behavior missionTimer {
  timeOut = 40000;
}

behavior depthEnvelope {
  minDepth = 0;
  minAltitude = 50.0;
  abortAltitude = 25.0;
  maxDepth = 550;
}

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 = 300;
#  horizontalMode = rudder;
#  horizontal = -8.0;
#  pitch = 45.0; 
#  speed = 1.5;
#  endDepth = 10.0;
#}

#turn off sonars & logging

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