behavior missionTimer {	timeOut = 24000;}behavior depthEnvelope { 	minDepth = 0; 	maxDepth = 105; 	abortDepth = 120; 	abortAltitude = 15.0;}behavior setpoint {	id=0; 	heading=0; 	speed=0.0;	verticalMode=pitch;	pitch=0;	duration=3;}