Smear sampling front.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/smear_sampling_front.xml:646:5
     | 
 642 | 
 643 |   }
 644 | 
 645 |   aggregate SmearSampling {
 646 |     aggregate GoDownGoUp {
     |     ^^^^^^^^^
 647 |       run in sequence
 648 |       aggregate GoDownInSpiralMode {
 649 |         run while ( FlagGoDown and StartSmear
 650 |         )
     | 
Unexpected: `aggregate`
One of the following is possible:
  """
  arguments
  output
  run
  test_code

Generated TethysL

mission Smear {
  # Almost every mission should start with an overall timeout and a NeedCommsTime. Drift Missions will have an acoustic timeout instead of a NeedCommsTime.

  # You probably need to change these.

  arguments {
    NumESPSamplers = 1 count
      """
      Total number of ESP cartridges (Maximum 60. Set to a smaller number if
      not using all of them. Set to 0 to disable ESP sampling).
      """

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

    NeedCommsTimeInTransect = 60 minute
      """
      In transit, how often to surface for commumications
      """

    AcousticTrackingTimeout = 21 hour
      """
      If the vehicle does not receive an acoustic signal for more than this
      length of time, it will surface for communications. Set longer than
      MissionTimeout to effectively disable.
      """

    MaxWaitNoFiring = 4 hour
      """
      If no firing after more than MaxWaitNoFiring, terminate mission.
      """

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

    SpeedSmearSampling = 1.0 meter_per_second
      """
      Vehicle speed for smear sampling.
      """

    MaxDepth = 100 meter
      """
      Maximum depth for the entire mission.
      """

    ShallowBoundSmear = 5.0 meter
      """
      Shallow depth bound for smear sampling.
      """

    DeepBoundSmear = 25 meter
      """
      Deep depth bound for smear sampling.
      """

    TransitYoYoMinDepth = 1.5 meter
      """
      Minimum depth while performing the YoYo behavior during transit.
      """

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

    DepthNearSurface = 2.0 meter
      """
      Near-surface depth.
      """

    ThreshCntSurfTempMeetsCondition = 5 count
      """
      If CntSurfTempMeetsCondition reaches this threshold, the surface temp
      condition (for switching from yoyo to smear sampling) is considered met.
      """

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

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

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

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

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

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

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

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

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

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

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

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

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

    LonMinYoyoBreak = NaN degree
      """
      If longitude falls in [LonMinYoyoBreak LonMaxYoyoBreak], stop yo-yo to
      switch to smear sampling.
      """

    LonMaxYoyoBreak = NaN degree
      """
      If longitude falls in [LonMinYoyoBreak LonMaxYoyoBreak], stop yo-yo to
      switch to smear sampling.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.823</Value></DefineArg>

    SurfTempMinYoyoBreak = NaN celsius
      """
      If surface temperature falls in [SurfTempMinYoyoBreak
      SurfTempMaxYoyoBreak] for enough counts, stop yo-yo to switch to smear
      sampling.
      """

    SurfTempMaxYoyoBreak = NaN degree
      """
      If surface temperature falls in [SurfTempMinYoyoBreak
      SurfTempMaxYoyoBreak] for enough counts, stop yo-yo to switch to smear
      sampling.
      """

    # debug
    #     </Description><Units:celsius/><Value>17.0</Value></DefineArg>

    # Use caution when changing these.

    UpRate = -0.04 meter_per_second
      """
      Go-up depth rate (Negative depth rate means going up).
      """

    DownRate = 0.04 meter_per_second
      """
      Go-down depth rate (Positive depth rate means going down).
      """

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

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

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

    # You probably do not need to change these.

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

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

    RudderAngle = 13 degree
      """
      Rudder angle to use while performing the donut cast.
      """

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

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

    # Internal variables that you should not change

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

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

    DepthLogged = 0.0 meter


    TempLogged = 0.0 celsius


    SurfTemp = NaN celsius
      """
      Temp near surface.
      """

    ChlLogged = 0.0 microgram_per_liter


    MissionStartCommsCompleted = false
      """
      MissionStartComms is completed (initialized to false).
      """

    ConditionLonYoyoBreak = false
      """
      Whether the longitude condition for switching from yoyo to smearing
      sampling is satisfied.
      """

    ConditionSurfTempCnt = false
      """
      Whether the surface temperature condition is met for incrementing count.
      """

    ConditionSurfTempYoyoBreak = false
      """
      Whether the surface temperature condition for switching from yoyo to
      smearing sampling is satisfied.
      """

    ConditionYoyoBreak = false
      """
      Whether the overall condition for switching from yoyo to smearing
      sampling is satisfied.
      """

    EnableConditionLonYoyoBreak = true
      """
      Enable setting ConditionLonYoyoBreak. Initialized to true.
      """

    EnableCntSurfTempMeetsCondition = true
      """
      Enable counting CntSurfTempMeetsCondition. Initialized to true.
      """

    EnableConditionSurfTempYoyoBreak = true
      """
      Enable setting ConditionSurfTempYoyoBreak. Initialized to true.
      """

    EnableConditionYoyoBreak = true
      """
      Enable setting ConditionYoyoBreak. Initialized to true.
      """

    DescentYoyo = true
      """
      Whether the vehicle is on a descent profile. Initialized to True.
      """

    StartSmear = false
      """
      Start vertical smear (initialized to false).
      """

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

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

    EnableFiring = true
      """
      Enable firing. Initialized to true.
      """

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

    FlagFired = false
      """
      Flag of sample fired (initialized to false).
      """

    FromLastTimeFixToStartSmear = NaN minute
      """
      Elapsed time from last time-fix to StartSmear.
      """

