mapPatch undock.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/mapPatch_undock.xml:578:7
     | 
 574 |       or ( not ( LegNotContinuedFlightEnabled ) )
 575 |     )
 576 | 
 577 |     aggregate SyslogWpMaxDistanceReachedChl {
 578 |       break if (
     |       ^^^^^
 579 |         not (
 580 |           PeakDetectChl
 581 |           and ( PatchPeakChl >= 0.0 microgram_per_liter )
 582 |         )
     | 
Unexpected: `break`
One of the following is possible:
  """
  arguments
  output
  run
  test_code

Generated TethysL

mission mapPatch_undock {
  """
  Vehicle yo-yos with patch detect enabled for oil concentration. NOTE:
  oil concentrations may vary strongly with depth! Suggested settings for
  simulaton: Config/sim/[username]/Simulator.cfg: oceanModelData =
  "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3";
  eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; //
  vel x wrto LV Config/sim/[username]/workSite.cfg: initLat =
  71.2225805280196 arcdeg; // Initial latitude initLon =
  -163.5093252100575 arcdeg; // Initial longitude
  Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool;
  WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool;
  WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial =
  "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7
  1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count;
  WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count;
  WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count;
  WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb;
  WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count;
  WetLabsSeaOWL_UV_A.darkCountsChl = 50 count;
  WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l;
  WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count;
  WetLabsSeaOWL_UV_A.darkCountsOil = 50 count;
  WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts =
  "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM";
  """

  arguments {
    # Vehicle safety parameters

    MissionTimeout = 12 hour
      """
      Timeout for the entire mission
      """

    DetachTimeout = 20 minute
      """
      Timeout for detaching from dock.
      """

    TransponderCode = 2 count
      """
      The acoustic address of the asset to be tracked
      """

    Speed = 1 meter_per_second
      """
      Vehicle speed.
      """

    CommsAtMissionStart = true
      """
      Whether to do comms at start of mission.
      """

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

    PeakDetectChl = false
      """
      Chlorophyll patch mapping.
      """

    PeakDetectSalinity = false
      """
      Salinity patch mapping.
      """

    PeakDetectOil = true
      """
      Oil patch mapping.
      """

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

    DetectTheTrough = false
      """
      Whether to track a trough. If false, track peak; if true, track trough.
      Default is false.
      """

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

    MinAltitude = 3 meter
      """
      Minimum altitude for the entire mission.
      """

    MaxDepth = 10 meter
      """
      Maximum depth for the entire mission.
      """

    MinWaterDepth = 10 meter
      """
      Minimum water depth for the entire mission.
      """

    MinOffshore = 2000 meter
      """
      Minimum offshore distance for the entire mission.
      """

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

    NeedCommsTimeInTransit = 300 minute
      """
      Maximum time between surfacings for communications during transit
      """

    NeedCommsTimePatchMapping = 300 minute
      """
      Maximum time between surfacings for communications during patch mapping.
      This is checked only on every NumRoundsBtnCrossLegSurfacings rounds of
      CrossLeg or every NumRoundsBtnInLegSurfacings InLeg.
      """

    ElapsedTimeSinceLastGPSForCheckingOutsidePolygon = 60 minute
      """
      Check whether vehicle is outside of polygon only after the elapsed time
      since last GPS is greater than this parameter.
      """

    CheckNaNTimeout = 10 minute
      """
      If the patch peak value is NaN by this time, stop mission.
      """

    TimePastOffPeakThreshold = 30 minute
      """
      Time to swim past off-peak threshold point, in order to cover low-value
      areas.
      """

    WaitAfterHittingWall = 15 minute
      """
      After the vehicle bounces off the boundary (defined by the shortest
      distance to polygon sides), wait this long before re-checking the
      distance.
      """

    LatPatchMappingStart = NaN degree
      """
      Latitude of patch mapping start location. If nan, transit is skipped.
      """

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

    LonPatchMappingStart = NaN degree
      """
      Longitude of patch mapping start location. If nan, transit is skipped.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.855</Value></DefineArg>

    Repeat = 100 count
      """
      Maximum number of legs. Set to a large number.
      """

    WpMaxDistance = 6000 meter
      """
      Maximum length of each mapping leg
      """

    WpTimeoutBase = 6000 second
      """
      Maximum duration of each mapping leg
      """

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

    TransitYoYoMaxDepth = 8 meter
      """
      Maximum depth while performing the YoYo behavior during transit.
      """

    PatchMappingYoYoMinDepth = 2 meter
      """
      Minimum depth while performing the YoYo behavior during patch mapping.
      """

    PatchMappingYoYoMaxDepth = 8 meter
      """
      Maximum depth while performing the YoYo behavior during patch mapping.
      """

    YoYoMinAltitude = 3 meter
      """
      Minimum altitude while performing the YoYo behavior (for
      bottom-terminated YoYos).
      """

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

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

    PeakShallowBnd = 2 meter
      """
      Shallow depth bound for detecting peak on each descent or ascent
      profile.
      """

    PeakDeepBnd = 8 meter
      """
      Deep depth bound for detecting peak on each descent or ascent profile.
      """

    BeginThresholdChl = 1.0 microgram_per_liter
      """
      If non-NaN, sets chlorophyll threshold for starting horizontal patch
      detection
      """

    BeginThresholdSalt = 33.0 psu
      """
      If non-NaN, sets salinity threshold for starting horizontal patch
      detection
      """

    BeginThresholdOil = 0.1 kilogram_per_cubic_meter
      """
      If non-NaN, sets threshold for starting horizontal patch detection
      """

    WpBearing = 210 degree
      """
      Bearing being followed in the current leg. Set this to initialize start
      direction of patch mapping.
      """

    OffPeakFraction = 10 percent
      """
      When filtered horizontal value is this fraction of the peak, consider it
      outside the patch.
      """

    fractionOfThreshold = 10 percent
      """
      On a non-continued flight, if the detected peak is lower than
      BeginThreshold*fractionOfThreshold, the peak is disqualified, and the
      vehicle continues on the current heading until a qualified peak is
      found, or bouncing on a wall, or WpMaxDistance is reached.
      """

    DetectionTimeout = 30 minute
      """
      Look for signal for this long. If none found within this timeout, switch
      to the next leg.
      """

    TimeWindowPeakRpt = NaN minute
      """
      If greater than zero, report a peak every such time window has elapsed.
      If NaN or zero, this variable is ignored.
      """

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

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

    NumOfProfilesSlidingwindow = 50 count
      """
      Length of horizontal sliding window. The highest per-yoyo peak (after
      low-pass filtering by a filter of length FilterWidthHorizontal) is
      picked out within this window.
      """

    FilterWidthHorizontal = 4 count
      """
      Width of boxcar filter used in horizontal patch detection
      """

    MicromodemCommsInterval = 5 minute
      """

      """

    TrackingUpdatePeriod = 2.5 second
      """
      How long to wait between acoustic queries
      """

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

    DepChangeThreshAttitudeFlip = 0.5 meter
      """
      Depth change threshold for determining vehicle attitude flip.
      """

    WaterFrame = true
      """
      Set WaterFrame true to drive towards waypoints in the water frame of
      reference
      """

    PatchMode = false
      """
      If true, use center of "in peak" range as the turn-around point. If
      false use maximum horizontal peak location as the turn-around point.
      """

    TurnAngleBase = 120 degree
      """
      Zigzag turn angle.
      """

    Reverse = 180 degree
      """
      Change in bearing which reverses vehicle direction
      """

    TwoPi = 360 degree
      """
      Applied to stop run-up of angles
      """

    MassDefault = Control:VerticalControl.massDefault
      """
      Static setting for mass during the mission. Defaults to massDefault
      setting in the Config/Control.cfg file.
      """

    BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
      """
      Buoyancy bladder position while performing the YoYo behavior. Defaults
      to buoyancyNeutral setting in the Config/Control.cfg file.
      """
  }

  output {
    # Internal variable settings

    PeakFoundNotContinuedFlightLowEnabled = true
      """
      Initialized to True.
      """

    PeakFoundNotContinuedFlightHighEnabled = true
      """
      Initialized to True.
      """

    PeakFoundContinuedFlightLowEnabled = true
      """
      Initialized to True.
      """

    PeakFoundContinuedFlightHighEnabled = true
      """
      Initialized to True.
      """

    LegNotContinuedFlightEnabled = true
      """
      Initialized to True.
      """

    LegContinuedFlightLowEnabled = true
      """
      Initialized to True.
      """

    LegContinuedFlightHighEnabled = true
      """
      Initialized to True.
      """

    PatchDetectOn = true
      """
      Mission sets this to true when looking for the patch peak. Initialized
      to True.
      """

    ZigDone = false
      """
      Mission sets this to true when the zig transect has been completed.
      Initialized to False.
      """

    LegContinuedFlight = false
      """
      Initialized to False.
      """

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

    Turn = NaN degree
      """
      Initialized to NaN.
      """

    WpBearingAfterLastWallHit = NaN degree
      """
      Initialized to NaN.
      """

    WpTimeout = NaN second
      """
      Initialized to NaN.
      """

    SideLastHit = NaN count

    PatchPeakChl = NaN microgram_per_liter

    PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

    PatchPeakSalinity = NaN psu

    PatchPeakSalinityPriorToContinuedFlight = NaN psu

    PatchPeakOil = NaN kilogram_per_cubic_meter

    PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

    PatchPeakDepth = NaN meter

    PatchPeakLatitude = NaN degree

    PatchPeakLongitude = NaN degree

    PatchPeakDistance = 0 meter

    StoppedForNaNPatchPeak = false
      """
      Mission stopped because patch peak value is NaN. Initialized to False.
      """

    StoppedPolygonNotDefined = false
      """
      Mission stopped because the bounding polygon is not defined. Initialized
      to False.
      """

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

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

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

    ElapsedSinceEndOfTransit = 0 hour
      """
      The mission sets this variable to reset the timer.
      """
  }

  # The timeout

  timeout duration=MissionTimeout

  # And now the mission

  # Uncomment to speed up simulation
  #    <Guidance:SetSpeed>
  #        <Parallel/>
  #        <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>800</Value></Setting>
  #    </Guidance:SetSpeed>

  behavior Guidance:AltitudeEnvelope {
    run in parallel
    set Guidance:AltitudeEnvelope.minAltitude = MinAltitude
  }

  behavior Guidance:DepthEnvelope {
    run in parallel
    set Guidance:DepthEnvelope.maxDepth = MaxDepth
  }

  # GPS Update.  Don't go too long w/o a GPS fix.

  insert Insert/NeedComms.tl id="NeedComms"


  behavior Guidance:OffshoreEnvelope {
    run in parallel
    set Guidance:OffshoreEnvelope.minOffshore = MinOffshore
  }

  behavior Guidance:WaterDepthEnvelope {
    run in parallel
    set Guidance:WaterDepthEnvelope.minWaterDepth = MinWaterDepth
  }

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

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

  insert Insert/MicromodemComms.tl id="MicromodemComms" {
    redefineArg CommsInterval = MicromodemCommsInterval
  }



