1.) Wait timeout for loading in launcher. 2.) Turn on prop and arm for docking. 3.) Wait timeout for either cable present or timeout. 4.) Cable present == latch for timeout then release, back up and end mission. 5.) No cable present == speed 0 and end mission. 6.) end mission == float up at 0 speed Maximum length of mission 15 Thruster speed for docking. 1 Thruster speed while closing the latch (ideally slower) than docking. 0.5 How deep in the tank do you want to swim? 1.22 Time to wait prior to turning on the prop. 90 Time to wait with the prop on driving to the dock. 70 Time to wait before closing the latch after seeing the cable. 10 Time to wait while the latch closes. 10 Time to wait on the dock. 15 Time to wait while performing dock detach. 7 How long to wait for the vehicle to float to the surface. 120 Static setting for elevator. -4.0 Static setting for rudder. 3.0 Mission variable (don't change). The mission sets this variable to switch between dive modes. 0 Mission variable (don't change). The mission will run in this to mode when running surface comms. 0 Mission variable (don't change). The mission will run in this mode to initiate the debouncing latch sequence. 1 Mission variable (don't change). The mission will run in this mode when surface comms are done to dive the vehicle to DVL bottom range. 2 Mission variable (don't change). The mission will run in this mode to maintatin depth while the vehicle is latched on the dock. 3 Mission variable (don't change). The mission will run in this mode to drift away from the dock after is unlatched. 4 Mission variable (don't change). The mission will run in this mode to float back to the surface rather than drive. 5 1 Vehicle hit cable and now needs to debounce. Initiating latching sequence. Waiting for debounce Change speed and close arm. Closing and changing speed. 1 -12 Latch confirmed closed. Could not confirm latch closed. Detaching. Wait on dock after vehicle latches. Holding on dock. 1 0 Reverse off the dock. Detaching From Dock. 2 -1 Floating Up. 2 0 Waiting to load for Timed out while driving to the dock. Prop on and arming! 2