Smear yoyo camera.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_yoyo_camera.xml:487:5
     | 
 483 |   }
 484 | 
 485 |   aggregate InitializeWithGPSlatlon {
 486 |     run in sequence
 487 |     run when ( isNaN ( CenterLatitude ) or isNaN ( CenterLongitude ) )
     |     ^^^
 488 |     assign in sequence  CenterLatitude = Universal:latitude_fix
 489 |     assign in sequence  CenterLongitude = Universal:longitude_fix
 490 |     syslog important "Initialize CenterLatitude and CenterLongitude to GPS fix: " + CenterLatitude~degree + ", " + CenterLongitude~degree + "."
 491 |   }
     | 
Unexpected: `run`
Possible items include (total 15):
  aggregate
  assign
  behavior
  call
  [...7 more...]
  preemptive
  }
  break
  timeout

Generated TethysL

mission SmearYoYoCamera {
  """
  After transit, this mission dives to yo-yo min depth, turns on red
  lights and camera, and begins the cylinder. Lights switch between
  red/white every LightDeltaTimeSetting minutes.
  """
  # 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 {
    MissionTimeout = 4 hour
      """
      Maximum duration of mission
      """

    NeedCommsTimeInTransit = 30 minute
      """
      On the way transiting to the surveying location, how often to surface
      for commumications
      """

    BeingInterrogatedTimeout = 1 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.
      """

    TrackAcousticTarget = true
      """
      Whether to track an acoustic target at all.
      """

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

    TrackAcousticTargetDuringTransit = false
      """
      Whether to track an acoustic target during transit (on condition that
      TrackAcousticTarget is True).
      """

    AcousticTargetContactLabel = 0 count
      """
      The acoustic address of the asset to be tracked
      """

    AcousticTargetDepth = NaN meter
      """
      Depth of acoustic target if known and fixed (or nearly fixed). For
      example, if the acoustic target is a Wave Glider, set it to zero. This
      will improve 2D projected position estimates in the Earth reference
      frame. Defaults to NaN.
      """

    AcousticTargetContactTimeout = 15 minute
      """
      Only use a sufficiently fresh handshake to update the tracking center.
      """

    PeriodOfParameterSetting = 10.0 minute
      """
      Period of taking settings for setting samplers. Set to a large number
      (e.g., 20000 minutes = 14 days) to practically diable this
      functionality.
      """

    LightDeltaTimeSetting = 5.0 minute
      """
      Period of red versus white lights.
      """

    SpeedTransit = 1.0 meter_per_second
      """
      Vehicle speed when transiting to the surveying location.
      """

    SpeedSurveySetting = 1.0 meter_per_second
      """
      Value for setting vehicle speed when surveying on cylinder yoyo.
      """

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

    YoYoMinDepthSetting = 40 meter
      """
      Value for setting minimum depth while performing the YoYo behavior.
      """

    YoYoMaxDepthSetting = 50 meter
      """
      Value for setting maximum depth while performing the YoYo behavior.
      """

    InitDepthTimeout = 20 minute
      """
      Maximum time duration for the vehicle to reach the initial yo-yo depth.
      The vehicle will switch over to attempting yo-yos after the timeout is
      expired.
      """

    TransitYoYoMinDepth = 10 meter
      """
      Minimum yoyo depth while transiting to the surveying location.
      """

    TransitYoYoMaxDepth = 50 meter
      """
      Maximum yoyo depth while transiting to the surveying location.
      """

    TransitCaptureRadius = 100 meter
      """
      Waypoint capture radius for transiting to the surveying location.
      """

    CylinderRadiusSetting = 100 meter
      """
      Value for setting radius of cylinder centered at the surveying location.
      """

    MaxCirclesOnCylinder = 1000 count
      """
      Maximum number of circles on cylinder.
      """

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

    TransitLatitude = NaN degree
      """
      The latitude of the surveying location. If NaN, will skip transit.
      """

    # debug
    #     </Description><Units:degree/><Value>36.805</Value></DefineArg>

    TransitLongitude = NaN degree
      """
      The longitude of the surveying location. If NaN, will skip transit.
      """

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

    CenterLatitude = NaN degree
      """
      The latitude of the center of the circle. Fill this in to specify a
      start position, it will be overwritten once the vehicle receives an
      acoustic signal from the contact.
      """

    CenterLongitude = NaN degree
      """
      The longitude of the center of the circle. Fill this in to specify a
      start position, it will be overwritten once the vehicle receives an
      acoustic signal from the contact.
      """

    # 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.

    TrackingUpdatePeriod = 15 second
      """
      How long to wait between acoustic queries
      """

