequence  DepIndividual = Dep44
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation44
      call id="SetOptionsForSample44" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample45 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 45 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType45
      assign in sequence  DepIndividual = Dep45
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation45
      call id="SetOptionsForSample45" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample46 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 46 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType46
      assign in sequence  DepIndividual = Dep46
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation46
      call id="SetOptionsForSample46" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample47 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 47 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType47
      assign in sequence  DepIndividual = Dep47
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation47
      call id="SetOptionsForSample47" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample48 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 48 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType48
      assign in sequence  DepIndividual = Dep48
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation48
      call id="SetOptionsForSample48" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample49 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 49 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType49
      assign in sequence  DepIndividual = Dep49
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation49
      call id="SetOptionsForSample49" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample50 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 50 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType50
      assign in sequence  DepIndividual = Dep50
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation50
      call id="SetOptionsForSample50" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample51 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 51 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType51
      assign in sequence  DepIndividual = Dep51
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation51
      call id="SetOptionsForSample51" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample52 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 52 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType52
      assign in sequence  DepIndividual = Dep52
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation52
      call id="SetOptionsForSample52" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample53 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 53 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType53
      assign in sequence  DepIndividual = Dep53
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation53
      call id="SetOptionsForSample53" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample54 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 54 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType54
      assign in sequence  DepIndividual = Dep54
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation54
      call id="SetOptionsForSample54" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample55 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 55 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType55
      assign in sequence  DepIndividual = Dep55
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation55
      call id="SetOptionsForSample55" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample56 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 56 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType56
      assign in sequence  DepIndividual = Dep56
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation56
      call id="SetOptionsForSample56" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample57 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 57 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType57
      assign in sequence  DepIndividual = Dep57
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation57
      call id="SetOptionsForSample57" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample58 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 58 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType58
      assign in sequence  DepIndividual = Dep58
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation58
      call id="SetOptionsForSample58" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample59 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 59 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType59
      assign in sequence  DepIndividual = Dep59
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation59
      call id="SetOptionsForSample59" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample60 {
      run when ( (((CntSamples + StartIndex) - 1 count) == 60 count) and not ( SampleOptionsSet ) )
      assign in sequence  CartridgeTypeIndividual = CartridgeType60
      assign in sequence  DepIndividual = Dep60
      assign in sequence  WaitDepUndulationIndividual = WaitDepUndulation60
      call id="SetOptionsForSample60" refId="SetSampleOptions"
      assign in sequence  SampleOptionsSet = true
    }

    aggregate SetFiringDepthAbsolute {
      run in sequence
      run when ( (SampleOptionsSet and not ( isNaN ( DepthDesignated ) )) and not ( FlagTargetDepthSet ) )
      assign in sequence  DepthSet = DepthDesignated
      assign in sequence  FlagTargetDepthSet = true
    }

    aggregate FiringOnDepth {
      run in sequence
      break if ( not ( FlagTargetDepthSet ) or not ( CntSamples <= NumSamplers ) )
      assign in sequence  SampleAtDepth:TargetDepth = DepthSet
      assign in sequence  SampleAtDepth:SettleTime = WaitDepthUndulation
      assign in sequence  FlagSamplingOngoing = true
      syslog important "DepthSet = " + DepthSet~meter
      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  FlagTargetDepthSet = false
      }

    }

    aggregate Surfacing {
      run in sequence
      break if ( not ( SampleCompleted and CntSamples == NumSamplers ) )
      call id="AllSamplesDoneGoToSurface" refId="NeedComms"
    }

  }

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

<!-- 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>3</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>168</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeInTransit"><Description>
        In transit, 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.
<!--debug
    </Description><Units:hour/><Value>4</Value></DefineArg>
-->
    </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>2</Value></DefineArg>

    <DefineArg Name="LevelRunToSamplingLocation"><Description>
        Whether the vehicle flies at a constant depth to the sampling location.
    </Description><True/></DefineArg>

    <DefineArg Name="DepthLevelRunToSamplingDepth"><Description>
        Level run depth (if flying at a constant depth to the sampling
        location).
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="SpeedTransit"><Description>
        Vehicle speed when transiting.
    </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="RudderAngleDonutSampling"><Description>
        Rudder angle during donut sampling.
    </Description><Units:degree/><Value>13</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>160</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="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="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>9</Value></DefineArg>

    <DefineArg Name="LatSampling"><Description>
        Latitude of sampling location.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>36.815</Value></DefineArg>
    </Description><Units:degree/><Value>36.810</Value></DefineArg>
-->

