Smear waypoint sampling.xml

Page auto-generated from XML file.

---

Failure

The generated TethysL source could not be parsed, likely due to source XML not being well-formed.

Below is the compile error at the TethysL level, as well as the source XML.

The TethysL file name shown below does not necessarily indicate the file exists, but hints about the actual corresponding .xml file.

Syntax error:
    --> lrauv-application/Missions/Science/smear_waypoint_sampling.xml:387:7
     | 
 383 |       called
 384 |     )
 385 | 
 386 |     aggregate IfNot1stSample {
 387 |       break if (
     |       ^^^^^
 388 |         CntSamples == 1 count
 389 |       )
 390 | 
 391 |       syslog important "Wait "
     | 
Unexpected: `break`
One of the following is possible:
  """
  arguments
  output
  run
  test_code

Generated TethysL

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

    # You probably need to change these.

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

    # debug
    #     </Description><Units:count/><Value>3</Value></DefineArg>

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

    CANONSamplerRotateOnly = 0 bool

    MissionTimeout = 3 hour
      """
      Maximum duration of mission
      """

    WaitDuration = 0 minute
      """
      Wait time before firing a sample.
      """

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

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

    # debug
    #     </Description><Units:hour/><Value>0.05</Value></DefineArg>

    ReachEndWaypoint = true
      """
      Whether to reach the end waypoint after sampling is completed
      (initialized to true).
      """

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

    Speed = 1.0 meter_per_second
      """
      Vehicle speed.
      """

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

    SamplingYoYoMinDepth = 10 meter
      """
      Minimum yoyo depth while transiting and sampling.
      """

    SamplingYoYoMaxDepth = 20 meter
      """
      Maximum yoyo depth while transiting and sampling.
      """

    WaypointCaptureRadius = 100 meter
      """
      Waypoint capture radius for transiting to the sampling location.
      """

    SamplingStartLatitude = NaN degree
      """
      The start latitude of sampling. If NaN, start here.
      """

    # debug
    #     </Description><Units:degree/><Value>36.80</Value></DefineArg>

    SamplingStartLongitude = NaN degree
      """
      The start longitude of sampling. If NaN, start here.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.82</Value></DefineArg>

    SamplingEndLatitude = NaN degree
      """
      The end latitude of sampling. Must set.
      """

    # debug
    #     </Description><Units:degree/><Value>36.808</Value></DefineArg>

    SamplingEndLongitude = NaN degree
      """
      The end longitude of sampling. Must set.
      """

    # debug
    #     </Description><Units:degree/><Value>-121.838</Value></DefineArg>

    # Use caution when changing these.

    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.

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

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

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

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

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

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

    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

    NeedCommsSampling = 3 hour
      """
      How often to surface for commumications during the process of completing
      all samples, in case something goes wrong during sampling.
      """
  }

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

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

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

    DepthLogged = 0.0 meter
      """

      """

    TempLogged = 0.0 celsius
      """

      """

    ChlLogged = 0.0 microgram_per_liter
      """

      """

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

    TransitCompleted = false
      """
      Transit is completed (initialized to False).
      """

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

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

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

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

  timeout duration=MissionTimeout

  insert Insert/NeedComms.tl id="NeedComms"


  assign in sequence NeedComms:DiveInterval = NeedCommsSampling

  # Missions should almost always start with standard safety envelopes

  insert Insert/StandardEnvelopes.tl


  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude

  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth

  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore

  behavior Sample:AbortSample {
    run in parallel
  }

  # Many missions will keep mass position fixed at the default.

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

  insert Insert/Science.tl


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

  aggregate TriggerSampling {
    run when (
      called
    )

    aggregate TriggerESP {
      run in sequence

      break if (
        not ( UseESP )
      )

      assign in sequence DepthLogged = Universal:depth

      assign in sequence TempLogged = Universal:sea_water_temperature

      assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water

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

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

      readDatum {
        Science:ESPComponent.sampling
      }

      syslog important "Wait for ESP sampling to complete."

      readDatum {
        Science:ESPComponent.sample_number
      }
    }

    aggregate TriggerCANON {
      run in sequence

      break if (
        not ( UseCANONSampler )
      )

      assign in sequence DepthLogged = Universal:depth

      assign in sequence TempLogged = Universal:sea_water_temperature

      assign in sequence ChlLogged = Universal:mass_concentration_of_chlorophyll_in_sea_water

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

      assign in parallel Science:CANONSampler.sampleTimeout = CANONSamplerTimeout

      assign in parallel Science:CANONSampler.rotateOnly = CANONSamplerRotateOnly

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

        Science:CANONSampler.sampling
      }

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

        Science:CANONSampler.sample_number
      }
    }
  }

  aggregate InsertWait {
    run when (
      called
    )

    aggregate IfNot1stSample {
      break if (
        CntSamples == 1 count
      )

      syslog important "Wait "
           + WaitDuration ~ minute
           + " before firing sample."

