////////////////////////////////////////////////////////////////
//
//  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             =   36.8034 arcdeg; // latitude
Dock.lon             = -121.8223 arcdeg; // longitude
Dock.depth           =  27.0 meter; // transponder depth
Dock.transponderCode =  201 count; // Dock transponder address



Docked.dockingDepthOffset = -3.0 meter;  // Offset of the dock xponder with respect to the desired dock location.  Positive down.
Docked.dockRange          = 8.0 meter;  // Maximum absolute range allowed from dock xponder.
Docked.dockPitch          = 20.0 degree; // Pitch angle to hold while on the dock.
Docked.detachTimeout      = 300 second; // Time duration for determining if the vehicle is detached from the dock (transition docked->detached).
Docked.dockTimeout        =  30 second; // Time duration for determining if the vehicle is ON the dock (transition detached->docked).
Docked.dataTimeout        = 600 second; // Max time duration allowed with no stepper updates
Docked.rangeTimeout       = 600 second; // Max time duration allowed with no range updates.
Docked.verbose            = 0 bool;     // Report state transitions to shore when true


// Midcourse settings
LineCapture.midcourseSpeed            = 1.0 m/s;   // Thruster speed during Midcourse guidance.
LineCapture.midcourseDepth            = 25.0 meter;// Desired vehicle depth when navigating to dock WP (during Midcourse phase).
LineCapture.midcourseTimeout          = 6 hour;    // Maximum time duration for running in midcourse guidance mode.
// Terminal homing settings
LineCapture.terminalRange             = 650.0 meter; // 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 ???.
LineCapture.acousticTimeout           = 5 minute;    // Maximum time duration allowed between pings during terminal guidance. If expired, the
                                                     // vehicle will regress to Midcourse guidance.
LineCapture.armRange                  = 40.0 meter;  // Range to trigger arming actions (e.g., deploy docking whiskers).
LineCapture.armSpeed                  = 0.8 m/s;       // Thruster speed when armed.
LineCapture.lockoutRange              = 3.0 meter;   // Range in which terminal guidance stops updating the heading cmd (slant range).
LineCapture.shortFinalRange           = 18.0 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.interceptTimeout          = 60 second;   // Max time duration to run in intercept mode.
LineCapture.latchDelayTimeout         = 0 second;    //Time duration to wait after cable present first turns true until closing the latch
LineCapture.rolloutDistance           = 150 meter;   // Distance to move away from the target (rollout) in response to a miss.
LineCapture.rolloutSpeed              = 1.0 m/s;     // Thruster speed during rollout.
LineCapture.rolloutTimeout            = 15 minute;   // Max time to run in zero-speed rollout mode
LineCapture.rolloutMaxTimeout         = 20 minute;   // Absolute max time to run in rollout mode
LineCapture.kpHeadingTerminalGuidance = 0.8 ratio;   // HorizontalControl heading proportional gain during TERMINAL GUIDANCE
LineCapture.kiHeadingTerminalGuidance = 0.004 1/s;   // HorizontalControl heading integral gain during TERMINAL GUIDANCE
LineCapture.kpHeadingFinalApproach    = 0.8 ratio;   // HorizontalControl heading proportional gain during FINAL APPROACH
LineCapture.kiHeadingFinalApproach    = 0.004 1/s;   // HorizontalControl heading integral gain during FINAL APPROACH
LineCapture.navigationGain            = 3.0 none;    // Proportional Navigation gain (constant). Typically between 3 to 5.
LineCapture.verbose                   = 0 bool;      // Report state transitions to shore when true
// Search pattern settings
LineCapture.searchTimeout             = 30 minute;      // Maximum time duration for running the search pattern. Once expired, the
                                                     // vehicle will enter surface mode.
LineCapture.searchCircleRadius        = 1000.0 meter;  // Radius of circle around the dock waypoint.


SetNav.dockRange    = 5 meter;  // Range from dock in which the vehicle resets its position to dock lat/lon .
SetNav.rangeTimeout = 5 minute; // Time duration after which ranges are considered stagnant.


Undock.undockDepth   = 7.5 meter; // Desired vehicle depth when undocking.
Undock.undockRange   = 10.0 meter; // Desired absolute range from dock xponder.
Undock.undockTimeout = 20 second; // Time duration to wait after detachment is detected to avoid false positives and ensure successful undocking.
Undock.reverseThrustTimeout = 10 second; // Max time duration to keep the thruster engaged in reverse to break apart from the dock.
Undock.verbose       = 0 bool;    // Report state transitions to shore when true