    FromLastTimeFixToNow = NaN minute
      """
      Elapsed time from last time-fix to now.
      """

    FromLastTimeFixToLastFiring = NaN minute
      """
      Elapsed time from last time-fix to last firing.
      """

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

    CntSurfTempMeetsCondition = 0 count
      """
      Count of surface temperature meeting condition (initilized to 0).
      """

  }

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

  timeout duration=MissionTimeout
  # Missions should almost always start with standard safety envelopes

  insert Insert/StandardEnvelopes.xml

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

    redefineArg AcousticTimeout = AcousticTrackingTimeout

  }


  # Many missions will keep mass position fixed at the default. This mission allows the buoyancy volume to change to track the chlorophyll peak while drifting.

  behavior Guidance:Pitch  {

    run in parallel


    set Guidance:Pitch.massPosition = MassDefault

  }


  insert Insert/Science.xml

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



    set Guidance:AltitudeEnvelope.minAltitude = YoYoMinAltitude

    set Guidance:AltitudeEnvelope.upPitch = YoYoUpPitch

  }


  aggregate MissionStart {
    run in sequence
    insert Insert/NeedComms.xml id="NeedComms"

    call id="MissionStartComms" refId="NeedComms"
    assign in sequence  MissionStartCommsCompleted = true
  }

  aggregate ESPSampling {
    run when ( called )
    aggregate TriggerESP {
      run in sequence
      assign in sequence  DepthLogged = Universal:depth
      assign in sequence  TempLogged = Universal:sea_water_temperature
      assign in sequence  ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water
      syslog important "Trigger ESP sampling. DepthLogged, TempLogged, ChlLogged = " + DepthLogged~meter + ", " + TempLogged~celsius + ", " + ChlLogged~microgram_per_liter + "."
      readDatum {

        Science:ESPComponent.sampling

      }

      syslog important "Wait for ESP sampling to complete."
      readDatum {

        Science:ESPComponent.sample_number

      }

    }

  }

  aggregate TransitToSamplingLocation {
    run in sequence
    insert Insert/NeedComms.xml id="NeedComms"

    assign in sequence  NeedComms:DiveInterval = NeedCommsTimeInTransect
    behavior Guidance:SetSpeed  {

      run in parallel


      set Guidance:SetSpeed.speed = SpeedTransit

    }


    behavior Guidance:DepthEnvelope  {

      run in parallel


      set Guidance:DepthEnvelope.minDepth = TransitYoYoMinDepth

      set Guidance:DepthEnvelope.maxDepth = TransitYoYoMaxDepth

      set Guidance:DepthEnvelope.downPitch = YoYoDownPitch

      set Guidance:DepthEnvelope.upPitch = YoYoUpPitch

    }


    behavior Guidance:YoYo  {

      run in parallel


      set Guidance:YoYo.downPitch = YoYoDownPitch

      set Guidance:YoYo.upPitch = YoYoUpPitch

    }


    behavior Guidance:Buoyancy  {

      run in parallel


      set Guidance:Buoyancy.position = BuoyancyNeutral

    }


    aggregate Lap {
      run in sequence repeat=RepeatTransects
      aggregate ConditionLon {
        run while ( EnableConditionLonYoyoBreak and ((((not ( isNaN ( LonMinYoyoBreak ) ) and Universal:longitude  >= LonMinYoyoBreak) and not ( isNaN ( LonMaxYoyoBreak ) ) and Universal:longitude  <= LonMaxYoyoBreak) or isNaN ( LonMinYoyoBreak ) and not ( isNaN ( LonMaxYoyoBreak ) ) and Universal:longitude  <= LonMaxYoyoBreak) or (not ( isNaN ( LonMinYoyoBreak ) ) and Universal:longitude  >= LonMinYoyoBreak) and isNaN ( LonMaxYoyoBreak )) or isNaN ( LonMinYoyoBreak ) and isNaN ( LonMaxYoyoBreak )
        )
        assign in sequence  ConditionLonYoyoBreak = true
        syslog important "= " + Universal:longitude~degree + ". ConditionLonYoyoBreak = " + ConditionLonYoyoBreak~bool
        assign in sequence  EnableConditionLonYoyoBreak = false
      }

      aggregate GetTempNearSurfaceAndCount {
        run when ( ((EnableConditionSurfTempYoyoBreak and DescentYoyo) and Universal:depth  >= DepthNearSurface) or (EnableConditionSurfTempYoyoBreak and not ( DescentYoyo )) and Universal:depth  <= DepthNearSurface )
        assign in sequence  EnableCntSurfTempMeetsCondition = true
        assign in sequence  ConditionSurfTempCnt = ((((not ( isNaN ( SurfTempMinYoyoBreak ) ) and Universal:sea_water_temperature  >= SurfTempMinYoyoBreak) and not ( isNaN ( SurfTempMaxYoyoBreak ) ) and Universal:sea_water_temperature  <= SurfTempMaxYoyoBreak) or isNaN ( SurfTempMinYoyoBreak ) and not ( isNaN ( SurfTempMaxYoyoBreak ) ) and Universal:sea_water_temperature  <= SurfTempMaxYoyoBreak) or (not ( isNaN ( SurfTempMinYoyoBreak ) ) and Universal:sea_water_temperature  >= SurfTempMinYoyoBreak) and isNaN ( SurfTempMaxYoyoBreak )) or isNaN ( SurfTempMinYoyoBreak ) and isNaN ( SurfTempMaxYoyoBreak )
        # debug
        #       <Aggregate Id="Debug_1">
        #
        #                     <When>
        #               <Arg Name="EnableCntSurfTempMeetsCondition"/>
        #               <And><Arg Name="ConditionSurfTempCnt"/></And>
        #           <And><Arg Name="CntSurfTempMeetsCondition"/><Eq><Units:count/><Value>2</Value></Eq></And>
        #           </When>
        #
        #           <Assign><Sequence/><Arg Name="ConditionSurfTempCnt"/><False/></Assign>
        #
        #                     <Syslog Severity="Important">Debug. ConditionSurfTemp = <Arg Name="ConditionSurfTempCnt"/><Units:bool/>.</Syslog>
        #
        #       </Aggregate>