  # If we're executing here or below, lets' get science data!

  insert Insert/Science.tl {
    redefineArg PeakDetectChlActive = PeakDetectChl
    redefineArg PeakDetectSalinityActive = PeakDetectSalinity
    redefineArg PeakDetectOilActive = PeakDetectOil
    redefineArg DetectTrough = DetectTheTrough
    redefineArg TimeWindowPeakReport = TimeWindowPeakRpt
    redefineArg LowPassWindowLength = LowPassWindowLen
    redefineArg MedianFilterLen = MedianFilterLength
    redefineArg PeakShallowBound = PeakShallowBnd
    redefineArg PeakDeepBound = PeakDeepBnd
    redefineArg DepChangeThreshForAttitudeFlip = DepChangeThreshAttitudeFlip
  }



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

  aggregate SyslogWpMaxDistanceReached {
    run when (
      called
    )

    break if (
      LegContinuedFlight
      or ( not ( LegNotContinuedFlightEnabled ) )
    )

    aggregate SyslogWpMaxDistanceReachedChl {
      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "Maximum leg distance reached. Turn onto a new heading. The patch peak is "
           + PatchPeakChl ~ microgram_per_liter
           + "at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogWpMaxDistanceReachedSalt {
      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 psu )
        )
      )

      syslog important "Maximum leg distance reached. Turn onto a new heading. The patch peak is "
           + PatchPeakSalinity ~ psu
           + " at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogWpMaxDistanceReachedOil {
      break if (
        not (
          PeakDetectOil
          and ( PatchPeakOil >= 0.0 kilogram_per_cubic_meter )
        )
      )

      syslog important "Maximum leg distance reached. Turn onto a new heading. The patch peak is "
           + PatchPeakOil ~ kilogram_per_cubic_meter
           + " at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + "."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }
  }

  aggregate SyslogContinuedFlightCompletedPatchValueLow {
    run when (
      called
    )

    aggregate SyslogContinuedFlightCompletedPatchValueLowChl {
      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakChl ~ microgram_per_liter
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is lower than ("
           + PatchPeakChlPriorToContinuedFlight ~ microgram_per_liter
           + " * "
           + OffPeakFraction ~ percent
           + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogContinuedFlightCompletedPatchValueLowSalt {
      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 psu )
        )
      )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakSalinity ~ psu
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is lower than ("
           + PatchPeakSalinityPriorToContinuedFlight ~ psu
           + " * "
           + OffPeakFraction ~ percent
           + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogContinuedFlightCompletedPatchValueLowOil {
      break if (
        not (
          PeakDetectOil
          and ( PatchPeakOil >= 0.0 kilogram_per_cubic_meter )
        )
      )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakOil ~ kilogram_per_cubic_meter
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is lower than ("
           + PatchPeakOilPriorToContinuedFlight ~ kilogram_per_cubic_meter
           + " * "
           + OffPeakFraction ~ percent
           + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }
  }

  aggregate SyslogContinuedFlightCompletedPatchValueHigh {
    run when (
      called
    )

    aggregate SyslogContinuedFlightCompletedPatchValueHighChl {
      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakChl ~ microgram_per_liter
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is higher than ("
           + PatchPeakChlPriorToContinuedFlight ~ microgram_per_liter
           + " * "
           + OffPeakFraction ~ percent
           + "). Maintain heading."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogContinuedFlightCompletedPatchValueHighSalt {
      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 psu )
        )
      )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakSalinity ~ psu
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is higher than ("
           + PatchPeakSalinityPriorToContinuedFlight ~ psu
           + " * "
           + OffPeakFraction ~ percent
           + "). Maintain heading."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogContinuedFlightCompletedPatchValueHighOil {
      break if (
        not (
          PeakDetectOil
          and ( PatchPeakOil >= 0.0 kilogram_per_cubic_meter )
        )
      )

      syslog important "Continued flight completed. The patch peak "
           + PatchPeakOil ~ kilogram_per_cubic_meter
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is higher than ("
           + PatchPeakOilPriorToContinuedFlight ~ kilogram_per_cubic_meter
           + " * "
           + OffPeakFraction ~ percent
           + "). Maintain heading."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }
  }

  aggregate SyslogPeakFoundContinuedFlightPatchValueLow {
    run when (
      called
    )

    aggregate SyslogPeakFoundContinuedFlightPatchValueLowChl {
      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakChl ~ microgram_per_liter
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is lower than ("
           + PatchPeakChlPriorToContinuedFlight ~ microgram_per_liter
           + " * "
           + OffPeakFraction ~ percent
           + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogPeakFoundContinuedFlightPatchValueLowSalinity {
      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 psu )
        )
      )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakSalinity ~ psu
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is lower than ("
           + PatchPeakSalinityPriorToContinuedFlight ~ psu
           + " * "
           + OffPeakFraction ~ percent
           + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogPeakFoundContinuedFlightPatchValueLowOil {
      break if (
        not (
          PeakDetectOil
          and ( PatchPeakOil >= 0.0 kilogram_per_cubic_meter )
        )
      )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakOil ~ kilogram_per_cubic_meter
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is lower than ("
           + PatchPeakOilPriorToContinuedFlight ~ kilogram_per_cubic_meter
           + " * "
           + OffPeakFraction ~ percent
           + "). Turn onto a new heading."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }
  }

  aggregate SyslogPeakFoundContinuedFlightPatchValueHigh {
    run when (
      called
    )

    aggregate SyslogPeakFoundContinuedFlightPatchValueHighChl {
      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakChl ~ microgram_per_liter
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is higher than ("
           + PatchPeakChlPriorToContinuedFlight ~ microgram_per_liter
           + " * "
           + OffPeakFraction ~ percent
           + "). Maintain heading."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogPeakFoundContinuedFlightPatchValueHighSalinity {
      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 psu )
        )
      )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakSalinity ~ psu
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is higher than ("
           + PatchPeakSalinityPriorToContinuedFlight ~ psu
           + " * "
           + OffPeakFraction ~ percent
           + "). Maintain heading."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogPeakFoundContinuedFlightPatchValueHighOil {
      break if (
        not (
          PeakDetectOil
          and ( PatchPeakOil >= 0.0 kilogram_per_cubic_meter )
        )
      )

      syslog important "The patch peak is found before the continued flight is completed. The patch peak "
           + PatchPeakOil ~ kilogram_per_cubic_meter
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is higher than ("
           + PatchPeakOilPriorToContinuedFlight ~ kilogram_per_cubic_meter
           + " * "
           + OffPeakFraction ~ percent
           + "). Maintain heading."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }
  }

  aggregate SyslogPeakFoundNotContinuedFlightLow {
    run when (
      called
    )

    aggregate SyslogPeakFoundNotContinuedFlightLowChl {
      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak "
           + PatchPeakChl ~ microgram_per_liter
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is lower than "
           + BeginThresholdChl ~ microgram_per_liter
           + ". Turn onto a new heading."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogPeakFoundNotContinuedFlightLowSalinity {
      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 psu )
        )
      )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak "
           + PatchPeakSalinity ~ psu
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is lower than "
           + BeginThresholdSalt ~ psu
           + ". Turn onto a new heading."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogPeakFoundNotContinuedFlightLowOil {
      break if (
        not (
          PeakDetectOil
          and ( PatchPeakOil >= 0.0 kilogram_per_cubic_meter )
        )
      )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak "
           + PatchPeakOil ~ kilogram_per_cubic_meter
           + " (at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ") is lower than "
           + BeginThresholdOil ~ kilogram_per_cubic_meter
           + ". Turn onto a new heading."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }
  }

  aggregate SyslogPeakFoundNotContinuedFlightHigh {
    run when (
      called
    )

    aggregate SyslogPeakFoundNotContinuedFlightHighChl {
      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak is "
           + PatchPeakChl ~ microgram_per_liter
           + " at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ". Will continue flight for "
           + TimePastOffPeakThreshold ~ minute
           + "."

      sendData service=express (
        PatchPeakChl,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogPeakFoundNotContinuedFlightHighSalinity {
      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 psu )
        )
      )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak is "
           + PatchPeakSalinity ~ psu
           + " at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ". Will continue flight for "
           + TimePastOffPeakThreshold ~ minute
           + "."

      sendData service=express (
        PatchPeakSalinity,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }

    aggregate SyslogPeakFoundNotContinuedFlightHighOil {
      break if (
        not (
          PeakDetectOil
          and ( PatchPeakOil >= 0.0 kilogram_per_cubic_meter )
        )
      )

      syslog important "The patch peak is found before the maximum leg distance is reached. The patch peak is "
           + PatchPeakOil ~ kilogram_per_cubic_meter
           + " at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + ". Will continue flight for "
           + TimePastOffPeakThreshold ~ minute
           + "."

      sendData service=express (
        PatchPeakOil,
        PatchPeakDepth,
        PatchPeakLatitude,
        PatchPeakLongitude
      )

    }
  }

  aggregate SyslogHittingWall {
    run when (
      called
    )

    aggregate SyslogHittingWallChl {
      break if (
        not (
          PeakDetectChl
          and ( PatchPeakChl >= 0.0 microgram_per_liter )
        )
      )

      syslog important "Latitude = "
           + Universal:latitude ~ degree
           + ", longitude = "
           + Universal:longitude ~ degree
           + ". Shortest distance "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides ~ meter
           + " to side "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance ~ count
           + ": less than MinDistFromPolygonSides "
           + MinDistFromPolygonSides ~ meter
           + " and vehicle is inside polygon, or larger than MinDistFromPolygonSides "
           + MinDistFromPolygonSides ~ meter
           + " but vehicle outside of polygon on a fresh GPS fix. The patch peak is "
           + PatchPeakChl ~ microgram_per_liter
           + "at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + "."
    }

    aggregate SyslogHittingWallSalinity {
      break if (
        not (
          PeakDetectSalinity
          and ( PatchPeakSalinity >= 0.0 psu )
        )
      )

      syslog important "Latitude = "
           + Universal:latitude ~ degree
           + ", longitude = "
           + Universal:longitude ~ degree
           + ". Shortest distance "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides ~ meter
           + " to side "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance ~ count
           + ": less than MinDistFromPolygonSides "
           + MinDistFromPolygonSides ~ meter
           + " and vehicle is inside polygon, or larger than MinDistFromPolygonSides "
           + MinDistFromPolygonSides ~ meter
           + " but vehicle outside of polygon on a fresh GPS fix. The patch peak is "
           + PatchPeakSalinity ~ psu
           + "at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + "."
    }

    aggregate SyslogHittingWallOil {
      break if (
        not (
          PeakDetectOil
          and ( PatchPeakOil >= 0.0 kilogram_per_cubic_meter )
        )
      )

      syslog important "Latitude = "
           + Universal:latitude ~ degree
           + ", longitude = "
           + Universal:longitude ~ degree
           + ". Shortest distance "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides ~ meter
           + " to side "
           + Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance ~ count
           + ": less than MinDistFromPolygonSides "
           + MinDistFromPolygonSides ~ meter
           + " and vehicle is inside polygon, or larger than MinDistFromPolygonSides "
           + MinDistFromPolygonSides ~ meter
           + " but vehicle outside of polygon on a fresh GPS fix. The patch peak is "
           + PatchPeakOil ~ kilogram_per_cubic_meter
           + "at "
           + PatchPeakLatitude ~ degree
           + ","
           + PatchPeakLongitude ~ degree
           + ", distance = "
           + PatchPeakDistance ~ meter
           + "."
    }
  }

  aggregate Wait {
    run when (
      called
    )

    syslog important "Continue flight for "
         + TimePastOffPeakThreshold ~ minute
         + " before the next leg."