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

    NumberOfFixesLowPass = 4 count
      """
      Number of fixes to average to produce smoothed lat/lon/dep output
      (initialized to 4).
      """

    NumberOfStartingFixesToIgnore = 8 count
      """
      Number of fixes to ignore at the start of mission (as the vehicle just
      leaves surface, contact's location estimate especailly bearing can be
      erroneous. Initialized to 8, corresponding to 2 minutes if query
      interval TrackingUpdatePeriod = 15 s.
      """

    CylinderCircleMaxError = 100 meter
      """
      If this distance away from the circle, drive straight towards (or away
      from the center). Otherwise, try to reduce distance from the ideal
      circle.
      """

    CylinderCircleTurnToPort = false
      """
      If true, vehicle turns to the left around the center point. If false,
      vehicle turns to the right.
      """

    KwpHeading = 0.010 radian_per_meter
      """
      Used to relax waypoint cross-track error constant that is adjusted for
      docking. (You can override this setting by passing an argument.)
      """

    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

    LightDeltaTime = 5.0 minute
      """
      Period of red versus white lights.
      """

    SpeedSurvey = 1.0 meter_per_second
      """
      Vehicle speed when surveying on cylinder yoyo.
      """

    YoYoMinDepth = 1.5 meter
      """
      Minimum depth while performing the YoYo behavior. Initialized to 1.5 m.
      """

    YoYoMaxDepth = 20 meter
      """
      Maximum depth while performing the YoYo behavior. Initialized to 20 m.
      """

    CylinderRadius = 100 meter
      """
      Radius of cylinder centered at the surveying location. Initialized to
      100 m.
      """

    FlagFirstTimeParameterSetting = true
      """
      Flag of first time setting samplers (initialized to True).
      """

    ContactLatitudeLowpass = NaN degree
      """
      Low-pass filtered latitude of contact (initialized to NaN).
      """

    ContactLongitudeLowpass = NaN degree
      """
      Low-pass filtered longitude of contact (initialized to NaN).
      """

    FromLastTimeFixToCenterUpdate = 0 minute
      """
      Elapsed time from last time-fix to center update time (initialized to
      zero).
      """

    FromLastTimeFixToParameterSetting = NaN minute
      """
      Elapsed time from last time-fix to setting of samplers.
      """

    LastLightSwitchTime = NaN minute
      """
      Elapsed time from last time the light color was switched.
      """

    WhiteLightsRequested = false
      """
      Indicates white lights should be turned on (default is red to start so
      we don't scare the fish). If false, red will be turned on.
      """

    TransitWaypointCompleted = false
      """
      Transit waypoint is completed (initialized to false).
      """

  }

  # 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 = BeingInterrogatedTimeout

  }


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

  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 SetAllParameters {
    run when ( called )
    assign in sequence  SpeedSurvey = SpeedSurveySetting
    assign in sequence  YoYoMinDepth = YoYoMinDepthSetting
    assign in sequence  YoYoMaxDepth = YoYoMaxDepthSetting
    assign in sequence  CylinderRadius = CylinderRadiusSetting
    assign in sequence  LightDeltaTime = LightDeltaTimeSetting
    syslog important "Set SpeedSurvey = " + SpeedSurvey~meter_per_second + ", YoYoMinDepth = " + YoYoMinDepth~meter + ", YoYoMaxDepth = " + YoYoMaxDepth~meter + ", CylinderRadius = " + CylinderRadius~meter + ", LightingPeriod = " + LightDeltaTime~minute + "."
  }

  aggregate TrackingAcousticTarget {
    run while ( (((TrackAcousticTarget and TrackAcousticTargetDuringTransit) or TrackAcousticTarget and not ( TrackAcousticTargetDuringTransit ) and TransitWaypointCompleted) or TrackAcousticTarget and isNaN ( TransitLatitude )) or TrackAcousticTarget and isNaN ( TransitLongitude )
    )
    behavior Estimation:Tracking  {

      run in parallel


      set Estimation:Tracking.contactLabelSetting = AcousticTargetContactLabel

      set Estimation:Tracking.numberOfSamplesSetting = NumberOfPings

      set Estimation:Tracking.updatePeriodSetting = TrackingUpdatePeriod

      set Estimation:Tracking.numFixesLowPassSetting = NumberOfFixesLowPass

      set Estimation:Tracking.numStartingFixesToIgnoreSetting = NumberOfStartingFixesToIgnore

      set Estimation:Tracking.contactDepthSetting = AcousticTargetDepth

    }


  }

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

    call id="MissionStartComms" refId="NeedComms"
  }

  aggregate TransitToSurveyingLocation {
    run in sequence
    break if ( isNaN ( TransitLatitude ) or isNaN ( TransitLongitude ) )
    insert Insert/NeedComms.xml id="NeedComms"