        aggregate ResetSurfTempCount {
          run when ( (EnableCntSurfTempMeetsCondition and not ( ConditionSurfTempCnt )) and CntSurfTempMeetsCondition >= 1 count )
          assign in sequence  CntSurfTempMeetsCondition = 0 count
          assign in sequence  EnableCntSurfTempMeetsCondition = false
          syslog important "Reset CntSurfTempMeetsCondition. SurfTemp at " + Universal:depth~meter + " = " + Universal:sea_water_temperature~celsius + ". CntSurfTempMeetsCondition = " + CntSurfTempMeetsCondition~count
        }

        aggregate IncrementSurfTempCount {
          run when ( EnableCntSurfTempMeetsCondition and ConditionSurfTempCnt )
          assign in sequence  CntSurfTempMeetsCondition = CntSurfTempMeetsCondition + 1 count
          syslog important "SurfTemp at " + Universal:depth~meter + " = " + Universal:sea_water_temperature~celsius + ". CntSurfTempMeetsCondition = " + CntSurfTempMeetsCondition~count
          assign in sequence  EnableCntSurfTempMeetsCondition = false
        }

        assign in sequence  DescentYoyo = not ( DescentYoyo )
        # debug
        #                 <Syslog Severity="Important">After flipping, DescentYoyo = <Arg Name="DescentYoyo"/><Units:bool/>.</Syslog>

      }

      aggregate SurfTempConditionYoyoBreak {
        run while ( EnableConditionSurfTempYoyoBreak and CntSurfTempMeetsCondition >= ThreshCntSurfTempMeetsCondition
        )
        assign in sequence  ConditionSurfTempYoyoBreak = true
        syslog important "ConditionSurfTempYoyoBreak = " + ConditionSurfTempYoyoBreak~bool
        assign in sequence  EnableConditionSurfTempYoyoBreak = false
      }

      aggregate OverallConditionYoyoBreak {
        run while ( (EnableConditionYoyoBreak and ConditionLonYoyoBreak) and ConditionSurfTempYoyoBreak
        )
        assign in sequence  ConditionYoyoBreak = true
        syslog important "ConditionYoyoBreak = " + ConditionYoyoBreak~bool
        assign in sequence  EnableConditionYoyoBreak = false
      }

      aggregate Wpt1 {
        run in sequence
        break if ( (isNaN ( Lat1 ) or isNaN ( Lon1 )) or ConditionYoyoBreak )
        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = Lat1

          set Guidance:Waypoint.longitude = Lon1

        }


      }

      aggregate Wpt2 {
        run in sequence
        break if ( isNaN ( Lat2 ) or isNaN ( Lon2 ) )
        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = Lat2

          set Guidance:Waypoint.longitude = Lon2

        }


      }

      aggregate Wpt3 {
        run in sequence
        break if ( isNaN ( Lat3 ) or isNaN ( Lon3 ) )
        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = Lat3

          set Guidance:Waypoint.longitude = Lon3

        }


      }

      aggregate Wpt4 {
        run in sequence
        break if ( isNaN ( Lat4 ) or isNaN ( Lon4 ) )
        behavior Guidance:Waypoint  {

          run in sequence


          set Guidance:Waypoint.latitude = Lat4

          set Guidance:Waypoint.longitude = Lon4

        }


      }

    }

    assign in sequence  FlagGoDown = true
    syslog important "Go down at " + Universal:depth~meter + "."
    assign in sequence  StartSmear = true
    assign in sequence  FromLastTimeFixToStartSmear = elapsed ( Universal:time_fix )
    # debug
    #   <Syslog Severity="Important">FromLastTimeFixToStartSmear = <Arg Name="FromLastTimeFixToStartSmear"/><Units:minute/></Syslog>

  }

  aggregate SmearSampling {
    aggregate GoDownGoUp {
      run in sequence
      aggregate GoDownInSpiralMode {
        run while ( FlagGoDown and StartSmear
        )
        behavior Guidance:Pitch  {

          run in parallel


          set Guidance:Pitch.depthRate = DownRate

        }


        behavior Guidance:SetSpeed  {

          run in parallel


          set Guidance:SetSpeed.speed = SpeedSmearSampling

        }


        behavior Guidance:Point  {

          run in parallel


          set Guidance:Point.rudderAngle = RudderAngle

        }


        behavior Guidance:Buoyancy  {

          run in parallel


          set Guidance:Buoyancy.position = BuoyancyNeutral

        }


      }

      aggregate GoUpInSpiralMode {
        run while ( FlagGoUp and StartSmear
        )
        behavior Guidance:Pitch  {

