Home to transponder sequence: (0) Undock (1) Midcourse guidance: nav to dock WP while querying transponder, execute search pattern if WP is reached with no response from x-ponder. (2) Terminal guidance: home to target using DUSBL tracking data, reset nav, and dock Latitude of docking station waypoint (defaults to Config/workSite.beaconLat). Longitude of docking station waypoint (defaults to Config/workSite.beaconLon). Maximum time duration for the vehicle to detach form the dock. The vehicle will switch over to midcourse guidance after the timeout is expired. 30 Desired vehicle depth when navigating to dock WP (during midcourse phase). Thruster speed during Midcourse guidance. Maximum time duration for running in midcourse guidance mode. Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???. Maximum time duration allowed between pings during terminal guidance. If expired, the vehicle will regress to Midcourse guidance. LineCapture single-pole IIR filter decay value. Filters line-of-sight (LOS) angle rotation rate. The Decay value should be btween 0 to 1, set to 0 disable filtering. 0.0 Maximum time duration for running in search guidance mode. Radius of circle around the dock waypoint. 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. Vertical drift from the specified depth that's allowed during depth keeping. 0.01 Degree of rounding in rudder command output values to use during Terminal Homing. 0.001 Minimum height above the sea floor for the entire mission. 2 Maximum depth for the entire mission. 8 Minimum offshore distance for the entire mission. 1 Docking altitude. Ignored when NaN and used over depth when a valid altitude is set. NaN The mission will use the last good depth command if no valid altitude readings are received within this specified time duration. NaN Vehicle will not be commanded deeper than this regardless of altitude command. NaN AltitudeServo single-pole IIR filter decay value. Low-pass filters the AltitudeServo depth command. The Decay value should be btween 0 to 1, set to 0 disable filtering. 0.0 Mission variable (don't change). The mission will run in this mode when the insert timed out. -1 Mission variable (don't change). The mission will run in this mode when the insert is done (docked). 0 Mission variable (don't change). The mission will run in this mode to drift away from the dock after is unlatched. 1 Mission variable (don't change). The mission will run in this mode when approaching the dock under Midcourse guidance. 2 Mission variable (don't change). The mission will run in this mode when approaching the dock under Terminal guidance. 3 Mission variable (don't change). The mission sets this variable to switch between guidance modes. Mission variable (don't change). Actual docking depth. 1 0 NaN Maintain VB and mass at neutral/default position while underway (during Midcourse and Terminal guidance). 0 This is the insert's guidance section, which arbitrates between 3 modes: 1) DetachFromDock: unlatch and drift away from the dock. 2) Midcourse: navigate toward the dock waypoint, and enter search pattern if waypoint has been reached with no range data. 2) Terminal: home toward the dock using DUSBL tracking data. Unlatch and drift away from the dock. Timed out while trying to detach from dock at current depth of . Transitioning to midcourse guidance. (1) Navigate toward the dock waypoint while querying the dock transponder. (2) Continue until within *TerminalRange*, then move on to terminal guidance. (3) Enter search pattern if waypoint has been reached with no range data. Navigating to dock waypoint (,) Transitioning to terminal guidance at range Terminating homing sequence: timed out while navigating to the dock waypoint. Executing search pattern. Timed out while executing search pattern around dock waypoint. Homing sequence timed out prior to docking. Home toward the target using USBL tracking data. Terminal guidance. Transitioning to midcourse guidance. Received last range ofago. Docked. Homing sequence complete. 3 GuidanceMode