Smear yoyo 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_yoyo_sampling.xml:1982:5
      | 
 1978 | 
 1979 |   aggregate InitializeWithGPSlatlon {
 1980 |     run in sequence
 1981 | 
 1982 |     run when (
      |     ^^^
 1983 |       isNaN ( CenterLatitude )
 1984 |       or ( isNaN ( CenterLongitude ) )
 1985 |     )
 1986 | 
      | 
Unexpected: `run`
Possible items include (total 15):
  aggregate
  assign
  behavior
  call
  [...7 more...]
  preemptive
  }
  break
  timeout

Generated TethysL

mission Smear_yoyo_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>

    StartIndex = 1 count
      """
      Start index in ESP settings. If re-running mission, can skip settings of
      already-completed samples. Default is 1 (no skipping).
      """

    # debug
    #     </Description><Units:count/><Value>2</Value></DefineArg>

    CANONSamplerRotateOnly = 0 bool

    MissionTimeout = 2 hour
      """
      Maximum duration of mission
      """

    SurfaceCommsEndOfEachSample = true
      """
      Whether to go to surface for comms at completion of each sample
      (initialized to False.)
      """

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

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

    BeingInterrogatedTimeout = 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.
      """

    TrackAcousticTarget = false
      """
      Whether to track an acoustic target.
      """

    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.
      """

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

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

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

    SpeedSampling = 1.0 meter_per_second
      """
      Vehicle speed when sampling on cylinder yoyo.
      """

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

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

    TransitYoYoMaxDepth = 20 meter
      """
      Maximum yoyo depth while transiting to the sampling location.
      """

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

    CylinderRadius = 20 meter
      """
      Radius of cylinder centered at the sampling location.
      """

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

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

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

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

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

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

    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.
      """

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

    CartridgeTypeCommon = -6 count
      """
      Value common to all samples unless set diffently: cartridge type.
      """

    CartridgeType1 = -6 count
      """
      Sample 1. Cartridge type.
      """

    CartridgeType2 = -6 count
      """
      Sample 2.
      """

    CartridgeType3 = -6 count
      """
      Sample 3.
      """

    CartridgeType4 = -6 count
      """
      Sample 4.
      """

    CartridgeType5 = -6 count
      """
      Sample 5.
      """

    CartridgeType6 = -6 count
      """
      Sample 6.
      """

    CartridgeType7 = -6 count
      """
      Sample 7.
      """

    CartridgeType8 = -6 count
      """
      Sample 8.
      """

    CartridgeType9 = -6 count
      """
      Sample 9.
      """

    CartridgeType10 = -6 count
      """
      Sample 10.
      """

    CartridgeType11 = -6 count
      """
      Sample 11.
      """

    CartridgeType12 = -6 count
      """
      Sample 12.
      """

    CartridgeType13 = -6 count
      """
      Sample 13.
      """

    CartridgeType14 = -6 count
      """
      Sample 14.
      """

    CartridgeType15 = -6 count
      """
      Sample 15.
      """

    CartridgeType16 = -6 count
      """
      Sample 16.
      """

    CartridgeType17 = -6 count
      """
      Sample 17.
      """

    CartridgeType18 = -6 count
      """
      Sample 18.
      """

    CartridgeType19 = -6 count
      """
      Sample 19.
      """

    CartridgeType20 = -6 count
      """
      Sample 20.
      """

    CartridgeType21 = -6 count
      """
      Sample 21.
      """

    CartridgeType22 = -6 count
      """
      Sample 22.
      """

    CartridgeType23 = -6 count
      """
      Sample 23.
      """

    CartridgeType24 = -6 count
      """
      Sample 24.
      """

    CartridgeType25 = -6 count
      """
      Sample 25.
      """

    CartridgeType26 = -6 count
      """
      Sample 26.
      """

    CartridgeType27 = -6 count
      """
      Sample 27.
      """

    CartridgeType28 = -6 count
      """
      Sample 28.
      """

    CartridgeType29 = -6 count
      """
      Sample 29.
      """

    CartridgeType30 = -6 count
      """
      Sample 30.
      """

    CartridgeType31 = -6 count
      """
      Sample 31.
      """

    CartridgeType32 = -6 count
      """
      Sample 32.
      """

    CartridgeType33 = -6 count
      """
      Sample 33.
      """

    CartridgeType34 = -6 count
      """
      Sample 34.
      """

    CartridgeType35 = -6 count
      """
      Sample 35.
      """

    CartridgeType36 = -6 count
      """
      Sample 36.
      """

    CartridgeType37 = -6 count
      """
      Sample 37.
      """

    CartridgeType38 = -6 count
      """
      Sample 38.
      """

    CartridgeType39 = -6 count
      """
      Sample 39.
      """

    CartridgeType40 = -6 count
      """
      Sample 40.
      """

    CartridgeType41 = -6 count
      """
      Sample 41.
      """

    CartridgeType42 = -6 count
      """
      Sample 42.
      """

    CartridgeType43 = -6 count
      """
      Sample 43.
      """

    CartridgeType44 = -6 count
      """
      Sample 44.
      """

    CartridgeType45 = -6 count
      """
      Sample 45.
      """

    CartridgeType46 = -6 count
      """
      Sample 46.
      """

    CartridgeType47 = -6 count
      """
      Sample 47.
      """

    CartridgeType48 = -6 count
      """
      Sample 48.
      """

    CartridgeType49 = -6 count
      """
      Sample 49.
      """

    CartridgeType50 = -6 count
      """
      Sample 50.
      """

    CartridgeType51 = -6 count
      """
      Sample 51.
      """

    CartridgeType52 = -6 count
      """
      Sample 52.
      """

    CartridgeType53 = -6 count
      """
      Sample 53.
      """

    CartridgeType54 = -6 count
      """
      Sample 54.
      """

    CartridgeType55 = -6 count
      """
      Sample 55.
      """

    CartridgeType56 = -6 count
      """
      Sample 56.
      """

    CartridgeType57 = -6 count
      """
      Sample 57.
      """

    CartridgeType58 = -6 count
      """
      Sample 58.
      """

    CartridgeType59 = -6 count
      """
      Sample 59.
      """

    CartridgeType60 = -6 count
      """
      Sample 60.
      """

    ShallowBoundSmearCommon = NaN meter
      """
      Value common to all samples unless set diffently: shallow depth bound
      for smear sampling.
      """

    ShallowBoundSmear1 = NaN meter
      """
      Shallow depth bound for smear sampling. Sample 1.
      """

    ShallowBoundSmear2 = NaN meter
      """
      Sample 2.
      """

    # debug
    #     </Description><Units:meter/><Value>10.0</Value></DefineArg>

    ShallowBoundSmear3 = NaN meter
      """
      Sample 3.
      """

    # debug
    #     </Description><Units:meter/><Value>15.0</Value></DefineArg>

    ShallowBoundSmear4 = NaN meter
      """
      Sample 4.
      """

    ShallowBoundSmear5 = NaN meter
      """
      Sample 5.
      """

    ShallowBoundSmear6 = NaN meter
      """
      Sample 6.
      """

    ShallowBoundSmear7 = NaN meter
      """
      Sample 7.
      """

    ShallowBoundSmear8 = NaN meter
      """
      Sample 8.
      """

    ShallowBoundSmear9 = NaN meter
      """
      Sample 9.
      """

    ShallowBoundSmear10 = NaN meter
      """
      Sample 10.
      """

    ShallowBoundSmear11 = NaN meter
      """
      Sample 11.
      """

    ShallowBoundSmear12 = NaN meter
      """
      Sample 12.
      """

    ShallowBoundSmear13 = NaN meter
      """
      Sample 13.
      """

    ShallowBoundSmear14 = NaN meter
      """
      Sample 14.
      """

    ShallowBoundSmear15 = NaN meter
      """
      Sample 15.
      """

    ShallowBoundSmear16 = NaN meter
      """
      Sample 16.
      """

    ShallowBoundSmear17 = NaN meter
      """
      Sample 17.
      """

