First make the following adjustment to Insert/LineCapture - + Add the specific configs to dock.cfg and then the mission will: 1.) Wait timeout for loading in launcher. 2.) Turn on prop and arm for docking if the range is low enough. 4.) Cable present == latch for timeout then release, float up, and end mission. Maximum length of mission 7 How deep in the tank do you want to swim? 1.22 Time to wait prior to turning on the prop. 9 Static setting for elevator. -4.0 Static setting for rudder. 3.0 Time duration to wait on the dock after a successful line capture. 5 Transponder Address. How long to wait between acoustic queries. 60 How long to wait between acoustic queries. 2.5 Number of pings requested each time. 1 Number of pings requested while in USBL mode range. 5 USBL mode range. 40 Minimum height above the sea floor for the entire mission. 0.1 Minimum offshore distance for the entire mission. 0.0001 Mission variable (don't change). The mission sets this variable to reflect the termination status of the LineCapture insert. -1 Mission variable (don't change). The mission sets this variable to update the requested ping number and enter usbl mode. 1 Mission variable (don't change). The mission sets this variable to update the how long to wait between acoustic queries. 60 No longer in Terminal. Resuming normal ranging with pings. 5 Entering USBL mode with pings at (mode ). 5 Resuming normal ranging with pings (mode ). 5 Entering Midcourse tracking update period sec at(mode ). 5 Entering Terminal tracking update period sec at(mode ). Waiting to load for -99 Mode 0 Waiting on dock for Breaking off. Range: .