          run in parallel


          set Guidance:Pitch.depthRate = UpRate

        }


        behavior Guidance:SetSpeed  {

          run in parallel


          set Guidance:SetSpeed.speed = SpeedSmearSampling

        }


        behavior Guidance:Point  {

          run in parallel


          set Guidance:Point.rudderAngle = RudderAngle

        }


        behavior Guidance:Buoyancy  {

          run in parallel


          set Guidance:Buoyancy.position = BuoyancyNeutral

        }


      }

      aggregate ResetFlagGoDownSetFlagGoUp {
        run when ( ((Universal:depth  >= DeepBoundSmear) and StartSmear) and not ( FlagGoUp ) )
        assign in sequence  FlagGoDown = false
        assign in sequence  FlagGoUp = true
        assign in sequence  EnableFiring = true
        syslog important "Go up at " + Universal:depth~meter + "."
      }

      aggregate ResetFlagGoUpSetFlagGoDown {
        run when ( ((Universal:depth  <= ShallowBoundSmear) and StartSmear) and not ( FlagGoDown ) )
        assign in sequence  FlagGoUp = false
        assign in sequence  FlagGoDown = true
        assign in sequence  EnableFiring = true
        syslog important "Go down at " + Universal:depth~meter + "."
      }

    }

    aggregate TakeSamples {
      run in parallel
      aggregate NoFiringForTooLong {
        run when ( (((((elapsed ( Universal:time_fix ) > FromLastTimeFixToStartSmear + MaxWaitNoFiring) and not ( FlagSamplingOngoing )) and CntSamples == 1 count) and not ( FlagFired )) and not ( StoppedForNoFiringForTooLong )) or (((elapsed ( Universal:time_fix ) > FromLastTimeFixToLastFiring + MaxWaitNoFiring) and not ( FlagSamplingOngoing )) and CntSamples >= 2 count) and not ( StoppedForNoFiringForTooLong ) )
        assign in sequence  FromLastTimeFixToNow = elapsed ( Universal:time_fix )
        syslog important "No firing for too long. Stopping mission. FromLastTimeFixToNow, FromLastTimeFixToLastFiring = " + FromLastTimeFixToNow~minute + ", " + FromLastTimeFixToLastFiring~minute
        behavior Guidance:Execute  {

          run in sequence


          set Guidance:Execute.command = "stop"

        }


        assign in sequence  StoppedForNoFiringForTooLong = true
      }

      aggregate Firing {
        run when ( (((((((MissionStartCommsCompleted and StartSmear) and EnableFiring) and FlagGoDown) and Universal:depth  >= ShallowBoundSmear) and not ( FlagSamplingOngoing )) and CntSamples <= NumESPSamplers) and not ( SampleCompleted )) or (((((StartSmear and EnableFiring) and FlagGoUp) and Universal:depth  <= DeepBoundSmear) and not ( FlagSamplingOngoing )) and CntSamples <= NumESPSamplers) and not ( SampleCompleted ) )
        assign in sequence  FlagSamplingOngoing = true
        syslog important "Taking ESP sample No." + CntSamples~count + "."
        assign in sequence  FlagFired = true
        assign in sequence  FromLastTimeFixToLastFiring = elapsed ( Universal:time_fix )
        # debug
        #                 <Syslog Severity="Important">FromLastTimeFixToLastFiring = <Arg Name="FromLastTimeFixToLastFiring"/><Units:minute/></Syslog>

        call id="Sampling" refId="ESPSampling"
        syslog important " ESP sample No." + CntSamples~count + " completed."
        assign in sequence  FlagSamplingOngoing = false
        assign in sequence  SampleCompleted = true
        assign in sequence  EnableFiring = false
      }

      aggregate IncrementSampleCounter {
        run when ( SampleCompleted )
        assign in sequence  CntSamples = CntSamples + 1 count
        assign in sequence  SampleCompleted = false
      }

    }

    aggregate MissionCompleted {
      run when ( CntSamples == NumESPSamplers + 1 count )
      syslog important "Completed sampling. Stopping mission."
      behavior Guidance:Execute  {

        run in sequence


        set Guidance:Execute.command = "stop"

      }


      assign in sequence  CntSamples = CntSamples + 1 count
    }

  }

}

Source XML

<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control" 
       xmlns:Derivation="Tethys/Derivation" 
       xmlns:Guidance="Tethys/Guidance"
       xmlns:Science="Tethys/Science"
       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/Derivation http://okeanids.mbari.org/tethys/Xml/Derivation.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Trigger http://okeanids.mbari.org/tethys/Xml/Trigger.xsd
                           Tethys/Science http://okeanids.mbari.org/tethys/Xml/Science.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Smear">

<!-- Almost every mission should start with an overall timeout and a NeedCommsTime. Drift Missions will have an acoustic timeout instead of a NeedCommsTime. -->

<!-- You probably need to change these. -->

    <DefineArg Name="NumESPSamplers"><Description>
        Total number of ESP cartridges (Maximum 60. Set to a smaller number if
        not using all of them. Set to 0 to disable ESP sampling).
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>20</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeInTransect"><Description>
        In transit, how often to surface for commumications
    </Description><Units:minute/><Value>60</Value></DefineArg>

    <DefineArg Name="AcousticTrackingTimeout"><Description>
        If the vehicle does not receive an acoustic signal for more than this
        length of time, it will surface for communications. Set longer than
        MissionTimeout to effectively disable.
    </Description><Units:hour/><Value>21</Value></DefineArg>

    <DefineArg Name="MaxWaitNoFiring"><Description>
        If no firing after more than MaxWaitNoFiring, terminate mission.
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="SpeedTransit"><Description>
        Vehicle speed when transiting.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="SpeedSmearSampling"><Description>
        Vehicle speed for smear sampling.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear"><Description>
        Shallow depth bound for smear sampling.
    </Description><Units:meter/><Value>5.0</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear"><Description>
        Deep depth bound for smear sampling.
    </Description><Units:meter/><Value>25</Value></DefineArg>

