# mission timer set to 120% of estimated time of mission
behavior missionTimer {
timeOut = 1000;
}

# depth envelope set to commanded + 5 m, abort at commanded + 10
behavior depthEnvelope {
minDepth      = 0;
maxDepth      = 9;
abortDepth    = 12;
minAltitude   = 5;
abortAltitude = 3;
}

# setpoint on surface to gather momentum
behavior setpoint {
duration     = 300;
heading      = 30;
speed        = 0.0;
verticalMode = depth;
depth        = 0;
}