    ShallowBoundSmear18 = NaN meter
      """
      Sample 18.
      """

    ShallowBoundSmear19 = NaN meter
      """
      Sample 19.
      """

    ShallowBoundSmear20 = NaN meter
      """
      Sample 20.
      """

    ShallowBoundSmear21 = NaN meter
      """
      Sample 21.
      """

    ShallowBoundSmear22 = NaN meter
      """
      Sample 22.
      """

    ShallowBoundSmear23 = NaN meter
      """
      Sample 23.
      """

    ShallowBoundSmear24 = NaN meter
      """
      Sample 24.
      """

    ShallowBoundSmear25 = NaN meter
      """
      Sample 25.
      """

    ShallowBoundSmear26 = NaN meter
      """
      Sample 26.
      """

    ShallowBoundSmear27 = NaN meter
      """
      Sample 27.
      """

    ShallowBoundSmear28 = NaN meter
      """
      Sample 28.
      """

    ShallowBoundSmear29 = NaN meter
      """
      Sample 29.
      """

    ShallowBoundSmear30 = NaN meter
      """
      Sample 30.
      """

    ShallowBoundSmear31 = NaN meter
      """
      Sample 31.
      """

    ShallowBoundSmear32 = NaN meter
      """
      Sample 32.
      """

    ShallowBoundSmear33 = NaN meter
      """
      Sample 33.
      """

    ShallowBoundSmear34 = NaN meter
      """
      Sample 34.
      """

    ShallowBoundSmear35 = NaN meter
      """
      Sample 35.
      """

    ShallowBoundSmear36 = NaN meter
      """
      Sample 36.
      """

    ShallowBoundSmear37 = NaN meter
      """
      Sample 37.
      """

    ShallowBoundSmear38 = NaN meter
      """
      Sample 38.
      """

    ShallowBoundSmear39 = NaN meter
      """
      Sample 39.
      """

    ShallowBoundSmear40 = NaN meter
      """
      Sample 40.
      """

    ShallowBoundSmear41 = NaN meter
      """
      Sample 41.
      """

    ShallowBoundSmear42 = NaN meter
      """
      Sample 42.
      """

    ShallowBoundSmear43 = NaN meter
      """
      Sample 43.
      """

    ShallowBoundSmear44 = NaN meter
      """
      Sample 44.
      """

    ShallowBoundSmear45 = NaN meter
      """
      Sample 45.
      """

    ShallowBoundSmear46 = NaN meter
      """
      Sample 46.
      """

    ShallowBoundSmear47 = NaN meter
      """
      Sample 47.
      """

    ShallowBoundSmear48 = NaN meter
      """
      Sample 48.
      """

    ShallowBoundSmear49 = NaN meter
      """
      Sample 49.
      """

    ShallowBoundSmear50 = NaN meter
      """
      Sample 50.
      """

    ShallowBoundSmear51 = NaN meter
      """
      Sample 51.
      """

    ShallowBoundSmear52 = NaN meter
      """
      Sample 52.
      """

    ShallowBoundSmear53 = NaN meter
      """
      Sample 53.
      """

    ShallowBoundSmear54 = NaN meter
      """
      Sample 54.
      """

    ShallowBoundSmear55 = NaN meter
      """
      Sample 55.
      """

    ShallowBoundSmear56 = NaN meter
      """
      Sample 56.
      """

    ShallowBoundSmear57 = NaN meter
      """
      Sample 57.
      """

    ShallowBoundSmear58 = NaN meter
      """
      Sample 58.
      """

    ShallowBoundSmear59 = NaN meter
      """
      Sample 59.
      """

    ShallowBoundSmear60 = NaN meter
      """
      Sample 60.
      """

    DeepBoundSmearCommon = NaN meter
      """
      Value common to all samples unless set diffently: deep depth bound for
      smear sampling.
      """

    DeepBoundSmear1 = NaN meter
      """
      Deep depth bound for smear sampling. Sample 1.
      """

    DeepBoundSmear2 = NaN meter
      """
      Sample 2.
      """

    DeepBoundSmear3 = NaN meter
      """
      Sample 3.
      """

    # debug
    #     </Description><Units:meter/><Value>20.0</Value></DefineArg>

    DeepBoundSmear4 = NaN meter
      """
      Sample 4.
      """

    DeepBoundSmear5 = NaN meter
      """
      Sample 5.
      """

    DeepBoundSmear6 = NaN meter
      """
      Sample 6.
      """

    DeepBoundSmear7 = NaN meter
      """
      Sample 7.
      """

    DeepBoundSmear8 = NaN meter
      """
      Sample 8.
      """

    DeepBoundSmear9 = NaN meter
      """
      Sample 9.
      """

    DeepBoundSmear10 = NaN meter
      """
      Sample 10.
      """

    DeepBoundSmear11 = NaN meter
      """
      Sample 11.
      """

    DeepBoundSmear12 = NaN meter
      """
      Sample 12.
      """

    DeepBoundSmear13 = NaN meter
      """
      Sample 13.
      """

    DeepBoundSmear14 = NaN meter
      """
      Sample 14.
      """

    DeepBoundSmear15 = NaN meter
      """
      Sample 15.
      """

    DeepBoundSmear16 = NaN meter
      """
      Sample 16.
      """

    DeepBoundSmear17 = NaN meter
      """
      Sample 17.
      """

    DeepBoundSmear18 = NaN meter
      """
      Sample 18.
      """

    DeepBoundSmear19 = NaN meter
      """
      Sample 19.
      """

    DeepBoundSmear20 = NaN meter
      """
      Sample 20.
      """

    DeepBoundSmear21 = NaN meter
      """
      Sample 21.
      """

    DeepBoundSmear22 = NaN meter
      """
      Sample 22.
      """

    DeepBoundSmear23 = NaN meter
      """
      Sample 23.
      """

    DeepBoundSmear24 = NaN meter
      """
      Sample 24.
      """

    DeepBoundSmear25 = NaN meter
      """
      Sample 25.
      """

    DeepBoundSmear26 = NaN meter
      """
      Sample 26.
      """

    DeepBoundSmear27 = NaN meter
      """
      Sample 27.
      """

    DeepBoundSmear28 = NaN meter
      """
      Sample 28.
      """

    DeepBoundSmear29 = NaN meter
      """
      Sample 29.
      """

    DeepBoundSmear30 = NaN meter
      """
      Sample 30.
      """

    DeepBoundSmear31 = NaN meter
      """
      Sample 31.
      """

    DeepBoundSmear32 = NaN meter
      """
      Sample 32.
      """

    DeepBoundSmear33 = NaN meter
      """
      Sample 33.
      """

    DeepBoundSmear34 = NaN meter
      """
      Sample 34.
      """

    DeepBoundSmear35 = NaN meter
      """
      Sample 35.
      """

    DeepBoundSmear36 = NaN meter
      """
      Sample 36.
      """

    DeepBoundSmear37 = NaN meter
      """
      Sample 37.
      """

    DeepBoundSmear38 = NaN meter
      """
      Sample 38.
      """

    DeepBoundSmear39 = NaN meter
      """
      Sample 39.
      """

    DeepBoundSmear40 = NaN meter
      """
      Sample 40.
      """

    DeepBoundSmear41 = NaN meter
      """
      Sample 41.
      """

    DeepBoundSmear42 = NaN meter
      """
      Sample 42.
      """

    DeepBoundSmear43 = NaN meter
      """
      Sample 43.
      """

    DeepBoundSmear44 = NaN meter
      """
      Sample 44.
      """

    DeepBoundSmear45 = NaN meter
      """
      Sample 45.
      """

    DeepBoundSmear46 = NaN meter
      """
      Sample 46.
      """

    DeepBoundSmear47 = NaN meter
      """
      Sample 47.
      """

    DeepBoundSmear48 = NaN meter
      """
      Sample 48.
      """

    DeepBoundSmear49 = NaN meter
      """
      Sample 49.
      """

    DeepBoundSmear50 = NaN meter
      """
      Sample 50.
      """