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

  aggregate MissionStart {
    run in sequence

    call id="MissionStartComms" refId="NeedComms"

    assign in sequence MissionStartCommsCompleted = true

    assign in sequence ElapsedSinceStartOrLastSample = 0 hour

    assign in sequence TransitCompleted = true
  }

  aggregate TransitToSamplingLocation {
    run in sequence

    break if (
      isNaN ( SamplingStartLatitude )
      or ( isNaN ( SamplingStartLongitude ) )
    )

    assign in sequence TransitCompleted = false

    assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransit

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

    behavior Guidance:DepthEnvelope {
      run in parallel
      set Guidance:DepthEnvelope.minDepth = SamplingYoYoMinDepth
      set Guidance:DepthEnvelope.maxDepth = SamplingYoYoMaxDepth
      set Guidance:DepthEnvelope.downPitch = YoYoDownPitch
      set Guidance:DepthEnvelope.upPitch = YoYoUpPitch
    }

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

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

    behavior Guidance:Waypoint {
      run in sequence
      set Guidance:Waypoint.latitude = SamplingStartLatitude
      set Guidance:Waypoint.longitude = SamplingStartLongitude
      set Guidance:Waypoint.captureRadius = WaypointCaptureRadius
    }

    assign in sequence NeedComms:DiveInterval = NeedCommsSampling

    assign in sequence ElapsedSinceStartOrLastSample = 0 hour

    assign in sequence TransitCompleted = true
  }

  aggregate SamplingToWaypoint {
    run in sequence

    break if (
      isNaN ( SamplingEndLatitude )
      or ( isNaN ( SamplingEndLongitude ) )
      or (
        not ( ReachEndWaypoint )
        and ( CntSamples == ( NumSamplers + 1 count ) )
      )
    )

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

    behavior Guidance:DepthEnvelope {
      run in parallel
      set Guidance:DepthEnvelope.minDepth = SamplingYoYoMinDepth
      set Guidance:DepthEnvelope.maxDepth = SamplingYoYoMaxDepth
      set Guidance:DepthEnvelope.downPitch = YoYoDownPitch
      set Guidance:DepthEnvelope.upPitch = YoYoUpPitch
    }

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

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

    behavior Guidance:Waypoint {
      run in sequence
      set Guidance:Waypoint.latitude = SamplingEndLatitude
      set Guidance:Waypoint.longitude = SamplingEndLongitude
      set Guidance:Waypoint.captureRadius = WaypointCaptureRadius
    }

    aggregate TakeSamples {
      run in parallel

      aggregate NoFiringForTooLong {
        run when (
          TransitCompleted
          and ( elapsed ( ElapsedSinceStartOrLastSample ) > MaxWaitNoFiring )
          and ( not ( FlagSamplingOngoing ) )
          and ( not ( CntSamples == ( NumSamplers + 1 count ) ) )
          and ( not ( StoppedForNoFiringForTooLong ) )
        )

        assign in sequence ElapsedTime = elapsed ( ElapsedSinceStartOrLastSample )

        syslog important "No firing for too long. Stopping mission. ElapsedTime, MaxWaitNoFiring = "
             + ElapsedTime ~ minute
             + ", "
             + MaxWaitNoFiring ~ minute

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

        assign in sequence StoppedForNoFiringForTooLong = true
      }

      aggregate Firing {
        run when (
          Universal:depth >= SamplingYoYoMinDepth
          and ( Universal:depth <= SamplingYoYoMaxDepth )
          and MissionStartCommsCompleted
          and TransitCompleted
          and ( not ( FlagSamplingOngoing ) )
          and ( CntSamples <= NumSamplers )
          and ( not ( SampleCompleted ) )
        )

        assign in sequence FlagSamplingOngoing = true

        syslog important "Taking sample No."
             + CntSamples ~ count
             + "."

        assign in sequence ElapsedSinceStartOrLastSample = 0 hour

        assign in sequence NeedComms:DiveInterval = NeedCommsSampling

        call id="WaitBeforeFiring" refId="InsertWait"

        call id="Sampling" refId="TriggerSampling"

        syslog important " Sample No."
             + CntSamples ~ count
             + " completed."

