behavior missionTimer {
  timeOut = 40000;
}

behavior depthEnvelope {
  minDepth = 0;
  minAltitude = 50.0;
  abortAltitude = 25.0;
  maxDepth = 3750;
}

behavior setpoint
{
  duration = 3600;
  heading = 180.0;
  speed = 0.0;
  verticalMode = pitch;
  pitch = 0.0;
}

behavior dropTheWeight
{
  duration = 60;
  dummy = 1;
}

behavior setpoint
{
  duration     = 3600;        #Seconds
  heading      = 180.0;       #Degrees
  speed        = 0.0;       #Meters/second
  verticalMode = pitch;
  pitch        = 0.0;        #degrees
}

behavior ascend 
{
  duration = 7200;
  horizontalMode = rudder;
  horizontal = 3.0;
  pitch = 45.0; 
  speed = 1.5;
  endDepth = 5.0;
}

#turn off sonars & logging

behavior reson
{
  duration = 6;
  MB_Power = 0.0;
  SBP_Mode = 0;
  LoSS_Mode = 0;
  HiSS_Mode = 0;
  Log_Mode = 0;
}