    DeepBoundSmear51 = NaN meter
      """
      Sample 51.
      """

    DeepBoundSmear52 = NaN meter
      """
      Sample 52.
      """

    DeepBoundSmear53 = NaN meter
      """
      Sample 53.
      """

    DeepBoundSmear54 = NaN meter
      """
      Sample 54.
      """

    DeepBoundSmear55 = NaN meter
      """
      Sample 55.
      """

    DeepBoundSmear56 = NaN meter
      """
      Sample 56.
      """

    DeepBoundSmear57 = NaN meter
      """
      Sample 57.
      """

    DeepBoundSmear58 = NaN meter
      """
      Sample 58.
      """

    DeepBoundSmear59 = NaN meter
      """
      Sample 59.
      """

    DeepBoundSmear60 = NaN meter
      """
      Sample 60.
      """

    WaitCommon = 5.0 minute
      """
      Value common to all samples unless set diffently: Wait time before
      firing.
      """

    Wait1 = NaN minute
      """
      Wait time before firing. Sample 1.
      """

    Wait2 = NaN minute
      """
      Sample 2.
      """

    Wait3 = NaN minute
      """
      Sample 3.
      """

    Wait4 = NaN minute
      """
      Sample 4.
      """

    Wait5 = NaN minute
      """
      Sample 5.
      """

    Wait6 = NaN minute
      """
      Sample 6.
      """

    Wait7 = NaN minute
      """
      Sample 7.
      """

    Wait8 = NaN minute
      """
      Sample 8.
      """

    Wait9 = NaN minute
      """
      Sample 9.
      """

    Wait10 = NaN minute
      """
      Sample 10.
      """

    Wait11 = NaN minute
      """
      Sample 11.
      """

    Wait12 = NaN minute
      """
      Sample 12.
      """

    Wait13 = NaN minute
      """
      Sample 13.
      """

    Wait14 = NaN minute
      """
      Sample 14.
      """

    Wait15 = NaN minute
      """
      Sample 15.
      """

    Wait16 = NaN minute
      """
      Sample 16.
      """

    Wait17 = NaN minute
      """
      Sample 17.
      """

    Wait18 = NaN minute
      """
      Sample 18.
      """

    Wait19 = NaN minute
      """
      Sample 19.
      """

    Wait20 = NaN minute
      """
      Sample 20.
      """

    Wait21 = NaN minute
      """
      Sample 21.
      """

    Wait22 = NaN minute
      """
      Sample 22.
      """

    Wait23 = NaN minute
      """
      Sample 23.
      """

    Wait24 = NaN minute
      """
      Sample 24.
      """

    Wait25 = NaN minute
      """
      Sample 25.
      """

    Wait26 = NaN minute
      """
      Sample 26.
      """

    Wait27 = NaN minute
      """
      Sample 27.
      """

    Wait28 = NaN minute
      """
      Sample 28.
      """

    Wait29 = NaN minute
      """
      Sample 29.
      """

    Wait30 = NaN minute
      """
      Sample 30.
      """

    Wait31 = NaN minute
      """
      Sample 31.
      """

    Wait32 = NaN minute
      """
      Sample 32.
      """

    Wait33 = NaN minute
      """
      Sample 33.
      """

    Wait34 = NaN minute
      """
      Sample 34.
      """

    Wait35 = NaN minute
      """
      Sample 35.
      """

    Wait36 = NaN minute
      """
      Sample 36.
      """

    Wait37 = NaN minute
      """
      Sample 37.
      """

    Wait38 = NaN minute
      """
      Sample 38.
      """

    Wait39 = NaN minute
      """
      Sample 39.
      """

    Wait40 = NaN minute
      """
      Sample 40.
      """

    Wait41 = NaN minute
      """
      Sample 41.
      """

    Wait42 = NaN minute
      """
      Sample 42.
      """

    Wait43 = NaN minute
      """
      Sample 43.
      """

    Wait44 = NaN minute
      """
      Sample 44.
      """

    Wait45 = NaN minute
      """
      Sample 45.
      """

    Wait46 = NaN minute
      """
      Sample 46.
      """

    Wait47 = NaN minute
      """
      Sample 47.
      """

    Wait48 = NaN minute
      """
      Sample 48.
      """

    Wait49 = NaN minute
      """
      Sample 49.
      """

    Wait50 = NaN minute
      """
      Sample 50.
      """

    Wait51 = NaN minute
      """
      Sample 51.
      """

    Wait52 = NaN minute
      """
      Sample 52.
      """

    Wait53 = NaN minute
      """
      Sample 53.
      """

    Wait54 = NaN minute
      """
      Sample 54.
      """

    Wait55 = NaN minute
      """
      Sample 55.
      """

    Wait56 = NaN minute
      """
      Sample 56.
      """

    Wait57 = NaN minute
      """
      Sample 57.
      """

    Wait58 = NaN minute
      """
      Sample 58.
      """

    Wait59 = NaN minute
      """
      Sample 59.
      """

    Wait60 = NaN minute
      """
      Sample 60.
      """

    # 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.
      """

    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

    NeedCommsTimeVeryLong = 100 hour
      """
      How often to surface for commumications during sampling. Huge number to
      disable needcomms.
      """
  }

  output {
    ShallowBoundSmearIndividual = NaN meter
      """
      YoYoMinDepth individual.
      """

    DeepBoundSmearIndividual = NaN meter
      """
      YoYoMaxDepth individual.
      """

    WaitIndividual = NaN minute
      """
      Wait individual.
      """

    CartridgeTypeIndividual = NaN count
      """
      Cartridge type individual.
      """

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

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

    ElapsedSinceLastCenterUpdate = 0 hour
      """
      The mission sets this variable to reset the center update timer.
      """

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

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

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

    YoYoMinDepth = 1.5 meter
      """
      Minimum depth while performing the YoYo behavior. Program will overwrite
      for each sampler, e.g., ShallowBoundSmear1.
      """

    YoYoMaxDepth = 20 meter
      """
      Maximum depth while performing the YoYo behavior. Program will overwrite
      for each sampler, e.g., DeepBoundSmear1
      """

    WaitDuration = 5.0 minute
      """
      Wait time before firing a sample. Program will set for each sampler,
      e.g., Wait1.
      """

    CommsEndOfSampleCompleted = false
      """
      End-of-sample comms 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
      """

      """

    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.
      """

    SampleOptionsSet = false
      """
      Sample options (DepDiffFromPeakChl, ReportAtSurface, ReacquirePeak)
      already set. 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 = NeedCommsTimeVeryLong

  # 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
  }

  insert Insert/AbortDrift.tl {
    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.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 TrackingAcousticTarget {
    run while ( TrackAcousticTarget )

    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 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
    )

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

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

  aggregate SetSampleOptions {
    run when (
      called
    )

    aggregate SettingCartridgeTypeIndividual {
      run in sequence

      break if (
        isNaN ( CartridgeTypeIndividual )
        or ( not ( UseESP ) )
      )

      assign in sequence CartridgeType = CartridgeTypeIndividual
    }

    aggregate SettingCartridgeTypeCommon {
      run in sequence

      break if (
        not ( isNaN ( CartridgeTypeIndividual ) )
        or ( not ( UseESP ) )
      )

      assign in sequence CartridgeType = CartridgeTypeCommon
    }

    aggregate SettingYoYoMinDepthIndividual {
      run in sequence

      break if (
        isNaN ( ShallowBoundSmearIndividual )
      )

      assign in sequence YoYoMinDepth = ShallowBoundSmearIndividual
    }

    aggregate SettingYoYoMinDepthCommon {
      run in sequence

      break if (
        not ( isNaN ( ShallowBoundSmearIndividual ) )
      )

      assign in sequence YoYoMinDepth = ShallowBoundSmearCommon
    }

    aggregate SettingYoYoMaxDepthIndividual {
      run in sequence

      break if (
        isNaN ( DeepBoundSmearIndividual )
      )