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

  aggregate Detach {
    run in sequence

    timeout duration=DetachTimeout {
      syslog important "Timed out trying to detach from dock. Stopping mission."
      behavior Guidance:Execute {
        run in sequence
        set Guidance:Execute.command = "stop"
      }
    }


    syslog important "Detaching from dock."

    # Turn on tracking so we get some ranges to see how far we are from the dock

    behavior Estimation:TrackAcousticContact {
      run in parallel
      set Estimation:TrackAcousticContact.contactLabelSetting = TransponderCode
      set Estimation:TrackAcousticContact.numberOfSamplesSetting = NumberOfPings
      set Estimation:TrackAcousticContact.updatePeriodSetting = TrackingUpdatePeriod
    }

    # Time to leave the dock!

    behavior Dock:Undock {
      run in sequence
    }
  }

  aggregate MissionStartComms {
    run in sequence

    run when (
      CommsAtMissionStart
      and ( not ( MissionStartCommsCompleted ) )
    )

    call id="MissionStartComms" refId="NeedComms"

    assign in sequence MissionStartCommsCompleted = true
  }

  aggregate MissionStartSettings {
    assign in sequence ElapsedSinceStart = 0 hour

    assign in sequence ElapsedSinceLastTurn = 0 hour

    assign in sequence Turn = TurnAngleBase

    assign in sequence WpTimeout = WpTimeoutBase
  }

  aggregate TransitToPatchMappingStartLocation {
    run in sequence

    break if (
      isNaN ( LatPatchMappingStart )
      or ( isNaN ( LonPatchMappingStart ) )
    )

    assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransit

    behavior Guidance:DepthEnvelope {
      run in parallel
      set Guidance:DepthEnvelope.minDepth = TransitYoYoMinDepth
      set Guidance:DepthEnvelope.maxDepth = TransitYoYoMaxDepth
    }

    behavior Guidance:AltitudeEnvelope {
      """
      Another altitude envelope for the YoYo behavior. This envelope
      should fall within the limits of the standard safety envelopes
      in Insert/StandardEnvelopes.tl in order to avoid commanding
      high pitch angles for bottom-terminated YoYos.
      """
      run in parallel
      set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude
      set Guidance:AltitudeEnvelope.upPitch = YoYoUpPitch
    }

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

    behavior Guidance:Waypoint {
      run in sequence
      set Guidance:Waypoint.latitude = LatPatchMappingStart
      set Guidance:Waypoint.longitude = LonPatchMappingStart
    }

    assign in sequence NeedComms:DiveInterval = NeedCommsTimePatchMapping

    assign in sequence ElapsedSinceEndOfTransit = 0 hour
  }

  aggregate PolygonNotDefined {
    run in sequence

    run when (
      not ( Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup )
    )

    break if (
      StoppedPolygonNotDefined
    )

    syslog important "Bounding polygon is not defined. Stopping mission."

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

    assign in sequence StoppedPolygonNotDefined = true
  }

  aggregate PatchPeakIsNaN {
    run in sequence

    run when (
      elapsed ( ElapsedSinceStart ) > CheckNaNTimeout
      and (
        isNaN ( LatPatchMappingStart )
        or ( isNaN ( LonPatchMappingStart ) )
      )
      or (
        elapsed ( ElapsedSinceEndOfTransit ) > CheckNaNTimeout
        and (
          not (
            isNaN ( LatPatchMappingStart )
            or ( isNaN ( LonPatchMappingStart ) )
          )
        )
      )
    )

    break if (
      PeakDetectChl
      and ( PatchPeakChl >= 0.0 microgram_per_liter )
      or (
        PeakDetectSalinity
        and ( PatchPeakSalinity >= 0.0 psu )
      )
      or (
        PeakDetectOil
        and ( PatchPeakOil >= 0.0 kilogram_per_cubic_meter )
      )
      or StoppedForNaNPatchPeak
    )

    syslog important "Patch peak value is NaN. Stopping mission."

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

    assign in sequence StoppedForNaNPatchPeak = true
  }

  aggregate PatchMapping {
    run in sequence repeat=Repeat

    assign in sequence PeakFoundNotContinuedFlightLowEnabled = true

    assign in sequence PeakFoundNotContinuedFlightHighEnabled = true

    assign in sequence PeakFoundContinuedFlightLowEnabled = true

    assign in sequence PeakFoundContinuedFlightHighEnabled = true

    assign in sequence LegNotContinuedFlightEnabled = true

    assign in sequence LegContinuedFlightLowEnabled = true

    assign in sequence LegContinuedFlightHighEnabled = true

    assign in sequence ZigDone = false

    assign in sequence PatchDetectOn = true

    behavior Guidance:DepthEnvelope {
      run in parallel
      set Guidance:DepthEnvelope.minDepth = PatchMappingYoYoMinDepth
      set Guidance:DepthEnvelope.maxDepth = PatchMappingYoYoMaxDepth
    }

    behavior Guidance:AltitudeEnvelope {
      """
      Another altitude envelope for the YoYo behavior. This envelope
      should fall within the limits of the standard safety envelopes
      in Insert/StandardEnvelopes.tl in order to avoid commanding
      high pitch angles for bottom-terminated YoYos.
      """
      run in parallel
      set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude
      set Guidance:AltitudeEnvelope.upPitch = YoYoUpPitch
    }

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

    aggregate OutsideOfPolygon {
      run in parallel

      break if (
        Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon
        or ( elapsed ( Universal:time_fix ) <= ElapsedTimeSinceLastGPSForCheckingOutsidePolygon )
        or StoppedForBeingOutsideOfPolygon
      )

      syslog important "Latitude = "
           + Universal:latitude ~ degree
           + ", longitude = "
           + Universal:longitude ~ degree
           + ". The vehicle is outside of the polygon. Stopping mission."

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

      assign in sequence StoppedForBeingOutsideOfPolygon = true
    }

    aggregate HitWallTerminateZigSide0Side2 {
      run in sequence

      run when (
        elapsed ( ElapsedSinceLastTurn ) > WaitAfterHittingWall
        and (
          Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides
          or ( not ( Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon ) )
        )
        and (
          Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 0 count
          or ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 2 count )
        )
        and (
          not (
            Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == SideLastHit
            and ( WpBearing == WpBearingAfterLastWallHit )
          )
        )
      )

      break if (
        ZigDone
      )

      assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance

      call id="SyslogHittingWallZigSide0Side2" refId="SyslogHittingWall"

      assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

      assign in sequence ElapsedSinceLastTurn = 0 hour

      assign in sequence WpBearingAfterLastWallHit = WpBearing

      assign in sequence Turn = Turn - Turn - Turn

      assign in sequence WpTimeout = WpTimeoutBase

      assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

      assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN psu

      assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

      assign in sequence LegContinuedFlight = false

      assign in sequence ZigDone = true
    }

    aggregate HitWallTerminateZigSide1Side3 {
      run in sequence

      run when (
        elapsed ( ElapsedSinceLastTurn ) > WaitAfterHittingWall
        and (
          Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides <= MinDistFromPolygonSides
          or ( not ( Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon ) )
        )
        and (
          Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 1 count
          or ( Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == 3 count )
        )
        and (
          not (
            Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance == SideLastHit
            and ( WpBearing == WpBearingAfterLastWallHit )
          )
        )
      )

      break if (
        ZigDone
      )

      assign in sequence SideLastHit = Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance

      call id="SyslogHittingWallZigSide1Side3" refId="SyslogHittingWall"

      assign in sequence WpBearing = ( WpBearing + Reverse ) % TwoPi

      assign in sequence ElapsedSinceLastTurn = 0 hour

      assign in sequence WpBearingAfterLastWallHit = WpBearing

      assign in sequence WpTimeout = WpTimeoutBase

      assign in sequence PatchPeakChlPriorToContinuedFlight = NaN microgram_per_liter

      assign in sequence PatchPeakSalinityPriorToContinuedFlight = NaN psu

      assign in sequence PatchPeakOilPriorToContinuedFlight = NaN kilogram_per_cubic_meter

      assign in sequence LegContinuedFlight = false

      assign in sequence ZigDone = true
    }

    aggregate ChlPatchDetectionZig {
      run in sequence

      run when (
        PeakDetectChl
      )

      break if (
        ZigDone
      )

      behavior Trigger:PeakDetectHorizontal id="PatchTrackTrigger" {
        run in sequence
        break if (
          ZigDone
        )
        set Trigger:PeakDetectHorizontal.patchTracking = true
        set Trigger:PeakDetectHorizontal.detectFrom = Science:PeakChl
        set Trigger:PeakDetectHorizontal.detectTrough = Science:DetectTrough
        set Trigger:PeakDetectHorizontal.depthFrom = Science:PeakChlDepth
        set Trigger:PeakDetectHorizontal.latitudeFrom = Science:PeakChlLatitude
        set Trigger:PeakDetectHorizontal.longitudeFrom = Science:PeakChlLongitude
        set Trigger:PeakDetectHorizontal.beginThreshold = BeginThresholdChl
        set Trigger:PeakDetectHorizontal.offPeakFraction = OffPeakFraction
        set Trigger:PeakDetectHorizontal.filterWidth = FilterWidthHorizontal
        set Trigger:PeakDetectHorizontal.numProfilesSlidingwindow = NumOfProfilesSlidingwindow
        set Trigger:PeakDetectHorizontal.detectTimeout = DetectionTimeout
        set Trigger:PeakDetectHorizontal.centerPeak = PatchMode
        outputArg PatchPeakChl = Trigger:PeakDetectHorizontal.peakDetect
        outputArg PatchPeakDepth = Trigger:PeakDetectHorizontal.peakDepth
        outputArg PatchPeakLatitude = Trigger:PeakDetectHorizontal.peakLatitude
        outputArg PatchPeakLongitude = Trigger:PeakDetectHorizontal.peakLongitude
        outputArg PatchPeakDistance = Trigger:PeakDetectHorizontal.peakDistance
      }

      aggregate PeakFoundTerminateZig {
        run in sequence

        break if (
          ZigDone
        )

        aggregate NotInContinuedFlight {
          run in sequence

          break if (
            LegContinuedFlight
          )

          aggregate PeakFoundNotContinuedFlightLow {
            break if (
              PatchPeakChl > BeginThresholdChl
              or (
                PatchPeakChl < ( BeginThresholdChl * fractionOfThreshold )
                and ( not ( PatchPeakChlPriorToContinuedFlight >= BeginThresholdChl ) )
              )
              or ( not ( PeakFoundNotContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightHighEnabled = false

            call id="PeakFoundNotContinuedFlightLow" refId="SyslogPeakFoundNotContinuedFlightLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundNotContinuedFlightHigh {
            break if (
              PatchPeakChl <= BeginThresholdChl
              or ( not ( PeakFoundNotContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightLowEnabled = false

