This mission drives in a circle while sampling at the designated depth. How long to let the mission run. 120 How often to surface for commumications 120 Depth to sample at. 50 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 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.