I did not select the repeating group option when creating the mapping.
When using the full XPath, /id=my:helperFields/my:listID, I get the error Failed to select node for SharePoint List Id: my:helperFields/my:listID.
My mapping file is attached. The command be executed is:
SubmitToSharePointList /submit=SharePointFullSubmit /mapping=DDE-Note_Form-Mapping /id=my:helperFields/my:listID