            call id="PeakFoundNotContinuedFlightHigh" refId="SyslogPeakFoundNotContinuedFlightHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence PatchPeakChlPriorToContinuedFlight = PatchPeakChl

            assign in sequence WpTimeout = TimePastOffPeakThreshold

            assign in sequence LegContinuedFlight = true

            assign in sequence ZigDone = true
          }
        }

        aggregate InContinuedFlight {
          run in sequence

          break if (
            not ( LegContinuedFlight )
          )

          aggregate PeakFoundContinuedFlightPatchValueLow {
            break if (
              PatchPeakChl > ( PatchPeakChlPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightHighEnabled = false

            call id="PeakFoundContinuedFlightLow" refId="SyslogPeakFoundContinuedFlightPatchValueLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundContinuedFlightPatchValueHigh {
            break if (
              PatchPeakChl <= ( PatchPeakChlPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightLowEnabled = false

            call id="PeakFoundContinuedFlightHigh" refId="SyslogPeakFoundContinuedFlightPatchValueHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }
        }
      }
    }

    aggregate SalinityPatchDetectionZig {
      run in sequence

      run when (
        PeakDetectSalinity
      )

      break if (
        ZigDone
      )

      behavior Trigger:PeakDetectHorizontal id="PatchTrackTrigger" {
        run in sequence
        break if (
          ZigDone
        )
        set Trigger:PeakDetectHorizontal.patchTracking = true
        set Trigger:PeakDetectHorizontal.detectFrom = Science:PeakSalt
        set Trigger:PeakDetectHorizontal.detectTrough = Science:DetectTrough
        set Trigger:PeakDetectHorizontal.depthFrom = Science:PeakSaltDepth
        set Trigger:PeakDetectHorizontal.latitudeFrom = Science:PeakSaltLatitude
        set Trigger:PeakDetectHorizontal.longitudeFrom = Science:PeakSaltLongitude
        set Trigger:PeakDetectHorizontal.beginThreshold = BeginThresholdSalt
        set Trigger:PeakDetectHorizontal.offPeakFraction = OffPeakFraction
        set Trigger:PeakDetectHorizontal.filterWidth = FilterWidthHorizontal
        set Trigger:PeakDetectHorizontal.numProfilesSlidingwindow = NumOfProfilesSlidingwindow
        set Trigger:PeakDetectHorizontal.detectTimeout = DetectionTimeout
        set Trigger:PeakDetectHorizontal.centerPeak = PatchMode
        outputArg PatchPeakSalinity = Trigger:PeakDetectHorizontal.peakDetect
        outputArg PatchPeakDepth = Trigger:PeakDetectHorizontal.peakDepth
        outputArg PatchPeakLatitude = Trigger:PeakDetectHorizontal.peakLatitude
        outputArg PatchPeakLongitude = Trigger:PeakDetectHorizontal.peakLongitude
        outputArg PatchPeakDistance = Trigger:PeakDetectHorizontal.peakDistance
      }

      aggregate PeakFoundTerminateZig {
        run in sequence

        break if (
          ZigDone
        )

        aggregate NotInContinuedFlight {
          run in sequence

          break if (
            LegContinuedFlight
          )

          aggregate PeakFoundNotContinuedFlightLow {
            break if (
              PatchPeakSalinity > BeginThresholdSalt
              or (
                PatchPeakSalinity < ( BeginThresholdSalt * fractionOfThreshold )
                and ( not ( PatchPeakSalinityPriorToContinuedFlight >= BeginThresholdSalt ) )
              )
              or ( not ( PeakFoundNotContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightHighEnabled = false

            call id="PeakFoundNotContinuedFlightLow" refId="SyslogPeakFoundNotContinuedFlightLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundNotContinuedFlightHigh {
            break if (
              PatchPeakSalinity <= BeginThresholdSalt
              or ( not ( PeakFoundNotContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightLowEnabled = false

            call id="PeakFoundNotContinuedFlightHigh" refId="SyslogPeakFoundNotContinuedFlightHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence PatchPeakSalinityPriorToContinuedFlight = PatchPeakSalinity

            assign in sequence WpTimeout = TimePastOffPeakThreshold

            assign in sequence LegContinuedFlight = true

            assign in sequence ZigDone = true
          }
        }

        aggregate InContinuedFlight {
          run in sequence

          break if (
            not ( LegContinuedFlight )
          )

          aggregate PeakFoundContinuedFlightPatchValueLow {
            break if (
              PatchPeakSalinity > ( PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightHighEnabled = false

            call id="PeakFoundContinuedFlightLow" refId="SyslogPeakFoundContinuedFlightPatchValueLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundContinuedFlightPatchValueHigh {
            break if (
              PatchPeakSalinity <= ( PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightLowEnabled = false

            call id="PeakFoundContinuedFlightHigh" refId="SyslogPeakFoundContinuedFlightPatchValueHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }
        }
      }
    }

    aggregate OilPatchDetectionZig {
      run in sequence

      run when (
        PeakDetectOil
      )

      break if (
        ZigDone
      )

      behavior Trigger:PeakDetectHorizontal id="PatchTrackTrigger" {
        run in sequence
        break if (
          ZigDone
        )
        set Trigger:PeakDetectHorizontal.patchTracking = true
        set Trigger:PeakDetectHorizontal.detectFrom = Science:PeakOil
        set Trigger:PeakDetectHorizontal.detectTrough = Science:DetectTrough
        set Trigger:PeakDetectHorizontal.depthFrom = Science:PeakOilDepth
        set Trigger:PeakDetectHorizontal.latitudeFrom = Science:PeakOilLatitude
        set Trigger:PeakDetectHorizontal.longitudeFrom = Science:PeakOilLongitude
        set Trigger:PeakDetectHorizontal.beginThreshold = BeginThresholdOil
        set Trigger:PeakDetectHorizontal.offPeakFraction = OffPeakFraction
        set Trigger:PeakDetectHorizontal.filterWidth = FilterWidthHorizontal
        set Trigger:PeakDetectHorizontal.numProfilesSlidingwindow = NumOfProfilesSlidingwindow
        set Trigger:PeakDetectHorizontal.detectTimeout = DetectionTimeout
        set Trigger:PeakDetectHorizontal.centerPeak = PatchMode
        outputArg PatchPeakOil = Trigger:PeakDetectHorizontal.peakDetect
        outputArg PatchPeakDepth = Trigger:PeakDetectHorizontal.peakDepth
        outputArg PatchPeakLatitude = Trigger:PeakDetectHorizontal.peakLatitude
        outputArg PatchPeakLongitude = Trigger:PeakDetectHorizontal.peakLongitude
        outputArg PatchPeakDistance = Trigger:PeakDetectHorizontal.peakDistance
      }

      aggregate PeakFoundTerminateZig {
        run in sequence

        break if (
          ZigDone
        )

        aggregate NotInContinuedFlight {
          run in sequence

          break if (
            LegContinuedFlight
          )

          aggregate PeakFoundNotContinuedFlightLow {
            break if (
              PatchPeakOil > BeginThresholdOil
              or (
                PatchPeakOil < ( BeginThresholdOil * fractionOfThreshold )
                and ( not ( PatchPeakOilPriorToContinuedFlight >= BeginThresholdOil ) )
              )
              or ( not ( PeakFoundNotContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightHighEnabled = false

            call id="PeakFoundNotContinuedFlightLow" refId="SyslogPeakFoundNotContinuedFlightLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundNotContinuedFlightHigh {
            break if (
              PatchPeakOil <= BeginThresholdOil
              or ( not ( PeakFoundNotContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundNotContinuedFlightLowEnabled = false

            call id="PeakFoundNotContinuedFlightHigh" refId="SyslogPeakFoundNotContinuedFlightHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence PatchPeakOilPriorToContinuedFlight = PatchPeakOil

            assign in sequence WpTimeout = TimePastOffPeakThreshold

            assign in sequence LegContinuedFlight = true

            assign in sequence ZigDone = true
          }
        }

        aggregate InContinuedFlight {
          run in sequence

          break if (
            not ( LegContinuedFlight )
          )

          aggregate PeakFoundContinuedFlightPatchValueLow {
            break if (
              PatchPeakOil > ( PatchPeakOilPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightLowEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightHighEnabled = false

            call id="PeakFoundContinuedFlightLow" refId="SyslogPeakFoundContinuedFlightPatchValueLow"

            assign in sequence PatchDetectOn = false

            assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

            assign in sequence ElapsedSinceLastTurn = 0 hour

            assign in sequence Turn = Turn - Turn - Turn

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }

          aggregate PeakFoundContinuedFlightPatchValueHigh {
            break if (
              PatchPeakOil <= ( PatchPeakOilPriorToContinuedFlight * OffPeakFraction )
              or ( not ( PeakFoundContinuedFlightHighEnabled ) )
            )

            assign in sequence PeakFoundContinuedFlightLowEnabled = false

            call id="PeakFoundContinuedFlightHigh" refId="SyslogPeakFoundContinuedFlightPatchValueHigh"

            assign in sequence PatchDetectOn = false

            assign in sequence WpTimeout = WpTimeoutBase

            assign in sequence LegContinuedFlight = false

            assign in sequence ZigDone = true
          }
        }
      }
    }

    aggregate Zig {
      """
      Completes transect's maximum distance.
      """

      run in sequence

      break if (
        ZigDone
      )

      aggregate LegContinuedFlight {
        break if (
          not ( LegContinuedFlight )
          or (
            not (
              LegContinuedFlightLowEnabled
              or LegContinuedFlightHighEnabled
            )
          )
        )

        assign in sequence PatchDetectOn = true

        syslog important "Bearing = "
             + WpBearing ~ degree

        aggregate ZigCompleteMaxDist {
          behavior Guidance:Waypoint id="ZigMaxDist" {
            run in sequence
            break if (
              ZigDone
            )
            timeout duration=WpTimeout
            set Guidance:Waypoint.distanceDelta = WpMaxDistance
            set Guidance:Waypoint.distanceDeltaBearing = WpBearing
            set Guidance:Waypoint.waterFrame = WaterFrame
          }
        }

        aggregate LegContinuedFlightPatchValueLow {
          break if (
            not ( LegContinuedFlight )
            or (
              LegContinuedFlight
              and (
                PeakDetectChl
                and ( PatchPeakChl > ( PatchPeakChlPriorToContinuedFlight * OffPeakFraction ) )
                or (
                  PeakDetectSalinity
                  and ( PatchPeakSalinity > ( PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction ) )
                )
                or (
                  PeakDetectOil
                  and ( PatchPeakOil > ( PatchPeakOilPriorToContinuedFlight * OffPeakFraction ) )
                )
              )
            )
            or ( not ( LegContinuedFlightLowEnabled ) )
          )

          assign in sequence LegNotContinuedFlightEnabled = false

          assign in sequence LegContinuedFlightHighEnabled = false

          call id="ContinuedFlightCompletedPatchValueLow" refId="SyslogContinuedFlightCompletedPatchValueLow"