    <DefineArg Name="TransitYoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior during transit.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="TransitYoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior during transit.
    </Description><Units:meter/><Value>30</Value></DefineArg>

    <DefineArg Name="DepthNearSurface"><Description>
        Near-surface depth.
    </Description><Units:meter/><Value>2.0</Value></DefineArg>

    <DefineArg Name="ThreshCntSurfTempMeetsCondition"><Description>
        If CntSurfTempMeetsCondition reaches this threshold, the surface temp
        condition (for switching from yoyo to smear sampling) is considered met.
    </Description><Units:count/><Value>5</Value></DefineArg>

    <DefineArg Name="RepeatTransects"><Description>
        Number of times the vehicle should try to cycle through waypoints..
    </Description><Units:count/><Value>1</Value></DefineArg>

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

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

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

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

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

<!--debug
    </Description><Units:degree/><Value>36.825</Value></DefineArg>
-->

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

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

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

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

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

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

    <DefineArg Name="LonMinYoyoBreak"><Description>
        If longitude falls in [LonMinYoyoBreak LonMaxYoyoBreak], stop yo-yo to
        switch to smear sampling.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="LonMaxYoyoBreak"><Description>
        If longitude falls in [LonMinYoyoBreak LonMaxYoyoBreak], stop yo-yo to
        switch to smear sampling.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>-121.823</Value></DefineArg>
-->

    <DefineArg Name="SurfTempMinYoyoBreak"><Description>
        If surface temperature falls in [SurfTempMinYoyoBreak
        SurfTempMaxYoyoBreak] for enough counts, stop yo-yo to switch to smear
        sampling.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="SurfTempMaxYoyoBreak"><Description>
        If surface temperature falls in [SurfTempMinYoyoBreak
        SurfTempMaxYoyoBreak] for enough counts, stop yo-yo to switch to smear
        sampling.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:celsius/><Value>17.0</Value></DefineArg>
-->

<!-- Use caution when changing these. -->

    <DefineArg Name="UpRate"><Description>
        Go-up depth rate (Negative depth rate means going up).
    </Description><Units:meter_per_second/><Value>-0.04</Value></DefineArg>

    <DefineArg Name="DownRate"><Description>
        Go-down depth rate (Positive depth rate means going down).
    </Description><Units:meter_per_second/><Value>0.04</Value></DefineArg>

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

    <DefineArg Name="MinAltitude"><Description>
        Minimum altitude for the entire mission.
    </Description><Units:meter/><Value>7</Value></DefineArg>

    <DefineArg Name="MinOffshore"><Description>
        Minimum offshore distance for the entire mission.
    </Description><Units:kilometer/><Value>2</Value></DefineArg>

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

    <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="RudderAngle"><Description>
        Rudder angle to use while performing the donut cast.
    </Description><Units:degree/><Value>13</Value></DefineArg>

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

    <DefineArg Name="MassDefault"><Description>
        Static setting for mass during the mission. Set to NaN mm for active
        mass position
    </Description><Control:VerticalControl.massDefault/></DefineArg>

<!-- Internal variables that you should not change -->

    <DefineArg Name="SampleCompleted"><Description>
        Sampling completed. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="StoppedForNoFiringForTooLong"><Description>
        Mission stopped because of no firing for too long. Initialized to false.
    </Description><False/></DefineArg>

    <DefineArg Name="DepthLogged"><Description></Description><Units:meter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="TempLogged"><Description></Description><Units:celsius/><Value>0.0</Value></DefineArg>

    <DefineArg Name="SurfTemp"><Description>
        Temp near surface.
    </Description><Units:celsius/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ChlLogged"><Description></Description><Units:microgram_per_liter/><Value>0.0</Value></DefineArg>

    <DefineArg Name="MissionStartCommsCompleted"><Description>
        MissionStartComms is completed (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="ConditionLonYoyoBreak"><Description>
        Whether the longitude condition for switching from yoyo to smearing
        sampling is satisfied.
    </Description><False/></DefineArg>

    <DefineArg Name="ConditionSurfTempCnt"><Description>
        Whether the surface temperature condition is met for incrementing count.
    </Description><False/></DefineArg>

    <DefineArg Name="ConditionSurfTempYoyoBreak"><Description>
        Whether the surface temperature condition for switching from yoyo to
        smearing sampling is satisfied.
    </Description><False/></DefineArg>

    <DefineArg Name="ConditionYoyoBreak"><Description>
        Whether the overall condition for switching from yoyo to smearing
        sampling is satisfied.
    </Description><False/></DefineArg>

    <DefineArg Name="EnableConditionLonYoyoBreak"><Description>
        Enable setting ConditionLonYoyoBreak. Initialized to true.
    </Description><True/></DefineArg>

    <DefineArg Name="EnableCntSurfTempMeetsCondition"><Description>
        Enable counting CntSurfTempMeetsCondition. Initialized to true.
    </Description><True/></DefineArg>

    <DefineArg Name="EnableConditionSurfTempYoyoBreak"><Description>
        Enable setting ConditionSurfTempYoyoBreak. Initialized to true.
    </Description><True/></DefineArg>

    <DefineArg Name="EnableConditionYoyoBreak"><Description>
        Enable setting ConditionYoyoBreak. Initialized to true.
    </Description><True/></DefineArg>

    <DefineArg Name="DescentYoyo"><Description>
        Whether the vehicle is on a descent profile. Initialized to True.
    </Description><True/></DefineArg>

