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My atmospheric cargo ships also get the job done, but they look ugly!
I've found one small problem: The thruster on the top damages the camera on full thrust.
Are the hydrogen engines on an running?
You may need to put some of the Hercules batteries to discharge if you don't have enough hydrogen. Or wait until the Hercules is not using its power to charge miners as well.
You choose these options by taking control of the ship (while looking at the LCD), making sure PB [SAM] is turned on, going to toolbar 4 and pressing button 4 to change screens (which should show you a list of available docks), choosing the docks you want using button 3 (select).
Once you are done choosing all the stops you want your drone to take, press button 4 again and you should see a list of only the docks you have selected, if you press button 3 it will cycle through docking options for the selected dock; "Charge", "Load", "Unload", "Charge&Load'and "Charge&Unload".
Keep in mind the SAM script doesn't actually move the cargo, so you may still need sorters.