      assign in sequence YoYoMaxDepth = DeepBoundSmearIndividual
    }

    aggregate SettingYoYoMaxDepthCommon {
      run in sequence

      break if (
        not ( isNaN ( DeepBoundSmearIndividual ) )
      )

      assign in sequence YoYoMaxDepth = DeepBoundSmearCommon
    }

    aggregate SettingWaitIndividual {
      run in sequence

      break if (
        isNaN ( WaitIndividual )
      )

      assign in sequence WaitDuration = WaitIndividual
    }

    aggregate SettingWaitCommon {
      run in sequence

      break if (
        not ( isNaN ( WaitIndividual ) )
      )

      assign in sequence WaitDuration = WaitCommon
    }

    syslog important "Set CartridgeType (if ESP), YoYoMinDepth, YoYoMaxDepth, WaitDuration to "
         + CartridgeType ~ count
         + ", "
         + YoYoMinDepth ~ meter
         + ", "
         + YoYoMaxDepth ~ meter
         + ", "
         + WaitDuration ~ minute
         + "."
  }

  aggregate MissionStart {
    run in sequence

    call id="MissionStartComms" refId="NeedComms"

    assign in sequence ElapsedSinceStartOrLastSample = 0 hour

    assign in sequence MissionStartCommsCompleted = true
  }

  aggregate TransitToSamplingLocation {
    run in sequence

    break if (
      isNaN ( TransitLatitude )
      or ( isNaN ( TransitLongitude ) )
    )

    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 NeedComms:DiveInterval = NeedCommsTimeVeryLong

    assign in sequence ElapsedSinceStartOrLastSample = 0 hour

    assign in sequence TransitCompleted = true
  }

  aggregate TransitToSamplingLocation {
    run in sequence

    break if (
      not (
        isNaN ( TransitLatitude )
        or ( isNaN ( TransitLongitude ) )
      )
    )

    assign in sequence TransitCompleted = 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

    # debug
    #   <Syslog Severity="Important">Overwrite or update. CenterLatitude, CenterLongitude, contact_latitude, contact_longitude, contact_latitude_lowpass, contact_longitude_lowpass = <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/>, <Estimation:Tracking.contact_latitude/><Units:degree/>, <Estimation:Tracking.contact_longitude/><Units:degree/>, <Estimation:Tracking.contact_latitude_lowpass/><Units:degree/>, <Estimation:Tracking.contact_longitude_lowpass/><Units:degree/></Syslog>

    aggregate UpdateWithContactLowpassLatLon {
      run in sequence

      run when (
        not ( isNaN ( ContactLatitudeLowpass ) )
        and ( not ( isNaN ( ContactLongitudeLowpass ) ) )
        and ( elapsed ( ElapsedSinceLastCenterUpdate ) >= TrackingUpdatePeriod )
      )

      assign in sequence CenterLatitude = ContactLatitudeLowpass

      assign in sequence CenterLongitude = ContactLongitudeLowpass

      assign in sequence ElapsedTime = elapsed ( ElapsedSinceLastCenterUpdate )

      syslog info "Updating. Elapsed time since last center update, CenterLatitude, CenterLongitude = "
           + ElapsedTime ~ second
           + ", "
           + CenterLatitude ~ degree
           + ", "
           + CenterLongitude ~ degree

      assign in sequence ElapsedSinceLastCenterUpdate = 0 hour
    }
  }

  aggregate Cylinder {
    run in sequence

    break if (
      CntSamples == ( NumSamplers + 1 count )
    )

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

    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
    }

    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
        }
      }
    }
  }

  aggregate TakeSamples {
    run in parallel

    break if (
      CntSamples == ( NumSamplers + 1 count )
    )

    aggregate NoFiringForTooLong {
      run when (
        TransitCompleted
        and ( elapsed ( ElapsedSinceStartOrLastSample ) > MaxWaitNoFiring )
        and ( not ( FlagSamplingOngoing ) )
        and ( not ( StoppedForNoFiringForTooLong ) )
      )

      assign in sequence ElapsedTime = elapsed ( ElapsedSinceStartOrLastSample )

      syslog important "No firing for too long. Stopping mission. Elapsed time since start or last sample, MaxWaitNoFiring, CntSamples = "
           + ElapsedTime ~ minute
           + ", "
           + MaxWaitNoFiring ~ minute
           + ", "
           + CntSamples ~ count

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

      assign in sequence StoppedForNoFiringForTooLong = true
    }

    aggregate SetOptionsOfSample1 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 1 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType1

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear1

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear1

      assign in sequence WaitIndividual = Wait1

      call id="SetOptionsForSample1" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample2 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 2 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType2

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear2

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear2

      assign in sequence WaitIndividual = Wait2

      call id="SetOptionsForSample2" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample3 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 3 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType3

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear3

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear3

      assign in sequence WaitIndividual = Wait3

      call id="SetOptionsForSample3" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample4 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 4 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType4

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear4

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear4

      assign in sequence WaitIndividual = Wait4

      call id="SetOptionsForSample4" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample5 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 5 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType5

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear5

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear5

      assign in sequence WaitIndividual = Wait5

      call id="SetOptionsForSample5" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample6 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 6 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType6

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear6

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear6

      assign in sequence WaitIndividual = Wait6

      call id="SetOptionsForSample6" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample7 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 7 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType7

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear7

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear7

      assign in sequence WaitIndividual = Wait7

      call id="SetOptionsForSample7" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample8 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 8 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType8

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear8

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear8

      assign in sequence WaitIndividual = Wait8

      call id="SetOptionsForSample8" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample9 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 9 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType9

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear9

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear9

      assign in sequence WaitIndividual = Wait9

      call id="SetOptionsForSample9" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample10 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 10 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType10

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear10

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear10

      assign in sequence WaitIndividual = Wait10

      call id="SetOptionsForSample10" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample11 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 11 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType11

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear11

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear11

      assign in sequence WaitIndividual = Wait11

      call id="SetOptionsForSample11" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample12 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 12 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType12

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear12

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear12

      assign in sequence WaitIndividual = Wait12

      call id="SetOptionsForSample12" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample13 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 13 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType13

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear13

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear13

      assign in sequence WaitIndividual = Wait13

      call id="SetOptionsForSample13" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample14 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 14 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType14

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear14

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear14

      assign in sequence WaitIndividual = Wait14

      call id="SetOptionsForSample14" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample15 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 15 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType15

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear15

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear15

      assign in sequence WaitIndividual = Wait15

      call id="SetOptionsForSample15" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample16 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 16 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType16

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear16

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear16

      assign in sequence WaitIndividual = Wait16

      call id="SetOptionsForSample16" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample17 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 17 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType17

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear17

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear17

      assign in sequence WaitIndividual = Wait17

      call id="SetOptionsForSample17" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample18 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 18 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType18

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear18

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear18

      assign in sequence WaitIndividual = Wait18

      call id="SetOptionsForSample18" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample19 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 19 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType19

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear19

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear19

      assign in sequence WaitIndividual = Wait19

      call id="SetOptionsForSample19" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample20 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 20 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType20

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear20

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear20

      assign in sequence WaitIndividual = Wait20

      call id="SetOptionsForSample20" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample21 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 21 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType21

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear21

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear21

      assign in sequence WaitIndividual = Wait21

      call id="SetOptionsForSample21" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample22 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 22 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType22

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear22

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear22

      assign in sequence WaitIndividual = Wait22

      call id="SetOptionsForSample22" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample23 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 23 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType23

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear23

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear23

      assign in sequence WaitIndividual = Wait23

      call id="SetOptionsForSample23" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample24 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 24 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType24

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear24

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear24

      assign in sequence WaitIndividual = Wait24

      call id="SetOptionsForSample24" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample25 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 25 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType25

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear25

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear25

      assign in sequence WaitIndividual = Wait25

      call id="SetOptionsForSample25" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample26 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 26 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType26

