behavior missionTimer
{
  timeOut = 2700;
}
#
# Depth Envelope
#
behavior depthEnvelope
{
  minDepth = 0; #Meters
  maxDepth = 200; #Meters
  abortDepth = 225; #Meters
  minAltitude = 40.0; #Meters
  abortAltitude = 30.0; #Meters
}
# acquire gps fix
behavior getgps {
duration = 300;
minHits = 10;
abortOnTimeout = True;
}

behavior ascend
{
  duration = 900; #Seconds
  horizontalMode = rudder; #Mode
  horizontal = -3; #Degrees; 
  pitch = 30; #Degrees
  speed = 1.5; #Meters/sec
  endDepth = 2; #Meters
}

#
# Descend to transit depth and go to starting waypoint.
behavior descend
{
horizontalMode = rudder;
horizontal = 3.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 150;
minAltitude = 50.000000;
duration = 600;
}

#
# Descend and transit to starting waypoint.
behavior descend {
horizontalMode = heading;
horizontal = 270.0;
pitch = -30;
speed = 1.5;
maxDepth = 8;
duration = 400;
minAltitude = 30;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration = 30;
heading = 270.0;
speed = 1.5;
verticalMode = pitch;
pitch = 0;
}

# acquire gps fix
behavior getgps {
duration = 300;
minHits = 10;
abortOnTimeout = True;
}