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 Thruster speed for docking. 1 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. 60 Time to wait before closing the latch after seeing the cable. 15 Time to wait for dock detach. 7 How long to wait for the vehicle to float to the surface. 120 Static setting for mass during the mission. Set to NaN mm for active mass position Degree of rounding in elevator command output value 0.1 proportional gain 0.25 integral gain 0.008 derivative gain 0.05 Static setting for rudder. 3.0 :0 1 Waiting to load for Timed out while driving to the dock. Prop on and arming! 2 1 0 2 -1 1 0