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear26

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear26

      assign in sequence WaitIndividual = Wait26

      call id="SetOptionsForSample26" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample27 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 27 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType27

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear27

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear27

      assign in sequence WaitIndividual = Wait27

      call id="SetOptionsForSample27" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample28 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 28 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType28

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear28

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear28

      assign in sequence WaitIndividual = Wait28

      call id="SetOptionsForSample28" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample29 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 29 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType29

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear29

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear29

      assign in sequence WaitIndividual = Wait29

      call id="SetOptionsForSample29" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample30 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 30 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType30

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear30

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear30

      assign in sequence WaitIndividual = Wait30

      call id="SetOptionsForSample30" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample31 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 31 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType31

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear31

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear31

      assign in sequence WaitIndividual = Wait31

      call id="SetOptionsForSample31" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample32 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 32 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType32

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear32

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear32

      assign in sequence WaitIndividual = Wait32

      call id="SetOptionsForSample32" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample33 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 33 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType33

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear33

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear33

      assign in sequence WaitIndividual = Wait33

      call id="SetOptionsForSample33" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample34 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 34 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType34

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear34

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear34

      assign in sequence WaitIndividual = Wait34

      call id="SetOptionsForSample34" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample35 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 35 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType35

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear35

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear35

      assign in sequence WaitIndividual = Wait35

      call id="SetOptionsForSample35" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample36 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 36 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType36

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear36

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear36

      assign in sequence WaitIndividual = Wait36

      call id="SetOptionsForSample36" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample37 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 37 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType37

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear37

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear37

      assign in sequence WaitIndividual = Wait37

      call id="SetOptionsForSample37" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample38 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 38 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType38

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear38

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear38

      assign in sequence WaitIndividual = Wait38

      call id="SetOptionsForSample38" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample39 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 39 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType39

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear39

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear39

      assign in sequence WaitIndividual = Wait39

      call id="SetOptionsForSample39" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample40 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 40 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType40

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear40

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear40

      assign in sequence WaitIndividual = Wait40

      call id="SetOptionsForSample40" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample41 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 41 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType41

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear41

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear41

      assign in sequence WaitIndividual = Wait41

      call id="SetOptionsForSample41" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample42 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 42 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType42

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear42

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear42

      assign in sequence WaitIndividual = Wait42

      call id="SetOptionsForSample42" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample43 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 43 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType43

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear43

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear43

      assign in sequence WaitIndividual = Wait43

      call id="SetOptionsForSample43" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample44 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 44 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType44

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear44

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear44

      assign in sequence WaitIndividual = Wait44

      call id="SetOptionsForSample44" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample45 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 45 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType45

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear45

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear45

      assign in sequence WaitIndividual = Wait45

      call id="SetOptionsForSample45" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample46 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 46 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType46

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear46

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear46

      assign in sequence WaitIndividual = Wait46

      call id="SetOptionsForSample46" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample47 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 47 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType47

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear47

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear47

      assign in sequence WaitIndividual = Wait47

      call id="SetOptionsForSample47" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample48 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 48 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType48

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear48

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear48

      assign in sequence WaitIndividual = Wait48

      call id="SetOptionsForSample48" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample49 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 49 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType49

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear49

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear49

      assign in sequence WaitIndividual = Wait49

      call id="SetOptionsForSample49" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample50 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 50 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType50

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear50

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear50

      assign in sequence WaitIndividual = Wait50

      call id="SetOptionsForSample50" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample51 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 51 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType51

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear51

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear51

      assign in sequence WaitIndividual = Wait51

      call id="SetOptionsForSample51" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample52 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 52 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType52

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear52

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear52

      assign in sequence WaitIndividual = Wait52

      call id="SetOptionsForSample52" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample53 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 53 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType53

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear53

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear53

      assign in sequence WaitIndividual = Wait53

      call id="SetOptionsForSample53" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample54 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 54 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType54

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear54

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear54

      assign in sequence WaitIndividual = Wait54

      call id="SetOptionsForSample54" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample55 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 55 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType55

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear55

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear55

      assign in sequence WaitIndividual = Wait55

      call id="SetOptionsForSample55" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample56 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 56 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType56

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear56

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear56

      assign in sequence WaitIndividual = Wait56

      call id="SetOptionsForSample56" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample57 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 57 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType57

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear57

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear57

      assign in sequence WaitIndividual = Wait57

      call id="SetOptionsForSample57" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample58 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 58 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType58

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear58

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear58

      assign in sequence WaitIndividual = Wait58

      call id="SetOptionsForSample58" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample59 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 59 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType59

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear59

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear59

      assign in sequence WaitIndividual = Wait59

      call id="SetOptionsForSample59" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate SetOptionsOfSample60 {
      run when (
        not ( SampleOptionsSet )
        and ( CntSamples + StartIndex - 1 count == 60 count )
        and ( CntSamples <= NumSamplers )
        and ( not ( FlagSamplingOngoing ) )
      )

      assign in sequence CartridgeTypeIndividual = CartridgeType60

      assign in sequence ShallowBoundSmearIndividual = ShallowBoundSmear60

      assign in sequence DeepBoundSmearIndividual = DeepBoundSmear60

      assign in sequence WaitIndividual = Wait60

      call id="SetOptionsForSample60" refId="SetSampleOptions"

      assign in sequence SampleOptionsSet = true
    }

    aggregate FiringNoCommsEndOfSample {
      run in sequence

      run when (
        Universal:depth >= YoYoMinDepth
        and ( Universal:depth <= YoYoMaxDepth )
        and MissionStartCommsCompleted
        and TransitCompleted
        and ( not ( FlagSamplingOngoing ) )
        and ( CntSamples <= NumSamplers )
        and SampleOptionsSet
        and ( not ( SampleCompleted ) )
        and ( not ( SurfaceCommsEndOfEachSample ) )
      )

      assign in sequence CommsEndOfSampleCompleted = false

      assign in sequence FlagSamplingOngoing = true

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

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour

      call id="WaitBeforeFiring" refId="InsertWait"

      call id="Sampling" refId="TriggerSampling"

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

      assign in sequence SampleCompleted = true

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour

      assign in sequence FlagSamplingOngoing = false
    }

    aggregate FiringCommsEndOfSample {
      run in sequence

      run when (
        Universal:depth >= YoYoMinDepth
        and ( Universal:depth <= YoYoMaxDepth )
        and MissionStartCommsCompleted
        and TransitCompleted
        and ( not ( FlagSamplingOngoing ) )
        and ( CntSamples <= NumSamplers )
        and SampleOptionsSet
        and ( not ( SampleCompleted ) )
        and SurfaceCommsEndOfEachSample
      )

      assign in sequence CommsEndOfSampleCompleted = false

      assign in sequence FlagSamplingOngoing = true

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

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour

      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 CommsEndOfSampleCompleted = true

      assign in sequence SampleCompleted = true

      assign in sequence ElapsedSinceStartOrLastSample = 0 hour

      assign in sequence FlagSamplingOngoing = false
    }

    aggregate IncrementSampleCounter {
      run when (
        SampleCompleted
        and (
          not ( SurfaceCommsEndOfEachSample )
          or (
            SurfaceCommsEndOfEachSample
            and CommsEndOfSampleCompleted
          )
        )
      )

      assign in sequence CntSamples = CntSamples + 1 count

      assign in sequence SampleOptionsSet = false

      assign in sequence SampleCompleted = false
    }
  }
}

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: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/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.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_yoyo_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="StartIndex"><Description>
        Start index in ESP settings. If re-running mission, can skip settings of
        already-completed samples. Default is 1 (no skipping).
    </Description><Units:count/><Value>1</Value></DefineArg>

