We study the critical gravitational collapse of a massless scalar field non-minimally coupled to gravity, using a quadratic coupling function with a strength parameter $\xi$. We concentrate on critical phenomena of type II, and determine with an accuracy of at least $10^{-12}$ the value of the critical amplitude for collapse to a black hole, as well as the values of the critical and echoing exponents. Obtaining such high accuracy in the critical amplitude requires us to do a coordinate radial transformation that effectively increases resolution near the central regions by a factor of at least $10^3$. As expected, we find that for the case of small coupling the critical behaviour is very similar to that of a minimally coupled scalar field. On the other hand, for high coupling the dynamics become so violent that we need to introduce a special slicing condition, known as the shock-avoiding slicing condition, in order to avoid gauge pathologies that would otherwise cause our simulations to fail. With this new gauge condition we are able to perform high accuracy simulations even in the strong coupling regime, where we find that the critical and echoing exponents become significantly smaller, and that the echoing behavior is richer and can not be modelled by a single harmonic.