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:625:7
     | 
 621 |   aggregate SyslogWpMaxDistanceReached {
 622 |     run when ( called )
 623 |     break if ( LegContinuedFlight or not ( LegNotContinuedFlightEnabled ) )
 624 |     aggregate SyslogWpMaxDistanceReachedChl {
 625 |       break if ( not ( PeakDetectChl and PatchPeakChl >= 0.0 microgram_per_liter ) )
     |       ^^^^^
 626 |       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
 627 |       sendData service=express  (
 628 |         PatchPeakChl,
 629 |         PatchPeakDepth,
     | 
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";
  """
  # Vehicle safety parameters

  arguments {
    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.
      """

  }

  # Internal variable settings

  output {
    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.xml 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.xml id="MicromodemComms" {

    redefineArg CommsInterval = MicromodemCommsInterval

  }


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

  insert Insert/Science.xml {

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



      set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude

      set Guidance:AltitudeEnvelope.upPitch = YoYoUpPitch

    }


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



      set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude

      set Guidance:AltitudeEnvelope.upPitch = YoYoUpPitch

    }


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

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

        <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>