<!--debug
    </Description><Units:count/><Value>2</Value></DefineArg>
-->

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

    <DefineArg Name="MissionTimeout"><Description>
        Maximum duration of mission
    </Description><Units:hour/><Value>2</Value></DefineArg>

    <DefineArg Name="SurfaceCommsEndOfEachSample"><Description>
        Whether to go to surface for comms at completion of each sample
        (initialized to False.)
    </Description><True/></DefineArg>

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

    <DefineArg Name="NeedCommsTimeInTransit"><Description>
        On the way transiting to the sampling 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>21</Value></DefineArg>

    <DefineArg Name="TrackAcousticTarget"><Description>
        Whether to track an acoustic target.
<!--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="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="SpeedTransit"><Description>
        Vehicle speed when transiting to the sampling location.
    </Description><Units:meter_per_second/><Value>1.0</Value></DefineArg>

    <DefineArg Name="SpeedSampling"><Description>
        Vehicle speed when sampling 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="TransitYoYoMinDepth"><Description>
        Minimum yoyo depth while transiting to the sampling location.
    </Description><Units:meter/><Value>10</Value></DefineArg>

    <DefineArg Name="TransitYoYoMaxDepth"><Description>
        Maximum yoyo depth while transiting to the sampling location.
    </Description><Units:meter/><Value>20</Value></DefineArg>

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

    <DefineArg Name="CylinderRadius"><Description>
        Radius of cylinder centered at the sampling location.
    </Description><Units:meter/><Value>20</Value></DefineArg>

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

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

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

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

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

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

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

    <DefineArg Name="CartridgeTypeCommon"><Description>
        Value common to all samples unless set diffently: cartridge type.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType1"><Description>
        Sample 1. Cartridge type.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType2"><Description>
        Sample 2.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType3"><Description>
        Sample 3.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType4"><Description>
        Sample 4.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType5"><Description>
        Sample 5.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType6"><Description>
        Sample 6.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType7"><Description>
        Sample 7.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType8"><Description>
        Sample 8.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType9"><Description>
        Sample 9.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType10"><Description>
        Sample 10.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType11"><Description>
        Sample 11.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType12"><Description>
        Sample 12.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType13"><Description>
        Sample 13.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType14"><Description>
        Sample 14.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType15"><Description>
        Sample 15.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType16"><Description>
        Sample 16.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType17"><Description>
        Sample 17.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType18"><Description>
        Sample 18.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType19"><Description>
        Sample 19.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType20"><Description>
        Sample 20.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType21"><Description>
        Sample 21.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType22"><Description>
        Sample 22.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType23"><Description>
        Sample 23.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType24"><Description>
        Sample 24.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType25"><Description>
        Sample 25.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType26"><Description>
        Sample 26.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType27"><Description>
        Sample 27.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType28"><Description>
        Sample 28.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType29"><Description>
        Sample 29.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType30"><Description>
        Sample 30.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType31"><Description>
        Sample 31.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType32"><Description>
        Sample 32.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType33"><Description>
        Sample 33.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType34"><Description>
        Sample 34.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType35"><Description>
        Sample 35.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType36"><Description>
        Sample 36.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType37"><Description>
        Sample 37.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType38"><Description>
        Sample 38.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType39"><Description>
        Sample 39.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType40"><Description>
        Sample 40.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType41"><Description>
        Sample 41.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType42"><Description>
        Sample 42.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType43"><Description>
        Sample 43.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType44"><Description>
        Sample 44.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType45"><Description>
        Sample 45.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType46"><Description>
        Sample 46.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType47"><Description>
        Sample 47.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType48"><Description>
        Sample 48.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType49"><Description>
        Sample 49.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType50"><Description>
        Sample 50.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType51"><Description>
        Sample 51.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType52"><Description>
        Sample 52.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType53"><Description>
        Sample 53.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType54"><Description>
        Sample 54.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType55"><Description>
        Sample 55.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType56"><Description>
        Sample 56.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType57"><Description>
        Sample 57.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType58"><Description>
        Sample 58.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType59"><Description>
        Sample 59.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="CartridgeType60"><Description>
        Sample 60.
    </Description><Units:count/><Value>-6</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmearCommon"><Description>
        Value common to all samples unless set diffently: shallow depth bound
        for smear sampling.
<!--debug
    </Description><Units:meter/><Value>5.0</Value></DefineArg>
-->
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear1"><Description>
        Shallow depth bound for smear sampling. Sample 1.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear2"><Description>
        Sample 2.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>10.0</Value></DefineArg>
-->

    <DefineArg Name="ShallowBoundSmear3"><Description>
        Sample 3.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>15.0</Value></DefineArg>
-->

    <DefineArg Name="ShallowBoundSmear4"><Description>
        Sample 4.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear5"><Description>
        Sample 5.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear6"><Description>
        Sample 6.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear7"><Description>
        Sample 7.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear8"><Description>
        Sample 8.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear9"><Description>
        Sample 9.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear10"><Description>
        Sample 10.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear11"><Description>
        Sample 11.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear12"><Description>
        Sample 12.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear13"><Description>
        Sample 13.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear14"><Description>
        Sample 14.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear15"><Description>
        Sample 15.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear16"><Description>
        Sample 16.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear17"><Description>
        Sample 17.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear18"><Description>
        Sample 18.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear19"><Description>
        Sample 19.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear20"><Description>
        Sample 20.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear21"><Description>
        Sample 21.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear22"><Description>
        Sample 22.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear23"><Description>
        Sample 23.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear24"><Description>
        Sample 24.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear25"><Description>
        Sample 25.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear26"><Description>
        Sample 26.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear27"><Description>
        Sample 27.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear28"><Description>
        Sample 28.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear29"><Description>
        Sample 29.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear30"><Description>
        Sample 30.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear31"><Description>
        Sample 31.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear32"><Description>
        Sample 32.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear33"><Description>
        Sample 33.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear34"><Description>
        Sample 34.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear35"><Description>
        Sample 35.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear36"><Description>
        Sample 36.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear37"><Description>
        Sample 37.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear38"><Description>
        Sample 38.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear39"><Description>
        Sample 39.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear40"><Description>
        Sample 40.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear41"><Description>
        Sample 41.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear42"><Description>
        Sample 42.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear43"><Description>
        Sample 43.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear44"><Description>
        Sample 44.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear45"><Description>
        Sample 45.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear46"><Description>
        Sample 46.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear47"><Description>
        Sample 47.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear48"><Description>
        Sample 48.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear49"><Description>
        Sample 49.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear50"><Description>
        Sample 50.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear51"><Description>
        Sample 51.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear52"><Description>
        Sample 52.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear53"><Description>
        Sample 53.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear54"><Description>
        Sample 54.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear55"><Description>
        Sample 55.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear56"><Description>
        Sample 56.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear57"><Description>
        Sample 57.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear58"><Description>
        Sample 58.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear59"><Description>
        Sample 59.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="ShallowBoundSmear60"><Description>
        Sample 60.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmearCommon"><Description>
        Value common to all samples unless set diffently: deep depth bound for
        smear sampling.
<!--debug
    </Description><Units:meter/><Value>15.0</Value></DefineArg>
-->
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear1"><Description>
        Deep depth bound for smear sampling. Sample 1.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear2"><Description>
        Sample 2.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear3"><Description>
        Sample 3.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