    <DefineArg Name="StartSmear"><Description>
        Start vertical smear (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="FlagGoUp"><Description>
        Go-up flag (set to true when going up. Initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="FlagGoDown"><Description>
        Go-down flag (set to true when going down. Initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="EnableFiring"><Description>
        Enable firing. Initialized to true.
    </Description><True/></DefineArg>

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

    <DefineArg Name="FlagFired"><Description>
        Flag of sample fired (initialized to false).
    </Description><False/></DefineArg>

    <DefineArg Name="FromLastTimeFixToStartSmear"><Description>
        Elapsed time from last time-fix to StartSmear.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="FromLastTimeFixToNow"><Description>
        Elapsed time from last time-fix to now.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="FromLastTimeFixToLastFiring"><Description>
        Elapsed time from last time-fix to last firing.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CntSamples"><Description>
        Count of water samples (initilized to 1).
    </Description><Units:count/><Value>1</Value></DefineArg>

    <DefineArg Name="CntSurfTempMeetsCondition"><Description>
        Count of surface temperature meeting condition (initilized to 0).
    </Description><Units:count/><Value>0</Value></DefineArg>

<!-- Missions should almost always start with a timeout and a NeedComms aggregate. Drift missions will not use NeedComms. -->

    <Timeout Duration="MissionTimeout"/>

<!-- Missions should almost always start with standard safety envelopes -->

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

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

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

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

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

<!-- Many missions will keep mass position fixed at the default. This mission allows the buoyancy volume to change to track the chlorophyll peak while drifting. -->

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

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

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

    <Aggregate Id="MissionStart">

        <Sequence/>

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

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

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

    </Aggregate>

    <Aggregate Id="ESPSampling">

        <When>
            <Called/>
        </When>

        <Aggregate Id="TriggerESP">

            <Sequence/>

            <Assign><Sequence/><Arg Name="DepthLogged"/><Universal:depth/></Assign>

            <Assign><Sequence/><Arg Name="TempLogged"/><Universal:sea_water_temperature/></Assign>

            <Assign><Sequence/><Arg Name="ChlLogged"/><Universal:mass_concentration_of_chlorophyll_in_sea_water/></Assign>

            <Syslog Severity="Important">Trigger ESP sampling. DepthLogged, TempLogged, ChlLogged = <Arg Name="DepthLogged"/><Units:meter/>, <Arg Name="TempLogged"/><Units:celsius/>, <Arg Name="ChlLogged"/><Units:microgram_per_liter/>.</Syslog>

            <ReadDatum>
                <Science:ESPComponent.sampling/>
            </ReadDatum>

            <Syslog Severity="Important">Wait for ESP sampling to complete.</Syslog>

            <ReadDatum>
                <Science:ESPComponent.sample_number/>
            </ReadDatum>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="TransitToSamplingLocation">

        <Sequence/>

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

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

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

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

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

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

        <Aggregate Id="Lap">

            <Sequence Repeat="RepeatTransects"/>

            <Aggregate Id="ConditionLon">

                <While>
                    <Arg Name="EnableConditionLonYoyoBreak"/>
                    <And><Not><IsNaN><Arg Name="LonMinYoyoBreak"/>
                    </IsNaN></Not><And><Universal:longitude/><Ge><Arg Name="LonMinYoyoBreak"/></Ge></And><And><Not><IsNaN><Arg Name="LonMaxYoyoBreak"/>
                    </IsNaN></Not><And><Universal:longitude/><Le><Arg Name="LonMaxYoyoBreak"/></Le></And></And><Or><IsNaN><Arg Name="LonMinYoyoBreak"/>
                    </IsNaN><And><Not><IsNaN><Arg Name="LonMaxYoyoBreak"/>
                    </IsNaN></Not><And><Universal:longitude/><Le><Arg Name="LonMaxYoyoBreak"/></Le></And></And></Or><Or><Not><IsNaN><Arg Name="LonMinYoyoBreak"/>
                    </IsNaN></Not><And><Universal:longitude/><Ge><Arg Name="LonMinYoyoBreak"/></Ge></And><And><IsNaN><Arg Name="LonMaxYoyoBreak"/>
                    </IsNaN></And></Or><Or><IsNaN><Arg Name="LonMinYoyoBreak"/>
                    </IsNaN><And><IsNaN><Arg Name="LonMaxYoyoBreak"/>
                    </IsNaN></And></Or></And>
                </While>

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

                <Syslog Severity="Important">= <Universal:longitude/><Units:degree/>. ConditionLonYoyoBreak = <Arg Name="ConditionLonYoyoBreak"/><Units:bool/></Syslog>

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

            </Aggregate>

            <Aggregate Id="GetTempNearSurfaceAndCount">

                <When>
                    <Arg Name="EnableConditionSurfTempYoyoBreak"/>
                    <And><Arg Name="DescentYoyo"/></And>
                    <And><Universal:depth/><Ge><Arg Name="DepthNearSurface"/></Ge></And>
                    <Or><Arg Name="EnableConditionSurfTempYoyoBreak"/><And><Not><Arg Name="DescentYoyo"/></Not></And><And><Universal:depth/><Le><Arg Name="DepthNearSurface"/></Le></And></Or>
                </When>

