Vehicle spirals downward, then spirals upward, stopping at specified depths to collect samples. Maximum duration of mission 3 Depth of sample 1. 200 Depth of sample 2. 150 Depth of sample 3. 80 Depth of sample 4. 60 Depth of sample 5. 60 Depth of sample 6. 40 Depth of sample 7. 40 Depth of sample 8. 30 Depth of sample 9. 30 Depth of sample 10. 20 Depth of sample 11. 20 Depth of sample 12. 10 Depth of sample 13. 10 Depth of sample 14. 2 Depth of sample 15. 2 How long to wait after reaching target depth before triggering sample. 0 Rudder angle to use while performing the spiral cast. 13 Speed while performing the spiral cast. 1 Minimum altitude for the entire mission. 5 Maximum depth for the entire mission. 210 Avoid bouncing in and out of safety envelopes. If your specified sample depth is too deep or too close to the seafloor, skip it. Depth to sample at. 1