# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <heezen> at <Wed Sep 28 14:57:17 PDT 2016>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2280 2016-08-07 03:48:42Z caress r
# 
# Mission Summary:
#     Route File:               MudVolcano740mRepeatM1V2.rte
#     Mission File:             MudVolcano740mRepeatM1V2.cfg
#     Distance:                 84778.960840 (m)
#     Estimated Time:           58174 (s)  16.160 (hr)
#     Abort Time:               65442 (s)
#     Max battery life:         68400 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              1157 (s)
#     Way Points:               44
#     Route Points:             717
#     Survey Behaviors:
#          Behavior for waypoint mode 0:   WaypointDepth
#          Behavior for waypoint mode 1:   WaypointDepth
#          Behavior for waypoint mode 2:   WaypointDepth
#          Behavior for waypoint mode 3:   WaypointDepth
#          Behavior for waypoint mode 4:   WaypointDepth
#     Descent style:            Spiral descent
#     Mapping sonar control enabled:          
#                               Multibeam enabled
#                                 Multibeam receive gain:           33 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            3.3e-05 usec
#                                 Multibeam minimum range fraction: 0.6
#                                 Multibeam maximum range fraction: 5.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan disabled
#     Benthic imaging camera control disabled: 
# 
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 50 (m)
#     Abort Vehicle Altitude 1:   20 (m)
#     Delta Depth Restart 1:      30 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 75 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      766.420157 (m)
#     Abort Vehicle Depth:        791.420157 (m)
#     Descent Vehicle Depth:      3 (m)
#     Spiral descent depth:       701.445267 m
#     Spiral descent altitude:    30 m
#     Forward Looking Distance:   100 (m)
#     Waypoint Spacing:           100 (m)
#     Maximum climb rate:         20 (degrees)
#     GPS Duration:               600 (s)
#     Descend Rate:               0.417 (m/s)
#     Ascend Rate:                1 (m/s)
#     Initial descend Duration:   300 (s)
#     Setpoint Duration:          30 (s)
# 
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -136.117530 70.784512 -741.445267 0.000000 3
#   1 -136.037419 70.786052 -732.038361 2947.672344 3
#   2 -136.038643 70.795675 -743.502045 4021.858883 3
#   3 -136.123060 70.794237 -768.172119 7125.336723 3
#   4 -136.123240 70.800990 -776.535522 7878.525313 3
#   5 -136.040001 70.802294 -757.394180 10937.025238 3
#   6 -136.041752 70.813630 -765.247192 12202.977997 3
#   7 -136.121352 70.812553 -787.253937 15125.269639 3
#   8 -136.115767 70.815325 -790.235382 15496.141371 3
#   9 -136.110234 70.782146 -738.393082 19202.151629 3
#   10 -136.106157 70.782220 -738.585098 19352.159064 3
#   11 -136.111683 70.815399 -789.894135 23058.154683 3
#   12 -136.107599 70.815473 -789.871933 23208.169624 3
#   13 -136.102080 70.782293 -737.394836 26914.261988 3
#   14 -136.098003 70.782367 -736.195297 27064.268278 3
#   15 -136.103516 70.815546 -791.273056 30770.236685 3
#   16 -136.099432 70.815620 -791.984299 30920.250479 3
#   17 -136.093926 70.782440 -735.464554 34626.315668 3
#   18 -136.089849 70.782513 -734.775375 34776.314723 3
#   19 -136.095348 70.815693 -791.455505 38482.365351 3
#   20 -136.091264 70.815766 -790.394073 38632.371908 3
#   21 -136.085772 70.782587 -735.687790 42338.296632 3
#   22 -136.081695 70.782660 -735.600983 42488.294543 3
#   23 -136.087181 70.815839 -789.494308 46194.206740 3
#   24 -136.083097 70.815912 -788.590256 46344.212158 3
#   25 -136.077618 70.782733 -735.988052 50050.109852 3
#   26 -136.073541 70.782805 -735.918594 50200.100618 3
#   27 -136.079013 70.815985 -786.551163 53906.095194 3
#   28 -136.074929 70.816058 -783.911682 54056.099474 3
#   29 -136.069464 70.782878 -734.387238 57762.079587 3
#   30 -136.065387 70.782951 -732.305847 57912.075233 3
#   31 -136.070845 70.816131 -783.032425 61618.040904 3
#   32 -136.066761 70.816204 -779.936523 61768.044046 3
#   33 -136.061309 70.783023 -731.739349 65474.108641 3
#   34 -136.057232 70.783096 -732.870911 65624.103160 3
#   35 -136.062677 70.816277 -777.659607 69330.153350 3
#   36 -136.058593 70.816349 -775.275970 69480.149346 3
#   37 -136.053155 70.783168 -733.323044 73186.185152 3
#   38 -136.049052 70.783158 -732.081528 73336.927037 3
#   39 -136.054492 70.816419 -776.361160 77051.949927 3
#   40 -136.050563 70.816472 -773.583603 77196.144449 3
#   41 -136.045052 70.783257 -733.331863 80906.090659 3
#   42 -136.040740 70.783307 -731.512985 81064.598353 3
#   43 -136.046636 70.816554 -774.152603 84778.960840 4
# 
# A total of 717 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 54900;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 766.420157;
abortDepth = 791.420157;
minAltitude = 50.000000;
abortAltitude = 20.000000;
deltaDepthRestart = 30.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 1157;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
# 
# Acoustic update 1 - sent status ping after end of survey 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# Turn off power to sonars and stop logging on the PLC 