    <DefineArg Name="LonSampling"><Description>
        Longitude of sampling location.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>-121.835</Value></DefineArg>
    </Description><Units:degree/><Value>-121.825</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="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.
<!--debug   
    </Description><Units:meter/><Value>150</Value></DefineArg>
-->
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="Dep2"><Description>
        Sample 2.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep3"><Description>
        Sample 3.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep4"><Description>
        Sample 4.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep5"><Description>
        Sample 5.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep6"><Description>
        Sample 6.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep7"><Description>
        Sample 7.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep8"><Description>
        Sample 8.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep9"><Description>
        Sample 9.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep10"><Description>
        Sample 10.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep11"><Description>
        Sample 11.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep12"><Description>
        Sample 12.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep13"><Description>
        Sample 13.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep14"><Description>
        Sample 14.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep15"><Description>
        Sample 15.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep16"><Description>
        Sample 16.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep17"><Description>
        Sample 17.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep18"><Description>
        Sample 18.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep19"><Description>
        Sample 19.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep20"><Description>
        Sample 20.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep21"><Description>
        Sample 21.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep22"><Description>
        Sample 22.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep23"><Description>
        Sample 23.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep24"><Description>
        Sample 24.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep25"><Description>
        Sample 25.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep26"><Description>
        Sample 26.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep27"><Description>
        Sample 27.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep28"><Description>
        Sample 28.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep29"><Description>
        Sample 29.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep30"><Description>
        Sample 30.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep31"><Description>
        Sample 31.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep32"><Description>
        Sample 32.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep33"><Description>
        Sample 33.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep34"><Description>
        Sample 34.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep35"><Description>
        Sample 35.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep36"><Description>
        Sample 36.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep37"><Description>
        Sample 37.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep38"><Description>
        Sample 38.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep39"><Description>
        Sample 39.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep40"><Description>
        Sample 40.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep41"><Description>
        Sample 41.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep42"><Description>
        Sample 42.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep43"><Description>
        Sample 43.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep44"><Description>
        Sample 44.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep45"><Description>
        Sample 45.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep46"><Description>
        Sample 46.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep47"><Description>
        Sample 47.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep48"><Description>
        Sample 48.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep49"><Description>
        Sample 49.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep50"><Description>
        Sample 50.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep51"><Description>
        Sample 51.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep52"><Description>
        Sample 52.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep53"><Description>
        Sample 53.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep54"><Description>
        Sample 54.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep55"><Description>
        Sample 55.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep56"><Description>
        Sample 56.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep57"><Description>
        Sample 57.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep58"><Description>
        Sample 58.
    </Description><Units:meter/><Value>5</Value></DefineArg>

    <DefineArg Name="Dep59"><Description>
        Sample 59.
    </Description><Units:meter/><Value>150</Value></DefineArg>

    <DefineArg Name="Dep60"><Description>
        Sample 60.
    </Description><Units:meter/><Value>5</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>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>

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

    <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="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="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="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 do not need to change -->

    <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="CartridgeType"><Description>
        Cartridge type. Initialized to -10.
    </Description><Units:count/><Value>-10</Value></DefineOutput>

    <DefineOutput Name="CartridgeTypeIndividual"><Description>
        Initialized to -10.
    </Description><Units:count/><Value>-10</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="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="SampleOptionsSet"><Description>
        Sample settings 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="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="FlagTargetDepthSet"><Description>
        Flag of target depth having been set. Initialized to false.
    </Description><False/></DefineOutput>

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

    <DefineOutput Name="CntSamples"><Description>
        Count of water samples (initilized to 0).
    </Description><Units:count/><Value>0</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.xml"/>

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

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

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

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

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

    <Insert Filename="Insert/Science.xml">
        <Description>
            Most missions will run the science sensors. If you don't place this
            aggregate above NeedComms, science instruments get turned off on the
            last upcast and while floating on the surface.
        </Description>
    </Insert>

    <Insert Filename="Insert/NeedComms.xml" 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.xml in order to avoid commanding high pitch
            angles for bottom-terminated YoYos.
        </Description>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
        <Setting><Guidance:AltitudeEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Aggregate Id="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="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="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>

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

    </Aggregate>

    <Aggregate Id="MissionStart">

        <Sequence/>

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

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

    </Aggregate>

    <Aggregate Id="GoToLocationToSample">

        <Sequence Repeat="NumSamplers"/>

        <Break><Arg Name="CntSamples"/>
            <Gt><Arg Name="NumSamplers"/></Gt>
        </Break>

