This mission drives in a circle while ascending at a given depth rate. How long to let the mission run. 120 How often to surface for commumications 120 Depth to sample at. 50 Depth at which to end. 5 Depth rate (Negative depth rate means going up). -0.05555 Number of samples to take. 1 Vehicle speed. Initialized to zero. 1 Rudder angle. Initialized to zero. 12 How long to wait between samples. This starts *before* the first sample to exercise the SettleTime setting in the insert aggregate. 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 Time to wait after reaching target depth before triggering sample. 30 Whether to use CANON Sampler to sample. Whether to use ESP to sample. How long to wait for a CANON Sampler sample to start. 1 How long to wait for a CANON Sampler sample to complete. 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. Moving to Timed out triggering CANONSampler. Stopping mission. stop CANONSampler sampling at in water with chlorophyll fluorescence. Timed out sampling with CANONSampler. Stopping mission. stop ESP sampling at in water with chlorophyll fluorescence.