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

      run in parallel


      set Guidance:SetSpeed.speed = SpeedTransit

    }


    behavior Guidance:DepthEnvelope  {

      run in parallel


      set Guidance:DepthEnvelope.minDepth = TransitYoYoMinDepth

      set Guidance:DepthEnvelope.maxDepth = TransitYoYoMaxDepth

      set Guidance:DepthEnvelope.downPitch = YoYoDownPitch

      set Guidance:DepthEnvelope.upPitch = YoYoUpPitch

    }


    behavior Guidance:YoYo  {

      run in parallel


      set Guidance:YoYo.downPitch = YoYoDownPitch

      set Guidance:YoYo.upPitch = YoYoUpPitch

    }


    behavior Guidance:Buoyancy  {

      run in parallel


      set Guidance:Buoyancy.position = BuoyancyNeutral

    }


    behavior Guidance:Waypoint  {

      run in sequence


      set Guidance:Waypoint.latitude = TransitLatitude

      set Guidance:Waypoint.longitude = TransitLongitude

      set Guidance:Waypoint.captureRadius = TransitCaptureRadius

    }


    assign in sequence  TransitWaypointCompleted = true
  }

  aggregate InitializeWithGPSlatlon {
    run in sequence
    run when ( isNaN ( CenterLatitude ) or isNaN ( CenterLongitude ) )
    assign in sequence  CenterLatitude = Universal:latitude_fix
    assign in sequence  CenterLongitude = Universal:longitude_fix
    syslog important "Initialize CenterLatitude and CenterLongitude to GPS fix: " + CenterLatitude~degree + ", " + CenterLongitude~degree + "."
  }

  aggregate UpdateCenter {
    run when ( elapsed ( Estimation:Tracking.range_to_contact ) < AcousticTargetContactTimeout )
    assign in sequence  ContactLatitudeLowpass = Estimation:Tracking.contact_latitude_lowpass
    assign in sequence  ContactLongitudeLowpass = Estimation:Tracking.contact_longitude_lowpass
    aggregate UpdateWithContactLowpassLatLon {
      run in sequence
      run when ( (not ( isNaN ( ContactLatitudeLowpass ) ) and not ( isNaN ( ContactLongitudeLowpass ) )) and elapsed ( Universal:time_fix ) >= FromLastTimeFixToCenterUpdate + TrackingUpdatePeriod )
      assign in sequence  CenterLatitude = ContactLatitudeLowpass
      assign in sequence  CenterLongitude = ContactLongitudeLowpass
      syslog info "Updating. FromLastTimeFixToCenterUpdate, CenterLatitude, CenterLongitude = " + FromLastTimeFixToCenterUpdate~second + ", " + CenterLatitude~degree + ", " + CenterLongitude~degree
      assign in sequence  FromLastTimeFixToCenterUpdate = elapsed ( Universal:time_fix )
    }

  }

  aggregate PeriodicSetting {
    run when ( FlagFirstTimeParameterSetting or elapsed ( Universal:time_fix ) >= FromLastTimeFixToParameterSetting + PeriodOfParameterSetting )
    call id="SetLightingAndOtherParameters" refId="SetAllParameters"
    assign in sequence  FlagFirstTimeParameterSetting = false
    assign in sequence  FromLastTimeFixToParameterSetting = elapsed ( Universal:time_fix )
  }

  aggregate InitialDive {
    """
    Descend from to initial depth prior to beginning yo-yos and turning
    on the lights/camera.
    """
    run in sequence
    behavior Guidance:Buoyancy  {

      run in parallel


      set Guidance:Buoyancy.position = BuoyancyNeutral

    }


    behavior Guidance:SetSpeed  {

      run in parallel


      set Guidance:SetSpeed.speed = SpeedSurvey

    }


    behavior Guidance:Pitch  {

      run in sequence


      timeout duration=InitDepthTimeout {

        syslog important "Timed out at current depth of " + Universal:depth~meter + ". Switching to yo-yo command."