          assign in sequence PatchDetectOn = false

          assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

          assign in sequence ElapsedSinceLastTurn = 0 hour

          assign in sequence Turn = Turn - Turn - Turn

          assign in sequence WpTimeout = WpTimeoutBase

          assign in sequence LegContinuedFlight = false

          assign in sequence ZigDone = true
        }

        aggregate LegContinuedFlightPatchValueHigh {
          break if (
            not ( LegContinuedFlight )
            or (
              LegContinuedFlight
              and (
                PeakDetectChl
                and ( PatchPeakChl <= ( PatchPeakChlPriorToContinuedFlight * OffPeakFraction ) )
                or (
                  PeakDetectSalinity
                  and ( PatchPeakSalinity <= ( PatchPeakSalinityPriorToContinuedFlight * OffPeakFraction ) )
                )
                or (
                  PeakDetectOil
                  and ( PatchPeakOil <= ( PatchPeakOilPriorToContinuedFlight * OffPeakFraction ) )
                )
              )
            )
            or ( not ( LegContinuedFlightHighEnabled ) )
          )

          assign in sequence LegNotContinuedFlightEnabled = false

          assign in sequence LegContinuedFlightLowEnabled = false

          call id="ContinuedFlightCompletedPatchValueHigh" refId="SyslogContinuedFlightCompletedPatchValueHigh"

          assign in sequence PatchDetectOn = false

          assign in sequence WpTimeout = WpTimeoutBase

          assign in sequence LegContinuedFlight = false

          assign in sequence ZigDone = true
        }
      }

      aggregate LegNotContinuedFlight {
        break if (
          LegContinuedFlight
          or ( not ( LegNotContinuedFlightEnabled ) )
        )

        assign in sequence LegContinuedFlightLowEnabled = false

        assign in sequence LegContinuedFlightHighEnabled = false

        assign in sequence PatchDetectOn = true

        syslog important "Bearing = "
             + WpBearing ~ degree

        aggregate ZigCompleteMaxDist {
          behavior Guidance:Waypoint id="ZigMaxDist" {
            run in sequence
            break if (
              ZigDone
            )
            timeout duration=WpTimeout
            set Guidance:Waypoint.distanceDelta = WpMaxDistance
            set Guidance:Waypoint.distanceDeltaBearing = WpBearing
            set Guidance:Waypoint.waterFrame = WaterFrame
          }
        }

        call id="MaxLegDistReached" refId="SyslogWpMaxDistanceReached"

        assign in sequence PatchDetectOn = false

        assign in sequence WpBearing = ( WpBearing + Turn ) % TwoPi

        assign in sequence ElapsedSinceLastTurn = 0 hour

        assign in sequence Turn = Turn - Turn - Turn

        assign in sequence WpTimeout = WpTimeoutBase

        assign in sequence ZigDone = true
      }
    }
  }
}

Source XML

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

    <Description>
        Vehicle yo-yos with patch detect enabled for oil concentration. NOTE:
        oil concentrations may vary strongly with depth! Suggested settings for
        simulaton: Config/sim/[username]/Simulator.cfg: oceanModelData =
        "Resources/BurgerOilfieldSpill.nc:mass_concentration_of_petroleum_hydrocarbons_in_sea_water:kg/m3";
        eastCurrent = 0.05 m/s; // vel y wrto LV northCurrent = 0.005 m/s; //
        vel x wrto LV Config/sim/[username]/workSite.cfg: initLat =
        71.2225805280196 arcdeg; // Initial latitude initLon =
        -163.5093252100575 arcdeg; // Initial longitude
        Config/sim/[username]/sim.cfg: WetLabsBB2FL.loadAtStartup = 0 bool;
        WetLabsSeaOWL_UV_A.loadAtStartup = 1 bool;
        WetLabsSeaOWL_UV_A.simulateSensors = 1 bool; WetLabsSeaOWL_UV_A.serial =
        "SEAOWLA2K-019"; WetLabsSeaOWL_UV_A.scaleFactor700 = 3.204e-7
        1/m/sr/count; WetLabsSeaOWL_UV_A.darkCounts700 = 48 count;
        WetLabsSeaOWL_UV_A.scaleFactorFDOM = 8.096e-3 ppb/count;
        WetLabsSeaOWL_UV_A.darkCountsFDOM = 50 count;
        WetLabsSeaOWL_UV_A.fdomAccuracy = 8.19 ppb;
        WetLabsSeaOWL_UV_A.scaleFactorChl = 2.170e-3 ug/l/count;
        WetLabsSeaOWL_UV_A.darkCountsChl = 50 count;
        WetLabsSeaOWL_UV_A.chlAccuracy = 1.475 ug/l;
        WetLabsSeaOWL_UV_A.scaleFactorOil = 2.8 ppb/count;
        WetLabsSeaOWL_UV_A.darkCountsOil = 50 count;
        WetLabsSeaOWL_UV_A.oilAccuracy = 3.6 ppb; NavChartDb.charts =
        "US1AK90M,US2AK92M,US5AK9NM,US5AK9OM,US5AK9PM,US5AK9QM,US5AK9RM,US5AK9SM,US5AK9TM,US5AK9UM";
    </Description>

<!-- Vehicle safety parameters -->

    <DefineArg Name="MissionTimeout"><Description>
        Timeout for the entire mission
    </Description><Units:hour/><Value>12</Value></DefineArg>

    <DefineArg Name="DetachTimeout"><Description>
        Timeout for detaching from dock.
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="TransponderCode"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>2</Value></DefineArg>

    <DefineArg Name="Speed"><Description>
        Vehicle speed.
    </Description><Units:meter_per_second/><Value>1</Value></DefineArg>

    <DefineArg Name="CommsAtMissionStart"><Description>
        Whether to do comms at start of mission.
    </Description><True/></DefineArg>

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

    <DefineArg Name="PeakDetectChl"><Description>
        Chlorophyll patch mapping.
<!--debug      
    </Description><True/></DefineArg>
-->
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectSalinity"><Description>
        Salinity patch mapping.
<!--debug      
    </Description><True/></DefineArg>
-->
    </Description><False/></DefineArg>

    <DefineArg Name="PeakDetectOil"><Description>
        Oil patch mapping.
    </Description><True/></DefineArg>

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

    <DefineArg Name="DetectTheTrough"><Description>
        Whether to track a trough. If false, track peak; if true, track trough.
        Default is false.
    </Description><False/></DefineArg>

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>3</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="MinWaterDepth"><Description>
        Minimum water depth for the entire mission.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:meter/><Value>2000</Value></DefineArg>

    <DefineArg Name="MinDistFromPolygonSides"><Description>
        If a operational safety polygon is specified and the vehicle is closer
        than this minimum distance to the polygon sides, turn back.
    </Description><Units:meter/><Value>200</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeInTransit"><Description>
        Maximum time between surfacings for communications during transit
    </Description><Units:minute/><Value>300</Value></DefineArg>

    <DefineArg Name="NeedCommsTimePatchMapping"><Description>
        Maximum time between surfacings for communications during patch mapping.
        This is checked only on every NumRoundsBtnCrossLegSurfacings rounds of
        CrossLeg or every NumRoundsBtnInLegSurfacings InLeg.
    </Description><Units:minute/><Value>300</Value></DefineArg>

    <DefineArg Name="ElapsedTimeSinceLastGPSForCheckingOutsidePolygon"><Description>
        Check whether vehicle is outside of polygon only after the elapsed time
        since last GPS is greater than this parameter.
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="CheckNaNTimeout"><Description>
        If the patch peak value is NaN by this time, stop mission.
    </Description><Units:minute/><Value>10</Value></DefineArg>

    <DefineArg Name="TimePastOffPeakThreshold"><Description>
        Time to swim past off-peak threshold point, in order to cover low-value
        areas.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="WaitAfterHittingWall"><Description>
        After the vehicle bounces off the boundary (defined by the shortest
        distance to polygon sides), wait this long before re-checking the
        distance.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="LatPatchMappingStart"><Description>
        Latitude of patch mapping start location. If nan, transit is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="LonPatchMappingStart"><Description>
        Longitude of patch mapping start location. If nan, transit is skipped.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>-121.855</Value></DefineArg>
-->

    <DefineArg Name="Repeat"><Description>
        Maximum number of legs. Set to a large number.
    </Description><Units:count/><Value>100</Value></DefineArg>

    <DefineArg Name="WpMaxDistance"><Description>
        Maximum length of each mapping leg
    </Description><Units:meter/><Value>6000</Value></DefineArg>

    <DefineArg Name="WpTimeoutBase"><Description>
        Maximum duration of each mapping leg
    </Description><Units:second/><Value>6000</Value></DefineArg>

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

    <DefineArg Name="TransitYoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior during transit.
    </Description><Units:meter/><Value>8</Value></DefineArg>

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

    <DefineArg Name="PatchMappingYoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior during patch mapping.
    </Description><Units:meter/><Value>8</Value></DefineArg>

    <DefineArg Name="YoYoMinAltitude"><Description>
        Minimum altitude while performing the YoYo behavior (for
        bottom-terminated YoYos).
    </Description><Units:meter/><Value>3</Value></DefineArg>

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

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

    <DefineArg Name="PeakShallowBnd"><Description>
        Shallow depth bound for detecting peak on each descent or ascent
        profile.
    </Description><Units:meter/><Value>2</Value></DefineArg>

    <DefineArg Name="PeakDeepBnd"><Description>
        Deep depth bound for detecting peak on each descent or ascent profile.
    </Description><Units:meter/><Value>8</Value></DefineArg>

    <DefineArg Name="BeginThresholdChl"><Description>
        If non-NaN, sets chlorophyll threshold for starting horizontal patch
        detection
    </Description><Units:microgram_per_liter/><Value>1.0</Value></DefineArg>

    <DefineArg Name="BeginThresholdSalt"><Description>
        If non-NaN, sets salinity threshold for starting horizontal patch
        detection
    </Description><Units:psu/><Value>33.0</Value></DefineArg>

    <DefineArg Name="BeginThresholdOil"><Description>
        If non-NaN, sets threshold for starting horizontal patch detection
    </Description><Units:kilogram_per_cubic_meter/><Value>0.1</Value></DefineArg>

    <DefineArg Name="WpBearing"><Description>
        Bearing being followed in the current leg. Set this to initialize start
        direction of patch mapping.
    </Description><Units:degree/><Value>210</Value></DefineArg>

    <DefineArg Name="OffPeakFraction"><Description>
        When filtered horizontal value is this fraction of the peak, consider it
        outside the patch.
    </Description><Units:percent/><Value>10</Value></DefineArg>

    <DefineArg Name="fractionOfThreshold"><Description>
        On a non-continued flight, if the detected peak is lower than
        BeginThreshold*fractionOfThreshold, the peak is disqualified, and the
        vehicle continues on the current heading until a qualified peak is
        found, or bouncing on a wall, or WpMaxDistance is reached.
    </Description><Units:percent/><Value>10</Value></DefineArg>

    <DefineArg Name="DetectionTimeout"><Description>
        Look for signal for this long. If none found within this timeout, switch
        to the next leg.
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="TimeWindowPeakRpt"><Description>
        If greater than zero, report a peak every such time window has elapsed.
        If NaN or zero, this variable is ignored.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="LowPassWindowLen"><Description>
        Low-pass window length (based on depth sensor sampling interval 0.4
        second) for low-pass filtering.
    </Description><Units:count/><Value>20</Value></DefineArg>

