# Come back up to the surface
behavior ascend {

  duration = 30;
  horizontalMode = heading;	
  horizontal = 93.;
  pitch = 30.0000702;
  speed = 1.5;
  endDepth = 0;	
  dropDescentWeight = true;
  dropAscentWeight = true;
}

# Dive
behavior descend {

  duration = 30;
  horizontalMode = heading;
  horizontal = 93;
  pitch = -30;
  speed = 1.5;
  maxDepth = 6000;
  minAltitude = 0.;
  dropDescentWeight = true;
  dropAscentWeight = true;
}

/*

# Cruise at the surface
behavior ascend {

  startTime = 60;
  endTime = 100000;
  horizontalMode = rudder;	
  horizontal = 0.;
  pitch = 0.;
  speed = 1.5;
  endDepth = 0;	
  dropDescentWeight = true;
  dropAscentWeight = true;
}
*/