      }


      set Guidance:Pitch.depth = YoYoMinDepth

    }


  }

  # Now that the initial dive is done, get on with the yo-yos

  aggregate Cylinder {
    run in sequence
    behavior Guidance:SetSpeed  {

      run in parallel


      set Guidance:SetSpeed.speed = SpeedSurvey

    }


    behavior Guidance:DepthEnvelope  {

      run in parallel


      set Guidance:DepthEnvelope.minDepth = YoYoMinDepth

      set Guidance:DepthEnvelope.maxDepth = YoYoMaxDepth

      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

    }


    # Power Camera

    readData id="PowerCamera"  {

      Sensor:PowerOnly.sampleLoad1

    }
    syslog info "Activating camera."
    # Wait one minute for camera to start recording

    behavior Guidance:Wait  {

      run in sequence


      set Guidance:Wait.duration = 25 second

    }


    # Here we start the light clock and effectively turn on the default (red) lights

    assign in sequence  LastLightSwitchTime = elapsed ( Universal:time_fix )
    syslog info "Activating Red Lights."
    # As long as the time hasn't expired and white lights are requested, turn on the white ones

    aggregate WhiteLights {
      run while ( (elapsed ( Universal:time_fix ) <= LastLightSwitchTime + LightDeltaTime) and WhiteLightsRequested
      )
      aggregate PowerRequest {
        run in sequence
        # Power White Lights

        readData id="PowerWhiteLights"  {

          Sensor:PowerOnly.sampleLoad3

        }
      }

    }

    # As long as the time hasn't expired and white lights are NOT requested, turn on the red ones

    aggregate RedLights {
      run while ( (elapsed ( Universal:time_fix ) <= LastLightSwitchTime + LightDeltaTime) and not ( WhiteLightsRequested )
      )
      aggregate PowerRequest {
        run in sequence
        # Power Red Lights

        readData id="PowerRedLights"  {

          Sensor:PowerOnly.sampleLoad2

        }
      }

    }

    # These two aggregates below handle the logic for turning lights from white to red by setting the boolean and resetting the timer

    aggregate FlipLightsWhite {
      run when ( (elapsed ( Universal:time_fix ) >= LastLightSwitchTime + LightDeltaTime) and not ( WhiteLightsRequested ) )
      aggregate {
        run in sequence
        syslog info "Activating White Lights."
        assign in parallel WhiteLightsRequested = true
        assign in parallel LastLightSwitchTime = elapsed ( Universal:time_fix )
      }

    }

    aggregate FlipLightsRed {
      run when ( (elapsed ( Universal:time_fix ) >= LastLightSwitchTime + LightDeltaTime) and WhiteLightsRequested )
      aggregate {
        run in sequence
        syslog info "Activating Red Lights."
        assign in parallel WhiteLightsRequested = false
        assign in parallel LastLightSwitchTime = elapsed ( Universal:time_fix )
      }

    }

    aggregate CylinderYoYo {
      run in sequence
      syslog important "Yoyo profile on a cylinder around location " + CenterLatitude~degree + "," + CenterLongitude~degree + ", at radius = " + CylinderRadius~meter + "."
      aggregate CylinderWrapper {
        run in sequence repeat=MaxCirclesOnCylinder
        assign in parallel Control:HorizontalControl.kwpHeading = KwpHeading
        behavior Guidance:Circle  {

          run in sequence


          set Guidance:Circle.latitude = CenterLatitude

          set Guidance:Circle.longitude = CenterLongitude

          set Guidance:Circle.radius = CylinderRadius

          set Guidance:Circle.maxError = CylinderCircleMaxError

          set Guidance:Circle.turnToPort = CylinderCircleTurnToPort

        }


      }

    }

  }

}

Source XML

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

    <Description>
        After transit, this mission dives to yo-yo min depth, turns on red
        lights and camera, and begins the cylinder. Lights switch between
        red/white every LightDeltaTimeSetting minutes.
    </Description>

<!-- 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="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>4</Value></DefineArg>

    <DefineArg Name="NeedCommsTimeInTransit"><Description>
        On the way transiting to the surveying location, how often to surface
        for commumications
    </Description><Units:minute/><Value>30</Value></DefineArg>

    <DefineArg Name="BeingInterrogatedTimeout"><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>1</Value></DefineArg>

    <DefineArg Name="TrackAcousticTarget"><Description>
        Whether to track an acoustic target at all.
    </Description><True/></DefineArg>

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

    <DefineArg Name="TrackAcousticTargetDuringTransit"><Description>
        Whether to track an acoustic target during transit (on condition that
        TrackAcousticTarget is True).
<!--debug
    </Description><True/></DefineArg>
-->
    </Description><False/></DefineArg>

    <DefineArg Name="AcousticTargetContactLabel"><Description>
        The acoustic address of the asset to be tracked
    </Description><Units:count/><Value>0</Value></DefineArg>

