Home to the sampling vehicle's transponder while maintaining depth. The mission sequence: (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance, fast: home to target using DUSBL tracking data (3) Terminal guidance, slow: continue homing to target at a slower speed (4) Drift: maintain depth with zero speed Maximum length of mission 4 How often to surface for commumications 60 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Latitude of sampling vehicle waypoint. 36.693509 Longitude of sampling vehicle waypoint. -121.936568 Depth maintained for the entire mission. 30 0.0 Thruster speed during Midcourse guidance. 1 Maximum time duration for running in midcourse guidance mode. 1 Radius of circle around the dock waypoint. 25 If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. 1 If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. Transponder Address. 8 Range at which the vehicle should switch from navigating to the target wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. 650.0 Thruster speed while close to the sampling vehicle. 0.5 Range-to-sampling-vehicle at which to slow way down. 100.0 Minimum range to continue to update heading being driven. 15.0 How long to wait between acoustic queries 0.1 Number of pings requested each time. 1 Maximum time duration allowed between pings during terminal guidance. If expired, the vehicle will regress to Midcourse guidance. 5 How long to wait for message acknowledgement before restarting. 5 How long to drift in place after achieving target location. 120 NaN 0 Mission variable (don't change). The mission sets this to true when the vehicle is homing. Mission variable (don't change). The mission sets this variable to high or low speed during terminal guidance. 0 Mission variable (don't change). An ACK flag with a timestamp used to detect when new ACK signals have arrived. A True boolean, defined as an arg because you can't directly place values in a call to SendData. Mission variable (don't change). Terminate this mission. 0 Mission variable (don't change). The mission will run in this mode when after successfully relieving the sampling vehicle. 1 Mission variable (don't change). The mission will run in this mode when approaching the sampling vehicle under Midcourse guidance. 2 Mission variable (don't change). The mission will run in this mode when approaching the sampling vehicle under Terminal guidance. 3 The guidance mode is the phase of hot-bunking, a member of the enum: Success Abort Midcourse Terminal 0 This is the guidance section, which arbitrates between 2 modes: 1) Midcourse: navigate toward the sampling vehicle's lat, lon waypoint 2) Terminal: home toward the sampling vehicle using DUSBL tracking data. Initiating homing sequence. Navigate toward the target waypoint while querying the target transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. If a DAT fix within TerminalRange is not acquired within MidcourseTimeout, the mission aborts. Navigating to sampling vehicle waypoint (,) Transitioning to terminal guidance at range Setting GuidanceMode to Terminal Executing search pattern. Terminating homing sequence: did not achieve a DAT fix within TerminalRange before MidcourseTimeout. Setting GuidanceMode to Abort Move toward the target using DUSBL tracking data and update the commanded heading with each cycle. Continue until you're within *SuccessRange*, then tell the sampling vehicle to go away. Entering Terminal guidance. Acoustic timeout! Received last range of ago. Setting GuidanceMode to Midcourse Setting speed to slow since range is . Send a _.relievedOfDuty message to the sampling vehicle. If ACK is received, enter the DONE state, otherwise regress to MidcourseGuidance. Telling sampling vehicle to go away. 0 Setting HomingActive to False. 30 Setting GuidanceMode to Success Setting GuidanceMode to Midcourse Transition to hold at range: . With zero speed, maintain the sampling depth using a Guidance:Pitch command. 0