        call id="CommsSampling" refId="NeedComms"

        assign in sequence NeedComms:DiveInterval = NeedCommsTimeInTransit

        assign in sequence SampleCompleted = true

        assign in sequence ElapsedSinceStartOrLastSample = 0 hour

        assign in sequence FlagSamplingOngoing = false
      }

      aggregate IncrementSampleCounter {
        run when (
          SampleCompleted
        )

        assign in sequence CntSamples = CntSamples + 1 count

        assign in sequence SampleCompleted = false
      }
    }
  }
}

Source XML

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

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

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

    <DefineArg Name="NumSamplers"><Description>
        Total number of ESP cartridges (Maximum 60) or CANON samplers. Set to 0
        to disable sampling.
    </Description><Units:count/><Value>1</Value></DefineArg>

<!--debug    
    </Description><Units:count/><Value>3</Value></DefineArg>
-->

    <DefineArg Name="CartridgeType"><Description>
        Cartridge type. Initialized to -6.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CANONSamplerRotateOnly"><Units:bool/><Value>0</Value></DefineArg>

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>3</Value></DefineArg>

    <DefineArg Name="WaitDuration"><Description>
        Wait time before firing a sample.
    </Description><Units:minute/><Value>0</Value></DefineArg>

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

    <DefineArg Name="MaxWaitNoFiring"><Description>
        If no firing after more than MaxWaitNoFiring, terminate mission.
    </Description><Units:hour/><Value>2</Value></DefineArg>

<!--debug
    </Description><Units:hour/><Value>0.05</Value></DefineArg>
-->

    <DefineArg Name="ReachEndWaypoint"><Description>
        Whether to reach the end waypoint after sampling is completed
        (initialized to true).
    </Description><True/></DefineArg>

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

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

    <DefineArg Name="MaxDepth"><Description>
        Maximum depth for the entire mission.
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="SamplingYoYoMinDepth"><Description>
        Minimum yoyo depth while transiting and sampling.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="SamplingYoYoMaxDepth"><Description>
        Maximum yoyo depth while transiting and sampling.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="WaypointCaptureRadius"><Description>
        Waypoint capture radius for transiting to the sampling location.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="SamplingStartLatitude"><Description>
        The start latitude of sampling. If NaN, start here.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>36.80</Value></DefineArg>
-->

    <DefineArg Name="SamplingStartLongitude"><Description>
        The start longitude of sampling. If NaN, start here.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>-121.82</Value></DefineArg>
-->

    <DefineArg Name="SamplingEndLatitude"><Description>
        The end latitude of sampling. Must set.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>36.808</Value></DefineArg>
-->

    <DefineArg Name="SamplingEndLongitude"><Description>
        The end longitude of sampling. Must set.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug    
    </Description><Units:degree/><Value>-121.838</Value></DefineArg>
-->

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

    <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="UseCANONSampler"><Description>
        Whether to use CANON Sampler to sample.
    </Description><Science:CANONSampler.loadAtStartup/></DefineArg>

    <DefineArg Name="UseESP"><Description>
        Whether to use ESP to sample.
    </Description><Science:ESPComponent.loadAtStartup/></DefineArg>

    <DefineArg Name="CANONSamplerTriggerTimeout"><Description>
        How long to wait for a CANON Sampler sample to start.
    </Description><Units:minute/><Value>1</Value></DefineArg>

    <DefineArg Name="CANONSamplerTimeout"><Description>
        How long to wait for a CANON Sampler sample to complete.
    </Description><Science:CANONSampler.sampleTimeout/></DefineArg>

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

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

    <DefineArg Name="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="NeedCommsSampling"><Description>
        How often to surface for commumications during the process of completing
        all samples, in case something goes wrong during sampling.
    </Description><Units:hour/><Value>3</Value></DefineArg>

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

    <DefineOutput Name="ElapsedTime"><Description>
        Only for syslog.
    </Description><Units:hour/><Value>0</Value></DefineOutput>

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

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

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

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

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

    <DefineOutput Name="TransitCompleted"><Description>
        Transit is completed (initialized to False).
    </Description><False/></DefineOutput>

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

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

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

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

    <Timeout Duration="MissionTimeout"/>

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

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

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

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

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

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

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

    <Sample:AbortSample>
        <Parallel/>
    </Sample:AbortSample>

<!-- Many missions will keep mass position fixed at the default. -->

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

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

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

    <Aggregate Id="TriggerSampling">

        <When>
            <Called/>
        </When>

        <Aggregate Id="TriggerESP">

            <Sequence/>

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

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

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

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

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

            <Science:ESPCartridgeSelect>
                <Sequence/>
                <Timeout Duration="P1M"/>
                <Setting><Science:ESPCartridgeSelect.cartridgeType/><Arg Name="CartridgeType"/></Setting>
            </Science:ESPCartridgeSelect>