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

    <DefineArg Name="NumOfProfilesSlidingwindow"><Description>
        Length of horizontal sliding window. The highest per-yoyo peak (after
        low-pass filtering by a filter of length FilterWidthHorizontal) is
        picked out within this window.
    </Description><Units:count/><Value>50</Value></DefineArg>

    <DefineArg Name="FilterWidthHorizontal"><Description>
        Width of boxcar filter used in horizontal patch detection
    </Description><Units:count/><Value>4</Value></DefineArg>

    <DefineArg Name="MicromodemCommsInterval"><Description></Description><Units:minute/><Value>5</Value></DefineArg>

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>2.5</Value></DefineArg>

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

    <DefineArg Name="DepChangeThreshAttitudeFlip"><Description>
        Depth change threshold for determining vehicle attitude flip.
    </Description><Units:meter/><Value>0.5</Value></DefineArg>

    <DefineArg Name="WaterFrame"><Description>
        Set WaterFrame true to drive towards waypoints in the water frame of
        reference
    </Description><True/></DefineArg>

    <DefineArg Name="PatchMode"><Description>
        If true, use center of "in peak" range as the turn-around point. If
        false use maximum horizontal peak location as the turn-around point.
    </Description><False/></DefineArg>

    <DefineArg Name="TurnAngleBase"><Description>
        Zigzag turn angle.
    </Description><Units:degree/><Value>120</Value></DefineArg>

    <DefineArg Name="Reverse"><Description>
        Change in bearing which reverses vehicle direction
    </Description><Units:degree/><Value>180</Value></DefineArg>

    <DefineArg Name="TwoPi"><Description>
        Applied to stop run-up of angles
    </Description><Units:degree/><Value>360</Value></DefineArg>

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Defaults to massDefault
        setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.massDefault/></DefineArg>

    <DefineArg Name="BuoyancyNeutral"><Description>
        Buoyancy bladder position while performing the YoYo behavior. Defaults
        to buoyancyNeutral setting in the Config/Control.cfg file.
    </Description><Control:VerticalControl.buoyancyNeutral/></DefineArg>

<!-- Internal variable settings -->

    <DefineOutput Name="PeakFoundNotContinuedFlightLowEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PeakFoundNotContinuedFlightHighEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PeakFoundContinuedFlightLowEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PeakFoundContinuedFlightHighEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="LegNotContinuedFlightEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="LegContinuedFlightLowEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="LegContinuedFlightHighEnabled"><Description>
        Initialized to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="PatchDetectOn"><Description>
        Mission sets this to true when looking for the patch peak. Initialized
        to True.
    </Description><True/></DefineOutput>

    <DefineOutput Name="ZigDone"><Description>
        Mission sets this to true when the zig transect has been completed.
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="LegContinuedFlight"><Description>
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="MissionStartCommsCompleted"><Description>
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="Turn"><Description>
        Initialized to NaN.
    </Description><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="WpBearingAfterLastWallHit"><Description>
        Initialized to NaN.
    </Description><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="WpTimeout"><Description>
        Initialized to NaN.
    </Description><Units:second/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="SideLastHit"><Units:count/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakChl"><Units:microgram_per_liter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakChlPriorToContinuedFlight"><Units:microgram_per_liter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakSalinity"><Units:psu/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakSalinityPriorToContinuedFlight"><Units:psu/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakOil"><Units:kilogram_per_cubic_meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakOilPriorToContinuedFlight"><Units:kilogram_per_cubic_meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakDepth"><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakLatitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakLongitude"><Units:degree/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="PatchPeakDistance"><Units:meter/><Value>0</Value></DefineOutput>

    <DefineOutput Name="StoppedForNaNPatchPeak"><Description>
        Mission stopped because patch peak value is NaN. Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StoppedPolygonNotDefined"><Description>
        Mission stopped because the bounding polygon is not defined. Initialized
        to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="StoppedForBeingOutsideOfPolygon"><Description>
        Mission stopped because the vehicle is outside of the polygon.
        Initialized to False.
    </Description><False/></DefineOutput>

    <DefineOutput Name="ElapsedSinceStart"><Description>
        The mission sets this variable to reset the timer.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

    <DefineOutput Name="ElapsedSinceLastTurn"><Description>
        The mission sets this variable to reset the timer.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

    <DefineOutput Name="ElapsedSinceEndOfTransit"><Description>
        The mission sets this variable to reset the timer.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

<!-- The timeout -->

    <Timeout Duration="MissionTimeout"/>

<!-- And now the mission -->

<!-- Uncomment to speed up simulation
    <Guidance:SetSpeed>
        <Parallel/>
        <Setting><Guidance:SetSpeed.period/><Units:millisecond/><Value>800</Value></Setting>
    </Guidance:SetSpeed>
-->

    <Guidance:AltitudeEnvelope>
        <Parallel/>
        <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="MinAltitude"/></Setting>
    </Guidance:AltitudeEnvelope>

    <Guidance:DepthEnvelope>
        <Parallel/>
        <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="MaxDepth"/></Setting>
    </Guidance:DepthEnvelope>

<!-- GPS Update.  Don't go too long w/o a GPS fix. -->

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

    <Guidance:OffshoreEnvelope>
        <Parallel/>
        <Setting><Guidance:OffshoreEnvelope.minOffshore/><Arg Name="MinOffshore"/></Setting>
    </Guidance:OffshoreEnvelope>

    <Guidance:WaterDepthEnvelope>
        <Parallel/>
        <Setting><Guidance:WaterDepthEnvelope.minWaterDepth/><Arg Name="MinWaterDepth"/></Setting>
    </Guidance:WaterDepthEnvelope>

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

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

    <Insert Filename="Insert/MicromodemComms.tl" Id="MicromodemComms">
        <RedefineArg Name="CommsInterval"><Arg Name="MicromodemCommsInterval"/></RedefineArg>
    </Insert>

<!-- If we're executing here or below, lets' get science data! -->

    <Insert Filename="Insert/Science.tl">
        <RedefineArg Name="PeakDetectChlActive"><Arg Name="PeakDetectChl"/></RedefineArg>
        <RedefineArg Name="PeakDetectSalinityActive"><Arg Name="PeakDetectSalinity"/></RedefineArg>
        <RedefineArg Name="PeakDetectOilActive"><Arg Name="PeakDetectOil"/></RedefineArg>
        <RedefineArg Name="DetectTrough"><Arg Name="DetectTheTrough"/></RedefineArg>
        <RedefineArg Name="TimeWindowPeakReport"><Arg Name="TimeWindowPeakRpt"/></RedefineArg>
        <RedefineArg Name="LowPassWindowLength"><Arg Name="LowPassWindowLen"/></RedefineArg>
        <RedefineArg Name="MedianFilterLen"><Arg Name="MedianFilterLength"/></RedefineArg>
        <RedefineArg Name="PeakShallowBound"><Arg Name="PeakShallowBnd"/></RedefineArg>
        <RedefineArg Name="PeakDeepBound"><Arg Name="PeakDeepBnd"/></RedefineArg>
        <RedefineArg Name="DepChangeThreshForAttitudeFlip"><Arg Name="DepChangeThreshAttitudeFlip"/></RedefineArg>
    </Insert>

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

    <Aggregate Id="SyslogWpMaxDistanceReached">

        <When>
            <Called/>
        </When>

        <Break><Arg Name="LegContinuedFlight"/>
            <Or><Not><Arg Name="LegNotContinuedFlightEnabled"/></Not></Or>
        </Break>

        <Aggregate Id="SyslogWpMaxDistanceReachedChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Maximum leg distance reached. Turn onto a new heading. The patch peak is <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/></Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogWpMaxDistanceReachedSalt">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Maximum leg distance reached. Turn onto a new heading. The patch peak is <Arg Name="PatchPeakSalinity"/><Units:psu/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/></Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogWpMaxDistanceReachedOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Maximum leg distance reached. Turn onto a new heading. The patch peak is <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLow">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLowChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLowSalt">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueLowOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHigh">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHighChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHighSalt">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogContinuedFlightCompletedPatchValueHighOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Continued flight completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLow">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLowChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLowSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueLowOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHigh">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHighChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHighSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundContinuedFlightPatchValueHighOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the continued flight is completed. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is higher than (<Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/> * <Arg Name="OffPeakFraction"/><Units:percent/>). Maintain heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundNotContinuedFlightLow">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightLowChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than <Arg Name="BeginThresholdChl"/><Units:microgram_per_liter/>. Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightLowSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak <Arg Name="PatchPeakSalinity"/><Units:psu/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than <Arg Name="BeginThresholdSalt"/><Units:psu/>. Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightLowOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> (at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>) is lower than <Arg Name="BeginThresholdOil"/><Units:kilogram_per_cubic_meter/>. Turn onto a new heading.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogPeakFoundNotContinuedFlightHigh">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightHighChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak is <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>. Will continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakChl"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightHighSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak is <Arg Name="PatchPeakSalinity"/><Units:psu/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>. Will continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakSalinity"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

        <Aggregate Id="SyslogPeakFoundNotContinuedFlightHighOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">The patch peak is found before the maximum leg distance is reached. The patch peak is <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/> at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>. Will continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/>.</Syslog>

            <SendData Service="Express"><Arg Name="PatchPeakOil"/><Arg Name="PatchPeakDepth"/><Arg Name="PatchPeakLatitude"/><Arg Name="PatchPeakLongitude"/>
            </SendData>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="SyslogHittingWall">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SyslogHittingWallChl">

            <Break>
                <Not><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Latitude = <Universal:latitude/><Units:degree/>, longitude = <Universal:longitude/><Units:degree/>. Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/>: less than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/> and vehicle is inside polygon, or larger than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/> but vehicle outside of polygon on a fresh GPS fix. The patch peak is <Arg Name="PatchPeakChl"/><Units:microgram_per_liter/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

        </Aggregate>

        <Aggregate Id="SyslogHittingWallSalinity">

            <Break>
                <Not><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Latitude = <Universal:latitude/><Units:degree/>, longitude = <Universal:longitude/><Units:degree/>. Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/>: less than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/> and vehicle is inside polygon, or larger than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/> but vehicle outside of polygon on a fresh GPS fix. The patch peak is <Arg Name="PatchPeakSalinity"/><Units:psu/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

        </Aggregate>

        <Aggregate Id="SyslogHittingWallOil">

            <Break>
                <Not><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Not>
            </Break>

            <Syslog Severity="Important">Latitude = <Universal:latitude/><Units:degree/>, longitude = <Universal:longitude/><Units:degree/>. Shortest distance <Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Units:meter/> to side <Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Units:count/>: less than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/> and vehicle is inside polygon, or larger than MinDistFromPolygonSides <Arg Name="MinDistFromPolygonSides"/><Units:meter/> but vehicle outside of polygon on a fresh GPS fix. The patch peak is <Arg Name="PatchPeakOil"/><Units:kilogram_per_cubic_meter/>at <Arg Name="PatchPeakLatitude"/><Units:degree/>,<Arg Name="PatchPeakLongitude"/><Units:degree/>, distance = <Arg Name="PatchPeakDistance"/><Units:meter/>.</Syslog>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="Wait">

