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However the programmable block for SAM is named "Clo-AO PB [SAM LOOP ApproachDistance=100 TaxiingSpeed=2]"
The "SAM LOOP" part just manes the ship will go back to the top of its navigation list when its done, the important stuff is what comes after that.
"ApproachDistance=100" means that SAM will aim the drone 100m above the connector, rather than the default 10m, before switching to taxi-mode. So if your drone is not able to brake in time, you could try increasing that number.
"TaxiingSpeed=2" just sets the speed at which SAM moves the drone after it reaches that point 100m (or however high you set it) above the connector.