    <DefineArg Name="AcousticTargetDepth"><Description>
        Depth of acoustic target if known and fixed (or nearly fixed). For
        example, if the acoustic target is a Wave Glider, set it to zero. This
        will improve 2D projected position estimates in the Earth reference
        frame. Defaults to NaN.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="AcousticTargetContactTimeout"><Description>
        Only use a sufficiently fresh handshake to update the tracking center.
    </Description><Units:minute/><Value>15</Value></DefineArg>

    <DefineArg Name="PeriodOfParameterSetting"><Description>
        Period of taking settings for setting samplers. Set to a large number
        (e.g., 20000 minutes = 14 days) to practically diable this
        functionality.
    </Description><Units:minute/><Value>10.0</Value></DefineArg>

    <DefineArg Name="LightDeltaTimeSetting"><Description>
        Period of red versus white lights.
    </Description><Units:minute/><Value>5.0</Value></DefineArg>

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

    <DefineArg Name="SpeedSurveySetting"><Description>
        Value for setting vehicle speed when surveying on cylinder yoyo.
    </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="YoYoMinDepthSetting"><Description>
        Value for setting minimum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>40</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepthSetting"><Description>
        Value for setting maximum depth while performing the YoYo behavior.
    </Description><Units:meter/><Value>50</Value></DefineArg>

    <DefineArg Name="InitDepthTimeout"><Description>
        Maximum time duration for the vehicle to reach the initial yo-yo depth.
        The vehicle will switch over to attempting yo-yos after the timeout is
        expired.
    </Description><Units:minute/><Value>20</Value></DefineArg>

    <DefineArg Name="TransitYoYoMinDepth"><Description>
        Minimum yoyo depth while transiting to the surveying location.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="TransitYoYoMaxDepth"><Description>
        Maximum yoyo depth while transiting to the surveying location.
    </Description><Units:meter/><Value>50</Value></DefineArg>

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

    <DefineArg Name="CylinderRadiusSetting"><Description>
        Value for setting radius of cylinder centered at the surveying location.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="MaxCirclesOnCylinder"><Description>
        Maximum number of circles on cylinder.
    </Description><Units:count/><Value>1000</Value></DefineArg>

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

    <DefineArg Name="TransitLatitude"><Description>
        The latitude of the surveying location. If NaN, will skip transit.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:degree/><Value>36.805</Value></DefineArg>
-->

    <DefineArg Name="TransitLongitude"><Description>
        The longitude of the surveying location. If NaN, will skip transit.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

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

    <DefineArg Name="CenterLatitude"><Description>
        The latitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="CenterLongitude"><Description>
        The longitude of the center of the circle. Fill this in to specify a
        start position, it will be overwritten once the vehicle receives an
        acoustic signal from the contact.
    </Description><Units:degree/><Value>NaN</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="TrackingUpdatePeriod"><Description>
        How long to wait between acoustic queries
    </Description><Units:second/><Value>15</Value></DefineArg>

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

    <DefineArg Name="NumberOfFixesLowPass"><Description>
        Number of fixes to average to produce smoothed lat/lon/dep output
        (initialized to 4).
    </Description><Units:count/><Value>4</Value></DefineArg>

    <DefineArg Name="NumberOfStartingFixesToIgnore"><Description>
        Number of fixes to ignore at the start of mission (as the vehicle just
        leaves surface, contact's location estimate especailly bearing can be
        erroneous. Initialized to 8, corresponding to 2 minutes if query
        interval TrackingUpdatePeriod = 15 s.
    </Description><Units:count/><Value>8</Value></DefineArg>

    <DefineArg Name="CylinderCircleMaxError"><Description>
        If this distance away from the circle, drive straight towards (or away
        from the center). Otherwise, try to reduce distance from the ideal
        circle.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="CylinderCircleTurnToPort"><Description>
        If true, vehicle turns to the left around the center point. If false,
        vehicle turns to the right.
    </Description><False/></DefineArg>

    <DefineArg Name="KwpHeading"><Description>
        Used to relax waypoint cross-track error constant that is adjusted for
        docking. (You can override this setting by passing an argument.)
    </Description><Units:radian_per_meter/><Value>0.010</Value></DefineArg>

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

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

    <DefineArg Name="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="LightDeltaTime"><Description>
        Period of red versus white lights.
    </Description><Units:minute/><Value>5.0</Value></DefineArg>

    <DefineArg Name="SpeedSurvey"><Description>
        Vehicle speed when surveying on cylinder yoyo.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior. Initialized to 1.5 m.
    </Description><Units:meter/><Value>1.5</Value></DefineArg>