        <When>
            <Called/>
        </When>

        <Syslog Severity="Important">Continue flight for <Arg Name="TimePastOffPeakThreshold"/><Units:minute/> before the next leg.</Syslog>

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

    </Aggregate>

    <Aggregate Id="Detach">

        <Sequence/>

        <Timeout Duration="DetachTimeout">
            <Syslog Severity="Important">Timed out trying to detach from dock. Stopping mission.</Syslog>
            <Guidance:Execute>
                <Sequence/>
                <Setting><Guidance:Execute.command/><String>stop</String></Setting>
            </Guidance:Execute>
        </Timeout>

        <Syslog Severity="Important">Detaching from dock.</Syslog>

<!-- Turn on tracking so we get some ranges to see how far we are from the dock -->

        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

<!-- Time to leave the dock! -->

        <Dock:Undock>
            <Sequence/>
        </Dock:Undock>

    </Aggregate>

    <Aggregate Id="MissionStartComms">

        <Sequence/>

        <When>
            <Arg Name="CommsAtMissionStart"/>
            <And><Not><Arg Name="MissionStartCommsCompleted"/></Not></And>
        </When>

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

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

    </Aggregate>

    <Aggregate Id="MissionStartSettings">

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

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

        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="TurnAngleBase"/></Assign>

        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

    </Aggregate>

    <Aggregate Id="TransitToPatchMappingStartLocation">

        <Sequence/>

        <Break>
            <IsNaN><Arg Name="LatPatchMappingStart"/>
            </IsNaN>
            <Or><IsNaN><Arg Name="LonPatchMappingStart"/>
            </IsNaN></Or>
        </Break>

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

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

        <Guidance:AltitudeEnvelope>
            <Description>
                Another altitude envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.tl in order to avoid commanding
                high pitch angles for bottom-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

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

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="LatPatchMappingStart"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="LonPatchMappingStart"/></Setting>
        </Guidance:Waypoint>

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

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

    </Aggregate>

    <Aggregate Id="PolygonNotDefined">

        <Sequence/>

        <When>
            <Not><Derivation:ShortestDistanceToPolygonSidesCalculator.loadAtStartup/></Not>
        </When>

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

        <Syslog Severity="Important">Bounding polygon is not defined. Stopping mission.</Syslog>

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

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

    </Aggregate>

    <Aggregate Id="PatchPeakIsNaN">

        <Sequence/>

        <When>
            <Elapsed><Arg Name="ElapsedSinceStart"/></Elapsed>
            <Gt><Arg Name="CheckNaNTimeout"/></Gt>
            <And><IsNaN><Arg Name="LatPatchMappingStart"/>
            </IsNaN><Or><IsNaN><Arg Name="LonPatchMappingStart"/>
            </IsNaN></Or></And>
            <Or><Elapsed><Arg Name="ElapsedSinceEndOfTransit"/></Elapsed><Gt><Arg Name="CheckNaNTimeout"/></Gt><And><Not><IsNaN><Arg Name="LatPatchMappingStart"/>
            </IsNaN><Or><IsNaN><Arg Name="LonPatchMappingStart"/>
            </IsNaN></Or></Not></And></Or>
        </When>

        <Break><Arg Name="PeakDetectChl"/>
            <And><Arg Name="PatchPeakChl"/><Ge><Units:microgram_per_liter/><Value>0.0</Value></Ge></And>
            <Or><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Ge><Units:psu/><Value>0.0</Value></Ge></And></Or>
            <Or><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Ge><Units:kilogram_per_cubic_meter/><Value>0.0</Value></Ge></And></Or>
            <Or><Arg Name="StoppedForNaNPatchPeak"/></Or>
        </Break>

        <Syslog Severity="Important">Patch peak value is NaN. Stopping mission.</Syslog>

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

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

    </Aggregate>

    <Aggregate Id="PatchMapping">

        <Sequence Repeat="Repeat"/>

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

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

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

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

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

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

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

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

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

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="PatchMappingYoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="PatchMappingYoYoMaxDepth"/></Setting>
        </Guidance:DepthEnvelope>

        <Guidance:AltitudeEnvelope>
            <Description>
                Another altitude envelope for the YoYo behavior. This envelope
                should fall within the limits of the standard safety envelopes
                in Insert/StandardEnvelopes.tl in order to avoid commanding
                high pitch angles for bottom-terminated YoYos.
            </Description>
            <Parallel/>
            <Setting><Guidance:AltitudeEnvelope.minAltitude/><Arg Name="YoYoMinAltitude"/></Setting>
            <Setting><Guidance:AltitudeEnvelope.upPitch/><Arg Name="YoYoUpPitch"/></Setting>
        </Guidance:AltitudeEnvelope>

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

        <Aggregate Id="OutsideOfPolygon">

            <Parallel/>

            <Break>
                <Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon/>
                <Or><Elapsed><Universal:time_fix/></Elapsed><Le><Arg Name="ElapsedTimeSinceLastGPSForCheckingOutsidePolygon"/></Le></Or>
                <Or><Arg Name="StoppedForBeingOutsideOfPolygon"/></Or>
            </Break>

            <Syslog Severity="Important">Latitude = <Universal:latitude/><Units:degree/>, longitude = <Universal:longitude/><Units:degree/>. The vehicle is outside of the polygon. Stopping mission.</Syslog>

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

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

        </Aggregate>

        <Aggregate Id="HitWallTerminateZigSide0Side2">

            <Sequence/>

            <When>
                <Elapsed><Arg Name="ElapsedSinceLastTurn"/></Elapsed>
                <Gt><Arg Name="WaitAfterHittingWall"/></Gt>
                <And><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Le><Arg Name="MinDistFromPolygonSides"/></Le><Or><Not><Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon/></Not></Or></And>
                <And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>0</Value></Eq><Or><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>2</Value></Eq></Or></And>
                <And><Not><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Arg Name="SideLastHit"/></Eq><And><Arg Name="WpBearing"/><Eq><Arg Name="WpBearingAfterLastWallHit"/></Eq></And></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="SideLastHit"/><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/></Assign>

            <Call Id="SyslogHittingWallZigSide0Side2" RefId="SyslogHittingWall"/>

            <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
            </Mod></Assign>

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

            <Assign><Sequence/><Arg Name="WpBearingAfterLastWallHit"/><Arg Name="WpBearing"/></Assign>

            <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

            <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

            <Assign><Sequence/><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/><Value>NaN</Value></Assign>

            <Assign><Sequence/><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/><Value>NaN</Value></Assign>

            <Assign><Sequence/><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/><Value>NaN</Value></Assign>

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

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

        </Aggregate>

        <Aggregate Id="HitWallTerminateZigSide1Side3">

            <Sequence/>

            <When>
                <Elapsed><Arg Name="ElapsedSinceLastTurn"/></Elapsed>
                <Gt><Arg Name="WaitAfterHittingWall"/></Gt>
                <And><Derivation:ShortestDistanceToPolygonSidesCalculator.shortest_distance_to_polygon_sides/><Le><Arg Name="MinDistFromPolygonSides"/></Le><Or><Not><Derivation:ShortestDistanceToPolygonSidesCalculator.inside_polygon/></Not></Or></And>
                <And><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>1</Value></Eq><Or><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Units:count/><Value>3</Value></Eq></Or></And>
                <And><Not><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/><Eq><Arg Name="SideLastHit"/></Eq><And><Arg Name="WpBearing"/><Eq><Arg Name="WpBearingAfterLastWallHit"/></Eq></And></Not></And>
            </When>

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

            <Assign><Sequence/><Arg Name="SideLastHit"/><Derivation:ShortestDistanceToPolygonSidesCalculator.side_shortest_distance/></Assign>

            <Call Id="SyslogHittingWallZigSide1Side3" RefId="SyslogHittingWall"/>

            <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Reverse"/></Add><Mod><Arg Name="TwoPi"/>
            </Mod></Assign>

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

            <Assign><Sequence/><Arg Name="WpBearingAfterLastWallHit"/><Arg Name="WpBearing"/></Assign>

            <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

            <Assign><Sequence/><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Units:microgram_per_liter/><Value>NaN</Value></Assign>

            <Assign><Sequence/><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Units:psu/><Value>NaN</Value></Assign>

            <Assign><Sequence/><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Units:kilogram_per_cubic_meter/><Value>NaN</Value></Assign>

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

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

        </Aggregate>

        <Aggregate Id="ChlPatchDetectionZig">

            <Sequence/>

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

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

            <Trigger:PeakDetectHorizontal Id="PatchTrackTrigger">
                <Sequence/>
                <Break><Arg Name="ZigDone"/>
                </Break>
                <Setting><Trigger:PeakDetectHorizontal.patchTracking/><True/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="Science:PeakChl"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTrough/><Arg Name="Science:DetectTrough"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="Science:PeakChlDepth"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="Science:PeakChlLatitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="Science:PeakChlLongitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.beginThreshold/><Arg Name="BeginThresholdChl"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFraction"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumOfProfilesSlidingwindow"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTimeout/><Arg Name="DetectionTimeout"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.centerPeak/><Arg Name="PatchMode"/></Setting>
                <OutputArg Name="PatchPeakChl"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
                <OutputArg Name="PatchPeakDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
                <OutputArg Name="PatchPeakLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
                <OutputArg Name="PatchPeakLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
                <OutputArg Name="PatchPeakDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
            </Trigger:PeakDetectHorizontal>

            <Aggregate Id="PeakFoundTerminateZig">

                <Sequence/>

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

                <Aggregate Id="NotInContinuedFlight">

                    <Sequence/>

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

                    <Aggregate Id="PeakFoundNotContinuedFlightLow">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Gt><Arg Name="BeginThresholdChl"/></Gt>
                            <Or><Arg Name="PatchPeakChl"/><Lt><Arg Name="BeginThresholdChl"/><Mult><Arg Name="fractionOfThreshold"/></Mult></Lt><And><Not><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Ge><Arg Name="BeginThresholdChl"/></Ge></Not></And></Or>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundNotContinuedFlightLow" RefId="SyslogPeakFoundNotContinuedFlightLow"/>

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

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

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

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

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

                    </Aggregate>

                    <Aggregate Id="PeakFoundNotContinuedFlightHigh">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Le><Arg Name="BeginThresholdChl"/></Le>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundNotContinuedFlightHigh" RefId="SyslogPeakFoundNotContinuedFlightHigh"/>

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

                        <Assign><Sequence/><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Arg Name="PatchPeakChl"/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="TimePastOffPeakThreshold"/></Assign>

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

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

                    </Aggregate>

                </Aggregate>

                <Aggregate Id="InContinuedFlight">

                    <Sequence/>

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

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueLow">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Gt><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundContinuedFlightLow" RefId="SyslogPeakFoundContinuedFlightPatchValueLow"/>

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

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

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

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

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

                    </Aggregate>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueHigh">

                        <Break><Arg Name="PatchPeakChl"/>
                            <Le><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundContinuedFlightHigh" RefId="SyslogPeakFoundContinuedFlightPatchValueHigh"/>

