You can take a look from the second mission of a campaign I made. "building a war" o "fabricando una guerra" in Spanish.
There's a pick up goal surfacing to rescue a pilot.
I set min depth 2.00
mx depth 48.00
max speed 3
duration 2 minutes (00:02:00)
radius 0.30
I supose you have done it yet, but make sure in the 2nd page to set the ship that have to aproach the seals.
You can dowload the campaign on
www.subguru.com