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

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

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

        </Aggregate>

        <Aggregate Id="TriggerCANON">

            <Sequence/>

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

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

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

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

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

            <Assign><Parallel/><Science:CANONSampler.sampleTimeout/><Arg Name="CANONSamplerTimeout"/></Assign>

            <Assign><Parallel/><Science:CANONSampler.rotateOnly/><Arg Name="CANONSamplerRotateOnly"/></Assign>

            <ReadDatum Id="TriggerCANONSampler">
                <Timeout Duration="CANONSamplerTriggerTimeout">
                    <Syslog Severity="Important">Timed out triggering CANONSampler. Stopping mission.</Syslog>
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                    </Guidance:Execute>
                </Timeout>
                <Science:CANONSampler.sampling/>
            </ReadDatum>

            <ReadDatum>
                <Timeout Duration="CANONSamplerTimeout">
                    <Syslog Severity="Important">Timed out sampling with CANONSampler. Stopping mission.</Syslog>
                    <Guidance:Execute>
                        <Sequence/>
                        <Setting><Guidance:Execute.command/><String>stop</String></Setting>
                    </Guidance:Execute>
                </Timeout>
                <Science:CANONSampler.sample_number/>
            </ReadDatum>

        </Aggregate>

    </Aggregate>

    <Aggregate Id="InsertWait">

        <When>
            <Called/>
        </When>

        <Aggregate Id="IfNot1stSample">

            <Break><Arg Name="CntSamples"/>
                <Eq><Units:count/><Value>1</Value></Eq>
            </Break>

            <Syslog Severity="Important">Wait <Arg Name="WaitDuration"/><Units:minute/> before firing sample.</Syslog>

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="MissionStart">

        <Sequence/>

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

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

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

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

    </Aggregate>

    <Aggregate Id="TransitToSamplingLocation">

        <Sequence/>

        <Break>
            <IsNaN><Arg Name="SamplingStartLatitude"/>
            </IsNaN>
            <Or><IsNaN><Arg Name="SamplingStartLongitude"/>
            </IsNaN></Or>
        </Break>

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

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

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

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

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

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

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="SamplingStartLatitude"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="SamplingStartLongitude"/></Setting>
            <Setting><Guidance:Waypoint.captureRadius/><Arg Name="WaypointCaptureRadius"/></Setting>
        </Guidance:Waypoint>

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

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

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

    </Aggregate>

    <Aggregate Id="SamplingToWaypoint">

        <Sequence/>

        <Break>
            <IsNaN><Arg Name="SamplingEndLatitude"/>
            </IsNaN>
            <Or><IsNaN><Arg Name="SamplingEndLongitude"/>
            </IsNaN></Or>
            <Or><Not><Arg Name="ReachEndWaypoint"/></Not><And><Arg Name="CntSamples"/><Eq><Arg Name="NumSamplers"/> <Add><Units:count/> <Value>1</Value></Add></Eq></And></Or>
        </Break>

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

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

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

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

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="SamplingEndLatitude"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="SamplingEndLongitude"/></Setting>
            <Setting><Guidance:Waypoint.captureRadius/><Arg Name="WaypointCaptureRadius"/></Setting>
        </Guidance:Waypoint>

        <Aggregate Id="TakeSamples">

            <Parallel/>

            <Aggregate Id="NoFiringForTooLong">

                <When>
                    <Arg Name="TransitCompleted"/>
                    <And><Elapsed><Arg Name="ElapsedSinceStartOrLastSample"/></Elapsed><Gt><Arg Name="MaxWaitNoFiring"/></Gt></And>
                    <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                    <And><Not><Arg Name="CntSamples"/><Eq><Arg Name="NumSamplers"/> <Add><Units:count/> <Value>1</Value></Add></Eq></Not></And>
                    <And><Not><Arg Name="StoppedForNoFiringForTooLong"/></Not></And>
                </When>

                <Assign><Sequence/><Arg Name="ElapsedTime"/><Elapsed><Arg Name="ElapsedSinceStartOrLastSample"/></Elapsed></Assign>

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

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

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

            </Aggregate>

            <Aggregate Id="Firing">

                <When>
                    <Universal:depth/>
                    <Ge><Arg Name="SamplingYoYoMinDepth"/></Ge>
                    <And><Universal:depth/><Le><Arg Name="SamplingYoYoMaxDepth"/></Le></And>
                    <And><Arg Name="MissionStartCommsCompleted"/></And>
                    <And><Arg Name="TransitCompleted"/></And>
                    <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
                    <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                    <And><Not><Arg Name="SampleCompleted"/></Not></And>
                </When>

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

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

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

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

                <Call Id="WaitBeforeFiring" RefId="InsertWait"/>

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

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

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

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

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

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

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

</Mission>