<!--debug
    </Description><Units:meter/><Value>20.0</Value></DefineArg>
-->

    <DefineArg Name="DeepBoundSmear4"><Description>
        Sample 4.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear5"><Description>
        Sample 5.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear6"><Description>
        Sample 6.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear7"><Description>
        Sample 7.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear8"><Description>
        Sample 8.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear9"><Description>
        Sample 9.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear10"><Description>
        Sample 10.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear11"><Description>
        Sample 11.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear12"><Description>
        Sample 12.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear13"><Description>
        Sample 13.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear14"><Description>
        Sample 14.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear15"><Description>
        Sample 15.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear16"><Description>
        Sample 16.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear17"><Description>
        Sample 17.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear18"><Description>
        Sample 18.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear19"><Description>
        Sample 19.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear20"><Description>
        Sample 20.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear21"><Description>
        Sample 21.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear22"><Description>
        Sample 22.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear23"><Description>
        Sample 23.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear24"><Description>
        Sample 24.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear25"><Description>
        Sample 25.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear26"><Description>
        Sample 26.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear27"><Description>
        Sample 27.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear28"><Description>
        Sample 28.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear29"><Description>
        Sample 29.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear30"><Description>
        Sample 30.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear31"><Description>
        Sample 31.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear32"><Description>
        Sample 32.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear33"><Description>
        Sample 33.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear34"><Description>
        Sample 34.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear35"><Description>
        Sample 35.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear36"><Description>
        Sample 36.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear37"><Description>
        Sample 37.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear38"><Description>
        Sample 38.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear39"><Description>
        Sample 39.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear40"><Description>
        Sample 40.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear41"><Description>
        Sample 41.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear42"><Description>
        Sample 42.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear43"><Description>
        Sample 43.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear44"><Description>
        Sample 44.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear45"><Description>
        Sample 45.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear46"><Description>
        Sample 46.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear47"><Description>
        Sample 47.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear48"><Description>
        Sample 48.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear49"><Description>
        Sample 49.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear50"><Description>
        Sample 50.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear51"><Description>
        Sample 51.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear52"><Description>
        Sample 52.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear53"><Description>
        Sample 53.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear54"><Description>
        Sample 54.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear55"><Description>
        Sample 55.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear56"><Description>
        Sample 56.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear57"><Description>
        Sample 57.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear58"><Description>
        Sample 58.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear59"><Description>
        Sample 59.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="DeepBoundSmear60"><Description>
        Sample 60.
    </Description><Units:meter/><Value>NaN</Value></DefineArg>

    <DefineArg Name="WaitCommon"><Description>
        Value common to all samples unless set diffently: Wait time before
        firing.
    </Description><Units:minute/><Value>5.0</Value></DefineArg>

    <DefineArg Name="Wait1"><Description>
        Wait time before firing. Sample 1.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait2"><Description>
        Sample 2.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait3"><Description>
        Sample 3.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait4"><Description>
        Sample 4.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait5"><Description>
        Sample 5.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait6"><Description>
        Sample 6.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait7"><Description>
        Sample 7.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait8"><Description>
        Sample 8.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait9"><Description>
        Sample 9.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait10"><Description>
        Sample 10.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait11"><Description>
        Sample 11.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait12"><Description>
        Sample 12.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait13"><Description>
        Sample 13.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait14"><Description>
        Sample 14.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait15"><Description>
        Sample 15.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait16"><Description>
        Sample 16.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait17"><Description>
        Sample 17.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait18"><Description>
        Sample 18.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait19"><Description>
        Sample 19.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait20"><Description>
        Sample 20.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait21"><Description>
        Sample 21.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait22"><Description>
        Sample 22.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait23"><Description>
        Sample 23.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait24"><Description>
        Sample 24.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait25"><Description>
        Sample 25.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait26"><Description>
        Sample 26.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait27"><Description>
        Sample 27.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait28"><Description>
        Sample 28.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait29"><Description>
        Sample 29.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait30"><Description>
        Sample 30.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait31"><Description>
        Sample 31.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait32"><Description>
        Sample 32.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait33"><Description>
        Sample 33.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait34"><Description>
        Sample 34.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait35"><Description>
        Sample 35.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait36"><Description>
        Sample 36.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait37"><Description>
        Sample 37.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait38"><Description>
        Sample 38.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait39"><Description>
        Sample 39.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait40"><Description>
        Sample 40.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait41"><Description>
        Sample 41.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait42"><Description>
        Sample 42.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait43"><Description>
        Sample 43.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait44"><Description>
        Sample 44.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait45"><Description>
        Sample 45.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait46"><Description>
        Sample 46.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait47"><Description>
        Sample 47.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait48"><Description>
        Sample 48.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait49"><Description>
        Sample 49.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait50"><Description>
        Sample 50.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait51"><Description>
        Sample 51.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait52"><Description>
        Sample 52.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait53"><Description>
        Sample 53.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait54"><Description>
        Sample 54.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait55"><Description>
        Sample 55.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait56"><Description>
        Sample 56.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait57"><Description>
        Sample 57.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait58"><Description>
        Sample 58.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait59"><Description>
        Sample 59.
    </Description><Units:minute/><Value>NaN</Value></DefineArg>

    <DefineArg Name="Wait60"><Description>
        Sample 60.
    </Description><Units:minute/><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="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="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="NeedCommsTimeVeryLong"><Description>
        How often to surface for commumications during sampling. Huge number to
        disable needcomms.
    </Description><Units:hour/><Value>100</Value></DefineArg>

    <DefineOutput Name="ShallowBoundSmearIndividual"><Description>
        YoYoMinDepth individual.
    </Description><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="DeepBoundSmearIndividual"><Description>
        YoYoMaxDepth individual.
    </Description><Units:meter/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="WaitIndividual"><Description>
        Wait individual.
    </Description><Units:minute/><Value>NaN</Value></DefineOutput>

    <DefineOutput Name="CartridgeTypeIndividual"><Description>
        Cartridge type individual.
    </Description><Units:count/><Value>NaN</Value></DefineOutput>

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

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

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

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

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

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

    <DefineOutput Name="YoYoMinDepth"><Description>
        Minimum depth while performing the YoYo behavior. Program will overwrite
        for each sampler, e.g., ShallowBoundSmear1.
    </Description><Units:meter/><Value>1.5</Value></DefineOutput>

    <DefineOutput Name="YoYoMaxDepth"><Description>
        Maximum depth while performing the YoYo behavior. Program will overwrite
        for each sampler, e.g., DeepBoundSmear1
    </Description><Units:meter/><Value>20</Value></DefineOutput>

    <DefineOutput Name="WaitDuration"><Description>
        Wait time before firing a sample. Program will set for each sampler,
        e.g., Wait1.
    </Description><Units:minute/><Value>5.0</Value></DefineOutput>

    <DefineOutput Name="CommsEndOfSampleCompleted"><Description>
        End-of-sample comms completed. Initialized to False.
    </Description><False/></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="SampleOptionsSet"><Description>
        Sample options (DepDiffFromPeakChl, ReportAtSurface, ReacquirePeak)
        already set. 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="NeedCommsTimeVeryLong"/></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>

    <Insert Filename="Insert/AbortDrift.tl">
        <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.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="TrackingAcousticTarget">

        <While>
            <Arg Name="TrackAcousticTarget"/>
        </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="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>

        <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 Id="SetSampleOptions">

        <When>
            <Called/>
        </When>

        <Aggregate Id="SettingCartridgeTypeIndividual">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="CartridgeTypeIndividual"/>
                </IsNaN>
                <Or><Not><Arg Name="UseESP"/></Not></Or>
            </Break>

            <Assign><Sequence/><Arg Name="CartridgeType"/><Arg Name="CartridgeTypeIndividual"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingCartridgeTypeCommon">

            <Sequence/>

            <Break>
                <Not><IsNaN><Arg Name="CartridgeTypeIndividual"/>
                </IsNaN></Not>
                <Or><Not><Arg Name="UseESP"/></Not></Or>
            </Break>

            <Assign><Sequence/><Arg Name="CartridgeType"/><Arg Name="CartridgeTypeCommon"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingYoYoMinDepthIndividual">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="ShallowBoundSmearIndividual"/>
                </IsNaN>
            </Break>