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

                <Assign><Sequence/><Arg Name="ConditionSurfTempCnt"/><Not><IsNaN><Arg Name="SurfTempMinYoyoBreak"/>
                </IsNaN></Not><And><Universal:sea_water_temperature/><Ge><Arg Name="SurfTempMinYoyoBreak"/></Ge></And><And><Not><IsNaN><Arg Name="SurfTempMaxYoyoBreak"/>
                </IsNaN></Not><And><Universal:sea_water_temperature/><Le><Arg Name="SurfTempMaxYoyoBreak"/></Le></And></And><Or><IsNaN><Arg Name="SurfTempMinYoyoBreak"/>
                </IsNaN><And><Not><IsNaN><Arg Name="SurfTempMaxYoyoBreak"/>
                </IsNaN></Not><And><Universal:sea_water_temperature/><Le><Arg Name="SurfTempMaxYoyoBreak"/></Le></And></And></Or><Or><Not><IsNaN><Arg Name="SurfTempMinYoyoBreak"/>
                </IsNaN></Not><And><Universal:sea_water_temperature/><Ge><Arg Name="SurfTempMinYoyoBreak"/></Ge></And><And><IsNaN><Arg Name="SurfTempMaxYoyoBreak"/>
                </IsNaN></And></Or><Or><IsNaN><Arg Name="SurfTempMinYoyoBreak"/>
                </IsNaN><And><IsNaN><Arg Name="SurfTempMaxYoyoBreak"/>
                </IsNaN></And></Or></Assign>

<!--debug
        <Aggregate Id="Debug_1">

                    <When>
                <Arg Name="EnableCntSurfTempMeetsCondition"/>
                <And><Arg Name="ConditionSurfTempCnt"/></And>
            <And><Arg Name="CntSurfTempMeetsCondition"/><Eq><Units:count/><Value>2</Value></Eq></And>
            </When>

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

                    <Syslog Severity="Important">Debug. ConditionSurfTemp = <Arg Name="ConditionSurfTempCnt"/><Units:bool/>.</Syslog>

        </Aggregate>
-->

                <Aggregate Id="ResetSurfTempCount">

                    <When>
                        <Arg Name="EnableCntSurfTempMeetsCondition"/>
                        <And><Not><Arg Name="ConditionSurfTempCnt"/></Not></And>
                        <And><Arg Name="CntSurfTempMeetsCondition"/><Ge><Units:count/><Value>1</Value></Ge></And>
                    </When>

                    <Assign><Sequence/><Arg Name="CntSurfTempMeetsCondition"/><Units:count/><Value>0</Value></Assign>

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

                    <Syslog Severity="Important">Reset CntSurfTempMeetsCondition. SurfTemp at <Universal:depth/><Units:meter/> = <Universal:sea_water_temperature/><Units:celsius/>. CntSurfTempMeetsCondition = <Arg Name="CntSurfTempMeetsCondition"/><Units:count/></Syslog>

                </Aggregate>

                <Aggregate Id="IncrementSurfTempCount">

                    <When>
                        <Arg Name="EnableCntSurfTempMeetsCondition"/>
                        <And><Arg Name="ConditionSurfTempCnt"/></And>
                    </When>

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

                    <Syslog Severity="Important">SurfTemp at <Universal:depth/><Units:meter/> = <Universal:sea_water_temperature/><Units:celsius/>. CntSurfTempMeetsCondition = <Arg Name="CntSurfTempMeetsCondition"/><Units:count/></Syslog>

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

                </Aggregate>

                <Assign><Sequence/><Arg Name="DescentYoyo"/><Not><Arg Name="DescentYoyo"/></Not></Assign>

<!--debug
                <Syslog Severity="Important">After flipping, DescentYoyo = <Arg Name="DescentYoyo"/><Units:bool/>.</Syslog>
-->

            </Aggregate>

            <Aggregate Id="SurfTempConditionYoyoBreak">

                <While>
                    <Arg Name="EnableConditionSurfTempYoyoBreak"/>
                    <And><Arg Name="CntSurfTempMeetsCondition"/><Ge><Arg Name="ThreshCntSurfTempMeetsCondition"/></Ge></And>
                </While>

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

                <Syslog Severity="Important">ConditionSurfTempYoyoBreak = <Arg Name="ConditionSurfTempYoyoBreak"/><Units:bool/></Syslog>

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

            </Aggregate>

            <Aggregate Id="OverallConditionYoyoBreak">

                <While>
                    <Arg Name="EnableConditionYoyoBreak"/>
                    <And><Arg Name="ConditionLonYoyoBreak"/></And>
                    <And><Arg Name="ConditionSurfTempYoyoBreak"/></And>
                </While>

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

                <Syslog Severity="Important">ConditionYoyoBreak = <Arg Name="ConditionYoyoBreak"/><Units:bool/></Syslog>

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

            </Aggregate>

            <Aggregate Id="Wpt1">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="Lat1"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="Lon1"/>
                    </IsNaN></Or>
                    <Or><Arg Name="ConditionYoyoBreak"/></Or>
                </Break>

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

            </Aggregate>

            <Aggregate Id="Wpt2">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="Lat2"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="Lon2"/>
                    </IsNaN></Or>
                </Break>

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

            </Aggregate>

            <Aggregate Id="Wpt3">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="Lat3"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="Lon3"/>
                    </IsNaN></Or>
                </Break>

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

            </Aggregate>

            <Aggregate Id="Wpt4">

                <Sequence/>

                <Break>
                    <IsNaN><Arg Name="Lat4"/>
                    </IsNaN>
                    <Or><IsNaN><Arg Name="Lon4"/>
                    </IsNaN></Or>
                </Break>

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

            </Aggregate>

        </Aggregate>

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

        <Syslog Severity="Important">Go down at <Universal:depth/><Units:meter/>.</Syslog>

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

        <Assign><Sequence/><Arg Name="FromLastTimeFixToStartSmear"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

<!--debug
    <Syslog Severity="Important">FromLastTimeFixToStartSmear = <Arg Name="FromLastTimeFixToStartSmear"/><Units:minute/></Syslog>
-->