    <DefineArg Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior. Initialized to 20 m.
    </Description><Units:meter/><Value>20</Value></DefineArg>

    <DefineArg Name="CylinderRadius"><Description>
        Radius of cylinder centered at the surveying location. Initialized to
        100 m.
    </Description><Units:meter/><Value>100</Value></DefineArg>

    <DefineArg Name="FlagFirstTimeParameterSetting"><Description>
        Flag of first time setting samplers (initialized to True).
    </Description><True/></DefineArg>

    <DefineArg Name="ContactLatitudeLowpass"><Description>
        Low-pass filtered latitude of contact (initialized to NaN).
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ContactLongitudeLowpass"><Description>
        Low-pass filtered longitude of contact (initialized to NaN).
    </Description><Units:degree/><Value>NaN</Value></DefineArg>

    <DefineArg Name="FromLastTimeFixToCenterUpdate"><Description>
        Elapsed time from last time-fix to center update time (initialized to
        zero).
    </Description><Units:minute/><Value>0</Value></DefineArg>

    <DefineArg Name="FromLastTimeFixToParameterSetting"><Description>
        Elapsed time from last time-fix to setting of samplers.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="LastLightSwitchTime"><Description>
        Elapsed time from last time the light color was switched.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WhiteLightsRequested"><Description>
        Indicates white lights should be turned on (default is red to start so
        we don't scare the fish). If false, red will be turned on.
    </Description><False/></DefineArg>

    <DefineArg Name="TransitWaypointCompleted"><Description>
        Transit waypoint is completed (initialized to false).
    </Description><False/></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="BeingInterrogatedTimeout"/></RedefineArg>
    </Insert>

<!-- 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.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="SetAllParameters">

        <When>
            <Called/>
        </When>

        <Assign><Sequence/><Arg Name="SpeedSurvey"/><Arg Name="SpeedSurveySetting"/></Assign>

        <Assign><Sequence/><Arg Name="YoYoMinDepth"/><Arg Name="YoYoMinDepthSetting"/></Assign>

        <Assign><Sequence/><Arg Name="YoYoMaxDepth"/><Arg Name="YoYoMaxDepthSetting"/></Assign>

        <Assign><Sequence/><Arg Name="CylinderRadius"/><Arg Name="CylinderRadiusSetting"/></Assign>

        <Assign><Sequence/><Arg Name="LightDeltaTime"/><Arg Name="LightDeltaTimeSetting"/></Assign>

        <Syslog Severity="Important">Set SpeedSurvey = <Arg Name="SpeedSurvey"/><Units:meter_per_second/>, YoYoMinDepth = <Arg Name="YoYoMinDepth"/><Units:meter/>, YoYoMaxDepth = <Arg Name="YoYoMaxDepth"/><Units:meter/>, CylinderRadius = <Arg Name="CylinderRadius"/><Units:meter/>, LightingPeriod = <Arg Name="LightDeltaTime"/><Units:minute/>.</Syslog>

    </Aggregate>

    <Aggregate Id="TrackingAcousticTarget">

        <While>
            <Arg Name="TrackAcousticTarget"/>
            <And><Arg Name="TrackAcousticTargetDuringTransit"/></And>
            <Or><Arg Name="TrackAcousticTarget"/><And><Not><Arg Name="TrackAcousticTargetDuringTransit"/></Not><And><Arg Name="TransitWaypointCompleted"/></And></And></Or>
            <Or><Arg Name="TrackAcousticTarget"/><And><IsNaN><Arg Name="TransitLatitude"/>
            </IsNaN></And></Or>
            <Or><Arg Name="TrackAcousticTarget"/><And><IsNaN><Arg Name="TransitLongitude"/>
            </IsNaN></And></Or>
        </While>

        <Estimation:Tracking>
            <Parallel/>
            <Setting><Estimation:Tracking.contactLabelSetting/><Arg Name="AcousticTargetContactLabel"/></Setting>
            <Setting><Estimation:Tracking.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:Tracking.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
            <Setting><Estimation:Tracking.numFixesLowPassSetting/><Arg Name="NumberOfFixesLowPass"/></Setting>
            <Setting><Estimation:Tracking.numStartingFixesToIgnoreSetting/><Arg Name="NumberOfStartingFixesToIgnore"/></Setting>
            <Setting><Estimation:Tracking.contactDepthSetting/><Arg Name="AcousticTargetDepth"/></Setting>
        </Estimation:Tracking>

