Maximum duration of mission 2 Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications 60 Latitude of waypoint to start drifting. If NaN, start drifting at the current position. NaN Longitude of waypoint to start drifting. If NaN, start drifting at the current position. NaN Depth held during drift mode 30 Depth for initial approach to station. 15 Vehicle transit speed. 1.0 How much vertical drift from the specified depth is allowed in drift mode 2 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 45 Minimum offshore distance for the entire mission. 2 Mission variable (don't change). Whether the relief vehicle has showed up and communicated its intent to relieve this sampling vehicle. 0 0 Recieved relievedOfDuty transmission from relief vehicle. 1 Moving to target depth of 0 Returning to surface.