{
    GLOBAL = {
        ENTER = ("setSpeedTo: 0.0", requestDockingCoordinates, "setStateTo: AWAIT_COORDS"); 
        EXIT = (); 
        UPDATE = (); 
    }; 
    "AWAIT_COORDS" = {
        "APPROACH" = ("setStateTo: APPROACH"); 
        "APPROACH_COORDINATES" = ("setStateTo: GO_TO_COORDS"); 
        "BACK_OFF" = ("setStateTo: RETREAT"); 
        "HOLD_POSITION" = ("setStateTo: STATIONKEEPING"); 
        "DOCKING_ABORTED" = ("setStateTo: ABORT"); 
        "TRY_AGAIN_LATER" = ("pauseAI: 30.0", "setStateTo: ABORT"); 
        "COLLISION" = ("setStateTo: ABORT"); 
        "RESTART_DOCKING" = ("setStateTo: GLOBAL"); 
        DOCKED = ("setStateTo: EXIT_SYSTEM"); 
        ENTER = (); 
        EXIT = (); 
        UPDATE = (); 
    }; 
    STATIONKEEPING = {
        ENTER = (performIdle, "setSpeedTo: 0.0", "pauseAI: 10.0"); 
        EXIT = (); 
        UPDATE = (requestDockingCoordinates, "setStateTo: AWAIT_COORDS"); 
    }; 
    APPROACH = {
        ENTER = (recallDockingInstructions, setTargetToStation, setDestinationToTarget, "setDesiredRangeTo: 10000.0", "setSpeedFactorTo: 1.0", performFlyToRangeFromDestination); 
        "DESIRED_RANGE_ACHIEVED" = (requestDockingCoordinates, "setStateTo: AWAIT_COORDS"); 
        "DOCKING_ABORTED" = ("setStateTo: ABORT"); 
        "COLLISION" = ("setStateTo: ABORT"); 
        "RESTART_DOCKING" = ("setStateTo: GLOBAL"); 
        EXIT = (); 
        UPDATE = (); 
    }; 
    RETREAT = {
        ENTER = (recallDockingInstructions, setTargetToStation, setDestinationToTarget, "setSpeedFactorTo: 0.5", "setDesiredRangeTo: 5000.0", performFlyToRangeFromDestination); 
        "DESIRED_RANGE_ACHIEVED" = (requestDockingCoordinates, "setStateTo: AWAIT_COORDS"); 
        "DOCKING_ABORTED" = ("setStateTo: ABORT"); 
        "COLLISION" = ("setStateTo: ABORT"); 
        "RESTART_DOCKING" = ("setStateTo: GLOBAL"); 
        EXIT = (); 
        UPDATE = (); 
    }; 
    "GO_TO_COORDS" = {
        ENTER = (performFaceDestination);
        FRUSTRATED = ("setSpeedTo: 0.0", performFaceDestination); 
        "FACING_DESTINATION" = (recallDockingInstructions, performFlyToRangeFromDestination); 
        "DESIRED_RANGE_ACHIEVED" = (requestDockingCoordinates, "setStateTo: AWAIT_COORDS"); 
        "DOCKING_ABORTED" = ("setStateTo: ABORT"); 
        "COLLISION" = ("setStateTo: ABORT"); 
        "RESTART_DOCKING" = ("setStateTo: GLOBAL"); 
        EXIT = (); 
        UPDATE = ();
	};
    ABORT = {
        ENTER = (abortDocking, "setSpeedTo: 0.0", setDestinationToDockingAbort, "setDesiredRangeTo: 500.0", performFaceDestination); 
        "FACING_DESTINATION" = ("setSpeedFactorTo: 1.0", "setDesiredRangeTo: 500.0", performFlyToRangeFromDestination); 
        EXIT = (); 
        "RESTART_DOCKING" = ("setStateTo: GLOBAL"); 
        "REACHED_SAFETY" = (performIdle, "setStateTo: GLOBAL"); 
        "DESIRED_RANGE_ACHIEVED" = (performIdle, "setStateTo: GLOBAL"); 
        UPDATE = (); 
    }; 
    "EXIT_SYSTEM" = {ENTER = (performDocking, exitAI); EXIT = (); UPDATE = (); }; 
}