Home to target and, when within ContactDistance, perform a hockey stop (rudder hard over, speed 0) and wait for settle time to expire at ContactDepth. Ideally this mission would be used in conjunction with the scheduler in order to kick off another mission underwater once the settle time has expired. Maximum length of mission 2 How often to surface for commumications 60 The acoustic address of the asset to be tracked 9 The depth of the asset to be tracked 10 How close to get before stopping 50 How long to wait between acoustic queries. 5 Number of pings requested each time. 1 Vehicle speed. 1 Minimum height above the sea floor for the entire mission. 5 Maximum depth for the entire mission. 205 Minimum offshore distance for the entire mission. 2 Wait this long to settle after stopping the prop 10 The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. 36.797 The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact. -121.847 Radius of circle around acoustic contact during wait time 25 If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle. 10 If true, vehicle turns to the left around the center point. If false, vehicle turns to the right. Flag to indicate center lon/lat was updated. Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface. 0 Head towards the target. Hockey stop! Range: 0 13