    </Aggregate>

    <Aggregate Id="SmearSampling">

        <Aggregate Id="GoDownGoUp">

            <Sequence/>

            <Aggregate Id="GoDownInSpiralMode">

                <While>
                    <Arg Name="FlagGoDown"/>
                    <And><Arg Name="StartSmear"/></And>
                </While>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depthRate/><Arg Name="DownRate"/></Setting>
                </Guidance:Pitch>

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

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

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

            </Aggregate>

            <Aggregate Id="GoUpInSpiralMode">

                <While>
                    <Arg Name="FlagGoUp"/>
                    <And><Arg Name="StartSmear"/></And>
                </While>

                <Guidance:Pitch>
                    <Parallel/>
                    <Setting><Guidance:Pitch.depthRate/><Arg Name="UpRate"/></Setting>
                </Guidance:Pitch>

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

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

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

            </Aggregate>

            <Aggregate Id="ResetFlagGoDownSetFlagGoUp">

                <When>
                    <Universal:depth/>
                    <Ge><Arg Name="DeepBoundSmear"/></Ge>
                    <And><Arg Name="StartSmear"/></And>
                    <And><Not><Arg Name="FlagGoUp"/></Not></And>
                </When>

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

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

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

                <Syslog Severity="Important">Go up at <Universal:depth/><Units:meter/>.</Syslog>

            </Aggregate>

            <Aggregate Id="ResetFlagGoUpSetFlagGoDown">

                <When>
                    <Universal:depth/>
                    <Le><Arg Name="ShallowBoundSmear"/></Le>
                    <And><Arg Name="StartSmear"/></And>
                    <And><Not><Arg Name="FlagGoDown"/></Not></And>
                </When>

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

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

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

                <Syslog Severity="Important">Go down at <Universal:depth/><Units:meter/>.</Syslog>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="TakeSamples">

            <Parallel/>

            <Aggregate Id="NoFiringForTooLong">

                <When>
                    <Elapsed><Universal:time_fix/></Elapsed>
                    <Gt><Arg Name="FromLastTimeFixToStartSmear"/><Add><Arg Name="MaxWaitNoFiring"/></Add></Gt>
                    <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                    <And><Arg Name="CntSamples"/><Eq><Units:count/><Value>1</Value></Eq></And>
                    <And><Not><Arg Name="FlagFired"/></Not></And>
                    <And><Not><Arg Name="StoppedForNoFiringForTooLong"/></Not></And>
                    <Or><Elapsed><Universal:time_fix/></Elapsed><Gt><Arg Name="FromLastTimeFixToLastFiring"/><Add><Arg Name="MaxWaitNoFiring"/></Add></Gt><And><Not><Arg Name="FlagSamplingOngoing"/></Not></And><And><Arg Name="CntSamples"/><Ge><Units:count/><Value>2</Value></Ge></And><And><Not><Arg Name="StoppedForNoFiringForTooLong"/></Not></And></Or>
                </When>

                <Assign><Sequence/><Arg Name="FromLastTimeFixToNow"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

                <Syslog Severity="Important">No firing for too long. Stopping mission. FromLastTimeFixToNow, FromLastTimeFixToLastFiring = <Arg Name="FromLastTimeFixToNow"/><Units:minute/>, <Arg Name="FromLastTimeFixToLastFiring"/><Units:minute/></Syslog>

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

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

            </Aggregate>

            <Aggregate Id="Firing">

                <When>
                    <Arg Name="MissionStartCommsCompleted"/>
                    <And><Arg Name="StartSmear"/></And>
                    <And><Arg Name="EnableFiring"/></And>
                    <And><Arg Name="FlagGoDown"/></And>
                    <And><Universal:depth/><Ge><Arg Name="ShallowBoundSmear"/></Ge></And>
                    <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                    <And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And>
                    <And><Not><Arg Name="SampleCompleted"/></Not></And>
                    <Or><Arg Name="StartSmear"/><And><Arg Name="EnableFiring"/></And><And><Arg Name="FlagGoUp"/></And><And><Universal:depth/><Le><Arg Name="DeepBoundSmear"/></Le></And><And><Not><Arg Name="FlagSamplingOngoing"/></Not></And><And><Arg Name="CntSamples"/><Le><Arg Name="NumESPSamplers"/></Le></And><And><Not><Arg Name="SampleCompleted"/></Not></And></Or>
                </When>

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

                <Syslog Severity="Important">Taking ESP sample No.<Arg Name="CntSamples"/><Units:count/>.</Syslog>

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

                <Assign><Sequence/><Arg Name="FromLastTimeFixToLastFiring"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

<!--debug
                <Syslog Severity="Important">FromLastTimeFixToLastFiring = <Arg Name="FromLastTimeFixToLastFiring"/><Units:minute/></Syslog>
-->

                <Call Id="Sampling" RefId="ESPSampling"/>

                <Syslog Severity="Important"> ESP sample No.<Arg Name="CntSamples"/><Units:count/> completed.</Syslog>

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

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

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

            </Aggregate>

            <Aggregate Id="IncrementSampleCounter">

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

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

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

            </Aggregate>

        </Aggregate>

        <Aggregate Id="MissionCompleted">

            <When>
                <Arg Name="CntSamples"/>
                <Eq><Arg Name="NumESPSamplers"/> <Add><Units:count/> <Value>1</Value></Add></Eq>
            </When>

            <Syslog Severity="Important">Completed sampling. Stopping mission.</Syslog>

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

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

        </Aggregate>

    </Aggregate>

</Mission>