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

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

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

                    </Aggregate>

                </Aggregate>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="SalinityPatchDetectionZig">

            <Sequence/>

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

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

            <Trigger:PeakDetectHorizontal Id="PatchTrackTrigger">
                <Sequence/>
                <Break><Arg Name="ZigDone"/>
                </Break>
                <Setting><Trigger:PeakDetectHorizontal.patchTracking/><True/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="Science:PeakSalt"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTrough/><Arg Name="Science:DetectTrough"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="Science:PeakSaltDepth"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="Science:PeakSaltLatitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="Science:PeakSaltLongitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.beginThreshold/><Arg Name="BeginThresholdSalt"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFraction"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumOfProfilesSlidingwindow"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTimeout/><Arg Name="DetectionTimeout"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.centerPeak/><Arg Name="PatchMode"/></Setting>
                <OutputArg Name="PatchPeakSalinity"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
                <OutputArg Name="PatchPeakDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
                <OutputArg Name="PatchPeakLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
                <OutputArg Name="PatchPeakLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
                <OutputArg Name="PatchPeakDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
            </Trigger:PeakDetectHorizontal>

            <Aggregate Id="PeakFoundTerminateZig">

                <Sequence/>

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

                <Aggregate Id="NotInContinuedFlight">

                    <Sequence/>

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

                    <Aggregate Id="PeakFoundNotContinuedFlightLow">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Gt><Arg Name="BeginThresholdSalt"/></Gt>
                            <Or><Arg Name="PatchPeakSalinity"/><Lt><Arg Name="BeginThresholdSalt"/><Mult><Arg Name="fractionOfThreshold"/></Mult></Lt><And><Not><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Ge><Arg Name="BeginThresholdSalt"/></Ge></Not></And></Or>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundNotContinuedFlightLow" RefId="SyslogPeakFoundNotContinuedFlightLow"/>

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

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

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

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

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

                    </Aggregate>

                    <Aggregate Id="PeakFoundNotContinuedFlightHigh">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Le><Arg Name="BeginThresholdSalt"/></Le>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundNotContinuedFlightHigh" RefId="SyslogPeakFoundNotContinuedFlightHigh"/>

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

                        <Assign><Sequence/><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Arg Name="PatchPeakSalinity"/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="TimePastOffPeakThreshold"/></Assign>

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

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

                    </Aggregate>

                </Aggregate>

                <Aggregate Id="InContinuedFlight">

                    <Sequence/>

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

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueLow">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Gt><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundContinuedFlightLow" RefId="SyslogPeakFoundContinuedFlightPatchValueLow"/>

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

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

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

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

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

                    </Aggregate>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueHigh">

                        <Break><Arg Name="PatchPeakSalinity"/>
                            <Le><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundContinuedFlightHigh" RefId="SyslogPeakFoundContinuedFlightPatchValueHigh"/>

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

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

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

                    </Aggregate>

                </Aggregate>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="OilPatchDetectionZig">

            <Sequence/>

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

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

            <Trigger:PeakDetectHorizontal Id="PatchTrackTrigger">
                <Sequence/>
                <Break><Arg Name="ZigDone"/>
                </Break>
                <Setting><Trigger:PeakDetectHorizontal.patchTracking/><True/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectFrom/><Arg Name="Science:PeakOil"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTrough/><Arg Name="Science:DetectTrough"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.depthFrom/><Arg Name="Science:PeakOilDepth"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.latitudeFrom/><Arg Name="Science:PeakOilLatitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.longitudeFrom/><Arg Name="Science:PeakOilLongitude"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.beginThreshold/><Arg Name="BeginThresholdOil"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.offPeakFraction/><Arg Name="OffPeakFraction"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.filterWidth/><Arg Name="FilterWidthHorizontal"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.numProfilesSlidingwindow/><Arg Name="NumOfProfilesSlidingwindow"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.detectTimeout/><Arg Name="DetectionTimeout"/></Setting>
                <Setting><Trigger:PeakDetectHorizontal.centerPeak/><Arg Name="PatchMode"/></Setting>
                <OutputArg Name="PatchPeakOil"><Trigger:PeakDetectHorizontal.peakDetect/></OutputArg>
                <OutputArg Name="PatchPeakDepth"><Trigger:PeakDetectHorizontal.peakDepth/></OutputArg>
                <OutputArg Name="PatchPeakLatitude"><Trigger:PeakDetectHorizontal.peakLatitude/></OutputArg>
                <OutputArg Name="PatchPeakLongitude"><Trigger:PeakDetectHorizontal.peakLongitude/></OutputArg>
                <OutputArg Name="PatchPeakDistance"><Trigger:PeakDetectHorizontal.peakDistance/></OutputArg>
            </Trigger:PeakDetectHorizontal>

            <Aggregate Id="PeakFoundTerminateZig">

                <Sequence/>

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

                <Aggregate Id="NotInContinuedFlight">

                    <Sequence/>

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

                    <Aggregate Id="PeakFoundNotContinuedFlightLow">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Gt><Arg Name="BeginThresholdOil"/></Gt>
                            <Or><Arg Name="PatchPeakOil"/><Lt><Arg Name="BeginThresholdOil"/><Mult><Arg Name="fractionOfThreshold"/></Mult></Lt><And><Not><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Ge><Arg Name="BeginThresholdOil"/></Ge></Not></And></Or>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundNotContinuedFlightLow" RefId="SyslogPeakFoundNotContinuedFlightLow"/>

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

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

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

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

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

                    </Aggregate>

                    <Aggregate Id="PeakFoundNotContinuedFlightHigh">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Le><Arg Name="BeginThresholdOil"/></Le>
                            <Or><Not><Arg Name="PeakFoundNotContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundNotContinuedFlightHigh" RefId="SyslogPeakFoundNotContinuedFlightHigh"/>

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

                        <Assign><Sequence/><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Arg Name="PatchPeakOil"/></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="TimePastOffPeakThreshold"/></Assign>

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

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

                    </Aggregate>

                </Aggregate>

                <Aggregate Id="InContinuedFlight">

                    <Sequence/>

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

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueLow">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Gt><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightLowEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundContinuedFlightLow" RefId="SyslogPeakFoundContinuedFlightPatchValueLow"/>

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

                        <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                        </Mod></Assign>

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

                        <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

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

                    </Aggregate>

                    <Aggregate Id="PeakFoundContinuedFlightPatchValueHigh">

                        <Break><Arg Name="PatchPeakOil"/>
                            <Le><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le>
                            <Or><Not><Arg Name="PeakFoundContinuedFlightHighEnabled"/></Not></Or>
                        </Break>

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

                        <Call Id="PeakFoundContinuedFlightHigh" RefId="SyslogPeakFoundContinuedFlightPatchValueHigh"/>

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

                        <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

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

                    </Aggregate>

                </Aggregate>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="Zig">

            <Description>
                Completes transect's maximum distance.
            </Description>

            <Sequence/>

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

            <Aggregate Id="LegContinuedFlight">

                <Break>
                    <Not><Arg Name="LegContinuedFlight"/></Not>
                    <Or><Not><Arg Name="LegContinuedFlightLowEnabled"/><Or><Arg Name="LegContinuedFlightHighEnabled"/></Or></Not></Or>
                </Break>

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

                <Syslog Severity="Important">Bearing = <Arg Name="WpBearing"/><Units:degree/></Syslog>

                <Aggregate Id="ZigCompleteMaxDist">

                    <Guidance:Waypoint Id="ZigMaxDist">
                        <Sequence/>
                        <Break><Arg Name="ZigDone"/>
                        </Break>
                        <Timeout Duration="WpTimeout"/>
                        <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="WpMaxDistance"/></Setting>
                        <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                        <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
                    </Guidance:Waypoint>

                </Aggregate>

                <Aggregate Id="LegContinuedFlightPatchValueLow">

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                        <Or><Arg Name="LegContinuedFlight"/><And><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Gt><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt></And><Or><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Gt><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt></And></Or><Or><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Gt><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Gt></And></Or></And></Or>
                        <Or><Not><Arg Name="LegContinuedFlightLowEnabled"/></Not></Or>
                    </Break>

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

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

                    <Call Id="ContinuedFlightCompletedPatchValueLow" RefId="SyslogContinuedFlightCompletedPatchValueLow"/>

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

                    <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                    </Mod></Assign>

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

                    <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                    <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

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

                </Aggregate>

                <Aggregate Id="LegContinuedFlightPatchValueHigh">

                    <Break>
                        <Not><Arg Name="LegContinuedFlight"/></Not>
                        <Or><Arg Name="LegContinuedFlight"/><And><Arg Name="PeakDetectChl"/><And><Arg Name="PatchPeakChl"/><Le><Arg Name="PatchPeakChlPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le></And><Or><Arg Name="PeakDetectSalinity"/><And><Arg Name="PatchPeakSalinity"/><Le><Arg Name="PatchPeakSalinityPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le></And></Or><Or><Arg Name="PeakDetectOil"/><And><Arg Name="PatchPeakOil"/><Le><Arg Name="PatchPeakOilPriorToContinuedFlight"/><Mult><Arg Name="OffPeakFraction"/></Mult></Le></And></Or></And></Or>
                        <Or><Not><Arg Name="LegContinuedFlightHighEnabled"/></Not></Or>
                    </Break>

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

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

                    <Call Id="ContinuedFlightCompletedPatchValueHigh" RefId="SyslogContinuedFlightCompletedPatchValueHigh"/>

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

                    <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

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

                </Aggregate>

            </Aggregate>

            <Aggregate Id="LegNotContinuedFlight">

                <Break><Arg Name="LegContinuedFlight"/>
                    <Or><Not><Arg Name="LegNotContinuedFlightEnabled"/></Not></Or>
                </Break>

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

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

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

                <Syslog Severity="Important">Bearing = <Arg Name="WpBearing"/><Units:degree/></Syslog>

                <Aggregate Id="ZigCompleteMaxDist">

                    <Guidance:Waypoint Id="ZigMaxDist">
                        <Sequence/>
                        <Break><Arg Name="ZigDone"/>
                        </Break>
                        <Timeout Duration="WpTimeout"/>
                        <Setting><Guidance:Waypoint.distanceDelta/><Arg Name="WpMaxDistance"/></Setting>
                        <Setting><Guidance:Waypoint.distanceDeltaBearing/><Arg Name="WpBearing"/></Setting>
                        <Setting><Guidance:Waypoint.waterFrame/><Arg Name="WaterFrame"/></Setting>
                    </Guidance:Waypoint>

                </Aggregate>

                <Call Id="MaxLegDistReached" RefId="SyslogWpMaxDistanceReached"/>

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

                <Assign><Sequence/><Arg Name="WpBearing"/><Arg Name="WpBearing"/><Add><Arg Name="Turn"/></Add><Mod><Arg Name="TwoPi"/>
                </Mod></Assign>

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

                <Assign><Sequence/><Arg Name="Turn"/><Arg Name="Turn"/><Sub><Arg Name="Turn"/></Sub><Sub><Arg Name="Turn"/></Sub></Assign>

                <Assign><Sequence/><Arg Name="WpTimeout"/><Arg Name="WpTimeoutBase"/></Assign>

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

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>