    </Aggregate>

    <Aggregate Id="MissionStart">

        <Sequence/>

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

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

    </Aggregate>

    <Aggregate Id="TransitToSurveyingLocation">

        <Sequence/>

        <Break>
            <IsNaN><Arg Name="TransitLatitude"/>
            </IsNaN>
            <Or><IsNaN><Arg Name="TransitLongitude"/>
            </IsNaN></Or>
        </Break>

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

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

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

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

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

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

        <Guidance:Waypoint>
            <Sequence/>
            <Setting><Guidance:Waypoint.latitude/><Arg Name="TransitLatitude"/></Setting>
            <Setting><Guidance:Waypoint.longitude/><Arg Name="TransitLongitude"/></Setting>
            <Setting><Guidance:Waypoint.captureRadius/><Arg Name="TransitCaptureRadius"/></Setting>
        </Guidance:Waypoint>

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

    </Aggregate>

    <Aggregate Id="InitializeWithGPSlatlon">

        <Sequence/>

        <When>
            <IsNaN><Arg Name="CenterLatitude"/>
            </IsNaN>
            <Or><IsNaN><Arg Name="CenterLongitude"/>
            </IsNaN></Or>
        </When>

        <Assign><Sequence/><Arg Name="CenterLatitude"/><Universal:latitude_fix/></Assign>

        <Assign><Sequence/><Arg Name="CenterLongitude"/><Universal:longitude_fix/></Assign>

        <Syslog Severity="Important">Initialize CenterLatitude and CenterLongitude to GPS fix: <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/>.</Syslog>

    </Aggregate>

    <Aggregate Id="UpdateCenter">

        <When>
            <Elapsed><Estimation:Tracking.range_to_contact/></Elapsed>
            <Lt><Arg Name="AcousticTargetContactTimeout"/></Lt>
        </When>

        <Assign><Sequence/><Arg Name="ContactLatitudeLowpass"/><Estimation:Tracking.contact_latitude_lowpass/></Assign>

        <Assign><Sequence/><Arg Name="ContactLongitudeLowpass"/><Estimation:Tracking.contact_longitude_lowpass/></Assign>

        <Aggregate Id="UpdateWithContactLowpassLatLon">

            <Sequence/>

            <When>
                <Not><IsNaN><Arg Name="ContactLatitudeLowpass"/>
                </IsNaN></Not>
                <And><Not><IsNaN><Arg Name="ContactLongitudeLowpass"/>
                </IsNaN></Not></And>
                <And><Elapsed><Universal:time_fix/></Elapsed><Ge><Arg Name="FromLastTimeFixToCenterUpdate"/><Add><Arg Name="TrackingUpdatePeriod"/></Add></Ge></And>
            </When>

            <Assign><Sequence/><Arg Name="CenterLatitude"/><Arg Name="ContactLatitudeLowpass"/></Assign>

            <Assign><Sequence/><Arg Name="CenterLongitude"/><Arg Name="ContactLongitudeLowpass"/></Assign>

            <Syslog Severity="Info">Updating. FromLastTimeFixToCenterUpdate, CenterLatitude, CenterLongitude = <Arg Name="FromLastTimeFixToCenterUpdate"/><Units:second/>, <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/></Syslog>

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="PeriodicSetting">

        <When>
            <Arg Name="FlagFirstTimeParameterSetting"/>
            <Or><Elapsed><Universal:time_fix/></Elapsed><Ge><Arg Name="FromLastTimeFixToParameterSetting"/><Add><Arg Name="PeriodOfParameterSetting"/></Add></Ge></Or>
        </When>

        <Call Id="SetLightingAndOtherParameters" RefId="SetAllParameters"/>

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

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

    </Aggregate>

    <Aggregate Id="InitialDive">

        <Description>
            Descend from to initial depth prior to beginning yo-yos and turning
            on the lights/camera.
        </Description>

        <Sequence/>

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

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

        <Guidance:Pitch>
            <Sequence/>
            <Timeout Duration="InitDepthTimeout">
                <Syslog Severity="Important">Timed out at current depth of <Universal:depth/><Units:meter/>. Switching to yo-yo command.</Syslog>
            </Timeout>
            <Setting><Guidance:Pitch.depth/><Arg Name="YoYoMinDepth"/></Setting>
        </Guidance:Pitch>

    </Aggregate>

<!-- Now that the initial dive is done, get on with the yo-yos -->

    <Aggregate Id="Cylinder">

        <Sequence/>

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

        <Guidance:DepthEnvelope>
            <Parallel/>
            <Setting><Guidance:DepthEnvelope.minDepth/><Arg Name="YoYoMinDepth"/></Setting>
            <Setting><Guidance:DepthEnvelope.maxDepth/><Arg Name="YoYoMaxDepth"/></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>