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

        </Aggregate>

        <Aggregate Id="SettingYoYoMinDepthCommon">

            <Sequence/>

            <Break>
                <Not><IsNaN><Arg Name="ShallowBoundSmearIndividual"/>
                </IsNaN></Not>
            </Break>

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

        </Aggregate>

        <Aggregate Id="SettingYoYoMaxDepthIndividual">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="DeepBoundSmearIndividual"/>
                </IsNaN>
            </Break>

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

        </Aggregate>

        <Aggregate Id="SettingYoYoMaxDepthCommon">

            <Sequence/>

            <Break>
                <Not><IsNaN><Arg Name="DeepBoundSmearIndividual"/>
                </IsNaN></Not>
            </Break>

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

        </Aggregate>

        <Aggregate Id="SettingWaitIndividual">

            <Sequence/>

            <Break>
                <IsNaN><Arg Name="WaitIndividual"/>
                </IsNaN>
            </Break>

            <Assign><Sequence/><Arg Name="WaitDuration"/><Arg Name="WaitIndividual"/></Assign>

        </Aggregate>

        <Aggregate Id="SettingWaitCommon">

            <Sequence/>

            <Break>
                <Not><IsNaN><Arg Name="WaitIndividual"/>
                </IsNaN></Not>
            </Break>

            <Assign><Sequence/><Arg Name="WaitDuration"/><Arg Name="WaitCommon"/></Assign>

        </Aggregate>

        <Syslog Severity="Important">Set CartridgeType (if ESP), YoYoMinDepth, YoYoMaxDepth, WaitDuration to <Arg Name="CartridgeType"/><Units:count/>, <Arg Name="YoYoMinDepth"/><Units:meter/>, <Arg Name="YoYoMaxDepth"/><Units:meter/>, <Arg Name="WaitDuration"/><Units:minute/>.</Syslog>

    </Aggregate>

    <Aggregate Id="MissionStart">

        <Sequence/>

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

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

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

    </Aggregate>

    <Aggregate Id="TransitToSamplingLocation">

        <Sequence/>

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

        <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="NeedComms:DiveInterval"/><Arg Name="NeedCommsTimeVeryLong"/></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>
            <Not><IsNaN><Arg Name="TransitLatitude"/>
            </IsNaN><Or><IsNaN><Arg Name="TransitLongitude"/>
            </IsNaN></Or></Not>
        </Break>

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

<!--debug
    <Syslog Severity="Important">Overwrite or update. CenterLatitude, CenterLongitude, contact_latitude, contact_longitude, contact_latitude_lowpass, contact_longitude_lowpass = <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/>, <Estimation:Tracking.contact_latitude/><Units:degree/>, <Estimation:Tracking.contact_longitude/><Units:degree/>, <Estimation:Tracking.contact_latitude_lowpass/><Units:degree/>, <Estimation:Tracking.contact_longitude_lowpass/><Units:degree/></Syslog>
-->

        <Aggregate Id="UpdateWithContactLowpassLatLon">

            <Sequence/>

            <When>
                <Not><IsNaN><Arg Name="ContactLatitudeLowpass"/>
                </IsNaN></Not>
                <And><Not><IsNaN><Arg Name="ContactLongitudeLowpass"/>
                </IsNaN></Not></And>
                <And><Elapsed><Arg Name="ElapsedSinceLastCenterUpdate"/></Elapsed><Ge><Arg Name="TrackingUpdatePeriod"/></Ge></And>
            </When>

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

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

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

            <Syslog Severity="Info">Updating. Elapsed time since last center update, CenterLatitude, CenterLongitude = <Arg Name="ElapsedTime"/><Units:second/>, <Arg Name="CenterLatitude"/><Units:degree/>, <Arg Name="CenterLongitude"/><Units:degree/></Syslog>

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

        </Aggregate>

    </Aggregate>

    <Aggregate Id="Cylinder">

        <Sequence/>

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

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

        <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>

    <Aggregate Id="TakeSamples">

        <Parallel/>

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

        <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="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. Elapsed time since start or last sample, MaxWaitNoFiring, CntSamples = <Arg Name="ElapsedTime"/><Units:minute/>, <Arg Name="MaxWaitNoFiring"/><Units:minute/>, <Arg Name="CntSamples"/><Units:count/></Syslog>

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

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample1">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>1</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType1"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear1"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear1"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait1"/></Assign>

            <Call Id="SetOptionsForSample1" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample2">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>2</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType2"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear2"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear2"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait2"/></Assign>

            <Call Id="SetOptionsForSample2" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample3">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>3</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType3"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear3"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear3"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait3"/></Assign>

            <Call Id="SetOptionsForSample3" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample4">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>4</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType4"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear4"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear4"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait4"/></Assign>

            <Call Id="SetOptionsForSample4" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample5">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>5</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType5"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear5"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear5"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait5"/></Assign>

            <Call Id="SetOptionsForSample5" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample6">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>6</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType6"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear6"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear6"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait6"/></Assign>

            <Call Id="SetOptionsForSample6" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample7">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>7</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType7"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear7"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear7"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait7"/></Assign>

            <Call Id="SetOptionsForSample7" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample8">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>8</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType8"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear8"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear8"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait8"/></Assign>

            <Call Id="SetOptionsForSample8" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample9">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>9</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType9"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear9"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear9"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait9"/></Assign>

            <Call Id="SetOptionsForSample9" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample10">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>10</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType10"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear10"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear10"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait10"/></Assign>

            <Call Id="SetOptionsForSample10" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample11">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>11</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType11"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear11"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear11"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait11"/></Assign>

            <Call Id="SetOptionsForSample11" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample12">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>12</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType12"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear12"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear12"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait12"/></Assign>

            <Call Id="SetOptionsForSample12" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample13">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>13</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType13"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear13"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear13"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait13"/></Assign>

            <Call Id="SetOptionsForSample13" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample14">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>14</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType14"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear14"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear14"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait14"/></Assign>

            <Call Id="SetOptionsForSample14" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample15">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>15</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType15"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear15"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear15"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait15"/></Assign>

            <Call Id="SetOptionsForSample15" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample16">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>16</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType16"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear16"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear16"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait16"/></Assign>

            <Call Id="SetOptionsForSample16" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample17">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>17</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType17"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear17"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear17"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait17"/></Assign>

            <Call Id="SetOptionsForSample17" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample18">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>18</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType18"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear18"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear18"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait18"/></Assign>

            <Call Id="SetOptionsForSample18" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample19">

            <When>
                <Not><Arg Name="SampleOptionsSet"/></Not>
                <And><Arg Name="CntSamples"/><Add><Arg Name="StartIndex"/></Add><Sub><Units:count/><Value>1</Value></Sub><Eq><Units:count/><Value>19</Value></Eq></And>
                <And><Arg Name="CntSamples"/><Le><Arg Name="NumSamplers"/></Le></And>
                <And><Not><Arg Name="FlagSamplingOngoing"/></Not></And>
            </When>

            <Assign><Sequence/><Arg Name="CartridgeTypeIndividual"/><Arg Name="CartridgeType19"/></Assign>

            <Assign><Sequence/><Arg Name="ShallowBoundSmearIndividual"/><Arg Name="ShallowBoundSmear19"/></Assign>

            <Assign><Sequence/><Arg Name="DeepBoundSmearIndividual"/><Arg Name="DeepBoundSmear19"/></Assign>

            <Assign><Sequence/><Arg Name="WaitIndividual"/><Arg Name="Wait19"/></Assign>

            <Call Id="SetOptionsForSample19" RefId="SetSampleOptions"/>

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

        </Aggregate>

        <Aggregate Id="SetOptionsOfSample20">

            <When>
                <Not><Arg Name="SampleOptio