Home to transponder while maintaining altitude. The mission sequence: (*) Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: break off from dock, then nav back to start wp or move away from the target at the last commanded heading (*) repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude. Maximum length of mission 4 How often to surface for commumications 60 Number of times the vehicle should try to cycle through the homing sequence. 1 Latitude of docking station waypoint. 36.7436 Longitude of docking station waypoint. -121.8800 Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTime* has passed. NaN Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until *RolloutTime* has passed. NaN 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 ???. 650.0 Range to deploy the whiskers, open the latch, and activate the camera. 40.0 Range from dock to stop commanding heading. 1.0 Maximum time duration for running in terminal guidance mode. 30 Maximum time duration for running in Dock lockout mode. 60 When true, the mission updates the vehicle's position to DockLat/Lon when it comes within *DockRange* from the transponder. Time duration to wait on the dock after a successful line capture. 90 Range from dock in which the vehicle is considered undocked. IMPORTANT: When undocking the vehicle is commanded to drift to InitDepth. Thus, BreakOffRange must be *less* than the vertical distance between the dock transponder and InitDepth. 0.0 Distance to move away from the target (rollout) in response to missing the target. 150 Drive on your last heading for this long after detaching from the dock. This argument is *ignored* if start Lat/Lon are specified. 5 Desired vehicle altitude to maintain. 7 The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality. 15 Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range). 20 Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired. 30 Transponder Address. 2 How long to wait between acoustic queries. 2.5 Number of pings requested each time. 1 Thruster speed for the entier mission. 0 Vertical drift from the specified depth that's allowed during altitude keeping (alt. is projected to depth). 0.01 Heading proportional gain to use during Terminal Homing. 0.8 Heading Integral gain to use during Terminal Homing. 0.002 Heading proportional gain to use during Final Approach. 1.6 Heading Integral gain to use during Final Approach. 0.004 Degree of rounding in rudder command output values to use during Terminal Homing. 0.05 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 Send LineCapture/Undock syslog messages to shore. 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 to true to indicate a successful line capture. Mission variable (don't change). The mission sets this to the vehicle's depth following a successful line capture. 25 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 when surface comms are done to dive the vehicle to DVL bottom range. 1 Mission variable (don't change). The mission will run in this mode to dive the vehicle at a commanded altitude. 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 Called when the vehicle should be underwater. Arbitrates between 3 dive modes: 1) descend from the surface to initial depth. 2) follow commanded altitude. 3) drift away from dock to initial depth. Wait on dock after vehicle latches. 0 Drift away from the dock after vehicle unlatches. 0 Timed out while trying to detach from dock at current depth of . stop Initiating homing sequence. Navigate toward the dock waypoint while querying the dock transponder. Continue until you approach within *TerminalRange*, then move on to the next aggregate. Move toward the target using DUSBL tracking data and update the commanded heading with each cycle, activate SCPI when in range. Continue until you're within *DockRange*, then move on to the next aggregate. Terminal guidance at range: . Timed out while trying to dock at range: . Holding depth at: . Breaking off. Range: . Navigate back to the start waypoint or move away from the target at the last commanded heading until *RolloutTime* has passed. Rollout to start WP at range: . Rollout at range: .