<!-- Power Camera -->

        <ReadData Id="PowerCamera">
            <Sensor:PowerOnly.sampleLoad1/>
        </ReadData>

        <Syslog Severity="Info">Activating camera.</Syslog>

<!-- Wait one minute for camera to start recording -->

        <Guidance:Wait>
            <Sequence/>
            <Setting><Guidance:Wait.duration/><Units:second/><Value>25</Value></Setting>
        </Guidance:Wait>

<!-- Here we start the light clock and effectively turn on the default (red) lights -->

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

        <Syslog Severity="Info">Activating Red Lights.</Syslog>

<!-- As long as the time hasn't expired and white lights are requested, turn on the white ones -->

        <Aggregate Id="WhiteLights">

            <While>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Le><Arg Name="LastLightSwitchTime"/><Add><Arg Name="LightDeltaTime"/></Add></Le>
                <And><Arg Name="WhiteLightsRequested"/></And>
            </While>

            <Aggregate Id="PowerRequest">

                <Sequence/>

<!-- Power White Lights -->

                <ReadData Id="PowerWhiteLights">
                    <Sensor:PowerOnly.sampleLoad3/>
                </ReadData>

            </Aggregate>

        </Aggregate>

<!-- As long as the time hasn't expired and white lights are NOT requested, turn on the red ones -->

        <Aggregate Id="RedLights">

            <While>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Le><Arg Name="LastLightSwitchTime"/><Add><Arg Name="LightDeltaTime"/></Add></Le>
                <And><Not><Arg Name="WhiteLightsRequested"/></Not></And>
            </While>

            <Aggregate Id="PowerRequest">

                <Sequence/>

<!-- Power Red Lights -->

                <ReadData Id="PowerRedLights">
                    <Sensor:PowerOnly.sampleLoad2/>
                </ReadData>

            </Aggregate>

        </Aggregate>

<!-- These two aggregates below handle the logic for turning lights from white to red by setting the boolean and resetting the timer -->

        <Aggregate Id="FlipLightsWhite">

            <When>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Ge><Arg Name="LastLightSwitchTime"/><Add><Arg Name="LightDeltaTime"/></Add></Ge>
                <And><Not><Arg Name="WhiteLightsRequested"/></Not></And>
            </When>

            <Aggregate>

                <Sequence/>

                <Syslog Severity="Info">Activating White Lights.</Syslog>

                <Assign><Parallel/><Arg Name="WhiteLightsRequested"/><True/></Assign>

                <Assign><Parallel/><Arg Name="LastLightSwitchTime"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="FlipLightsRed">

            <When>
                <Elapsed><Universal:time_fix/></Elapsed>
                <Ge><Arg Name="LastLightSwitchTime"/><Add><Arg Name="LightDeltaTime"/></Add></Ge>
                <And><Arg Name="WhiteLightsRequested"/></And>
            </When>

            <Aggregate>

                <Sequence/>

                <Syslog Severity="Info">Activating Red Lights.</Syslog>

                <Assign><Parallel/><Arg Name="WhiteLightsRequested"/><False/></Assign>

                <Assign><Parallel/><Arg Name="LastLightSwitchTime"/><Elapsed><Universal:time_fix/></Elapsed></Assign>

            </Aggregate>

        </Aggregate>

        <Aggregate Id="CylinderYoYo">

            <Sequence/>

            <Syslog Severity="Important">Yoyo profile on a cylinder around location <Arg Name="CenterLatitude"/><Units:degree/>,<Arg Name="CenterLongitude"/><Units:degree/>, at radius = <Arg Name="CylinderRadius"/><Units:meter/>.</Syslog>

            <Aggregate Id="CylinderWrapper">

                <Sequence Repeat="MaxCirclesOnCylinder"/>

                <Assign><Parallel/><Control:HorizontalControl.kwpHeading/><Arg Name="KwpHeading"/></Assign>

                <Guidance:Circle>
                    <Sequence/>
                    <Setting><Guidance:Circle.latitude/><Arg Name="CenterLatitude"/></Setting>
                    <Setting><Guidance:Circle.longitude/><Arg Name="CenterLongitude"/></Setting>
                    <Setting><Guidance:Circle.radius/><Arg Name="CylinderRadius"/></Setting>
                    <Setting><Guidance:Circle.maxError/><Arg Name="CylinderCircleMaxError"/></Setting>
                    <Setting><Guidance:Circle.turnToPort/><Arg Name="CylinderCircleTurnToPort"/></Setting>
                </Guidance:Circle>

            </Aggregate>

        </Aggregate>

    </Aggregate>

</Mission>