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

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

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

        <Aggregate Id="GoToSamplingLocation">

            <Sequence/>

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

            <Aggregate Id="YoYo">

                <Sequence/>

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

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

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

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

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

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

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

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="LatSampling"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="LonSampling"/></Setting>
                </Guidance:Waypoint>

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

            </Aggregate>

            <Aggregate Id="LevelRun">

                <Sequence/>

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

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

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

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

                <Guidance:Mass>
                    <Parallel/>
                    <Setting><Guidance:Mass.position/><Arg Name="MassDefault"/></Setting>
                </Guidance:Mass>

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

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

                <Guidance:Waypoint>
                    <Sequence/>
                    <Setting><Guidance:Waypoint.latitude/><Arg Name="LatSampling"/></Setting>
                    <Setting><Guidance:Waypoint.longitude/><Arg Name="LonSampling"/></Setting>
                </Guidance:Waypoint>

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="SettingsInSpiralMode">

            <Sequence/>

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

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

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

            <Guidance:Point>
                <Parallel/>
                <Setting><Guidance:Point.rudderAngle/><Arg Name="RudderAngleDonutSampling"/></Setting>
            </Guidance:Point>

        </Aggregate>

        <Aggregate Id="SettingsInDriftMode">

            <Sequence/>

            <When>
                <Not><Arg Name="SpeedSampling"/><Gt><Units:meter_per_second/><Value>0.0</Value></Gt></Not>
            </When>

            <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="NoFiringForTooLong">

            <Sequence/>

            <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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep1"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation1"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep2"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation2"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep3"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation3"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep4"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation4"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep5"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation5"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep6"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation6"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep7"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation7"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep8"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation8"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep9"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation9"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep10"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation10"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep11"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation11"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep12"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation12"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep13"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation13"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep14"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation14"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep15"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation15"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep16"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation16"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep17"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation17"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep18"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation18"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep19"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation19"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep20"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation20"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep21"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation21"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep22"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation22"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep23"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation23"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep24"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation24"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep25"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation25"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep26"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation26"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep27"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation27"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep28"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation28"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep29"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation29"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep30"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation30"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep31"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation31"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep32"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation32"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep33"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation33"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep34"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation34"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep35"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation35"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep36"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation36"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep37"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation37"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep38"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation38"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep39"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation39"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep40"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation40"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep41"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation41"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep42"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation42"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep43"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation43"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep44"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation44"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep45"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation45"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep46"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation46"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep47"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation47"/></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>
            </When>

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

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep48"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation48"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType49"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep49"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation49"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType50"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep50"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation50"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType51"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep51"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation51"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType52"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep52"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation52"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType53"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep53"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation53"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType54"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep54"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation54"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType55"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep55"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation55"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType56"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep56"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation56"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType57"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep57"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation57"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType58"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep58"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation58"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType59"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep59"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation59"/></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>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType60"/></Assign>

            <Assign><Sequence/><Arg Name="DepIndividual"/><Arg Name="Dep60"/></Assign>

            <Assign><Sequence/><Arg Name="WaitDepUndulationIndividual"/><Arg Name="WaitDepUndulation60"/></Assign>

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

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

        </Aggregate>

        <Aggregate Id="SetFiringDepthAbsolute">

            <Sequence/>

            <When>
                <Arg Name="SampleOptionsSet"/>
                <And><Not><IsNaN><Arg Name="DepthDesignated"/>
                </IsNaN></Not></And>
                <And><Not><Arg Name="FlagTargetDepthSet"/></Not></And>
            </When>

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

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

        </Aggregate>

        <Aggregate Id="FiringOnDepth">

            <Sequence/>

            <Break>
                <Not><Arg Name="FlagTargetDepthSet"/></Not>
                <Or><Not><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></Not></Or>
            </Break>

            <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>

            <Syslog Severity="Important">DepthSet = <Arg Name="DepthSet"/><Units:meter/></Syslog>

            <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">

                <Sequence/>

                <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="FlagTargetDepthSet"/><False/></Assign>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Surfacing">

            <Sequence/>

            <Break>
                <Not><Arg Name="SampleCompleted"/><And><Arg Name="CntSamples"/><Eq><Arg Name="NumSamplers"/></Eq></And></Not>
            </Break>

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

        </Aggregate>

    </Aggregate>

</Mission>