////////////////////////////////////////////////////////////////
//
//  Copyright (c) 2024 MBARI
//  MBARI Proprietary Information. Confidential. All Rights Reserved
//  Unauthorized copying or distribution of this file via any medium is strictly
//  prohibited.
//
//  WARNING - This file contains information whose export is restricted by the
//  Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
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//////////////////////////////////////////////////////////////// 
// 
// PURPOSE: This contains DockModule parameters for Tethys.
//
// NOTES:   All values (except "strings") must be followed by
//          a unit abbreviation (or one of the unit-like
//          abbreviations: n/a, bool, enum, count). 
// 
//////////////////////////////////////////////////////////////// 

Dock.lat             = 36.9033 arcdeg; // latitude
Dock.lon             = -122.119 arcdeg; // longitude
Dock.depth           =  68.5 meter; // transponder depth
Dock.transponderCode =  50 count; // Dock transponder address

Docked.dockingDepthOffset = 1.7 meter; // Offset from the dock xponder depth to use when docking. Positive down.
Docked.verbose            = 1 bool;     // Report state transitions to shore when true

// Terminal homing settings
LineCapture.shortFinalRange           = 10.0 meter;  // Range at which further ranges are ignored in final approach. Used because azimuth becomes very noisy as elevation angle increases to 90. Vehicle will continue navigating to the projected waypoint.
LineCapture.latchDelayTimeout         = 0.25 second;   // Time duration to wait after cable present first turns true until closing the latch
LineCapture.searchTimeout             = 5 minute;      // Max time to spend searching after arrival at wpt. 

// Undock settings
Undock.undockDepth   = 60 meter; // Desired vehicle depth when undocking.
Undock.undockRange   = 7 meter;