# by setting the value of the mode attribute to 0 (used to be False). 
behavior reson
{
duration = 6;
MB_Power = 0;
SBP_Mode = 0;
LoSS_Mode = 0;
HiSS_Mode = 0;
Log_Mode = 0;
}
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 43
#   Segment length 79.133285 meters
#   Minimum depth: 771.600200 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.152603 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.600200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.816554;
longitude = -136.046636;
duration = 316;
# abortOnTimeout    = True; 
initialDepth = 714.513686;
finalDepth = 721.600200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.552403
#   Actual altitude:          52.552403
#   Commanded vehicle depth:  721.6002 
#   Seafloor depth:           -774.152603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.895926 meters
#   Minimum depth: 764.513686 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.509599 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.513686 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815846;
longitude = -136.046511;
duration = 487;
initialDepth = 712.640624;
finalDepth = 714.513686;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.995913
#   Actual altitude:          55.995913
#   Commanded vehicle depth:  714.513686 
#   Seafloor depth:           -770.509599
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.895933 meters
#   Minimum depth: 762.640624 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.015903 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.640624 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814755;
longitude = -136.046317;
duration = 487;
initialDepth = 712.664894;
finalDepth = 712.640624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.995913
#   Actual altitude:          55.995913
#   Commanded vehicle depth:  712.640624 
#   Seafloor depth:           -764.015903
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.895941 meters
#   Minimum depth: 762.664894 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.899809 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.664894 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813664;
longitude = -136.046124;
duration = 487;
initialDepth = 713.355615;
finalDepth = 712.664894;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.375279
#   Actual altitude:          51.375279
#   Commanded vehicle depth:  712.664894 
#   Seafloor depth:           -762.664894
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.895948 meters
#   Minimum depth: 763.355615 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.793412 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.355615 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812573;
longitude = -136.045930;
duration = 487;
initialDepth = 711.226497;
finalDepth = 713.355615;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.437797
#   Actual altitude:          50.437797
#   Commanded vehicle depth:  713.355615 
#   Seafloor depth:           -763.793412
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 124.005019 meters
#   Minimum depth: 761.226497 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.798520 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.226497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811481;
longitude = -136.045737;
duration = 496;
initialDepth = 711.150011;
finalDepth = 711.226497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5720230000001
#   Actual altitude:          51.5720230000001
#   Commanded vehicle depth:  711.226497 
#   Seafloor depth:           -762.798520
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 119.786900 meters
#   Minimum depth: 761.150011 meters looking forward 100.000000 meters along route
#   Maximum depth: 761.354995 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.150011 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810371;
longitude = -136.045540;
duration = 479;
initialDepth = 710.682484;
finalDepth = 711.150011;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5720230000001
#   Actual altitude:          51.5720230000001
#   Commanded vehicle depth:  711.150011 
#   Seafloor depth:           -761.221220
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.895970 meters
#   Minimum depth: 760.682484 meters looking forward 100.000000 meters along route
#   Maximum depth: 761.199830 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.682484 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809299;
longitude = -136.045350;
duration = 487;
initialDepth = 709.597651;
finalDepth = 710.682484;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.517346
#   Actual altitude:          50.517346
#   Commanded vehicle depth:  710.682484 
#   Seafloor depth:           -761.199830
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 101.983084 meters
#   Minimum depth: 759.597651 meters looking forward 100.000000 meters along route
#   Maximum depth: 760.293482 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 709.597651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808208;
longitude = -136.045156;
duration = 407;
initialDepth = 709.133695;
finalDepth = 709.597651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.695831
#   Actual altitude:          50.695831
#   Commanded vehicle depth:  709.597651 
#   Seafloor depth:           -760.293482
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 111.334883 meters
#   Minimum depth: 759.133695 meters looking forward 100.000000 meters along route
#   Maximum depth: 759.572537 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 709.133695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807295;
longitude = -136.044994;
duration = 445;
initialDepth = 708.094015;
finalDepth = 709.133695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.695831
#   Actual altitude:          50.695831
#   Commanded vehicle depth:  709.133695 
#   Seafloor depth:           -759.572537
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.895992 meters
#   Minimum depth: 758.094015 meters looking forward 100.000000 meters along route
#   Maximum depth: 758.909583 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 708.094015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806299;
longitude = -136.044818;
duration = 487;
initialDepth = 708.397676;
finalDepth = 708.094015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.815568
#   Actual altitude:          50.815568
#   Commanded vehicle depth:  708.094015 
#   Seafloor depth:           -758.909583
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 110.435140 meters
#   Minimum depth: 758.397676 meters looking forward 100.000000 meters along route
#   Maximum depth: 758.977715 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 708.397676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805208;
longitude = -136.044624;
duration = 441;
initialDepth = 709.971344;
finalDepth = 708.397676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.815568
#   Actual altitude:          50.815568
#   Commanded vehicle depth:  708.397676 
#   Seafloor depth:           -758.397676
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 102.882863 meters
#   Minimum depth: 759.971344 meters looking forward 100.000000 meters along route
#   Maximum depth: 761.433688 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 709.971344 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804219;
longitude = -136.044449;
duration = 411;
initialDepth = 710.879883;
finalDepth = 709.971344;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  709.971344 
#   Seafloor depth:           -759.971344
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896012 meters
#   Minimum depth: 760.879883 meters looking forward 100.000000 meters along route
#   Maximum depth: 761.230594 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.879883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803298;
longitude = -136.044286;
duration = 487;
initialDepth = 710.463935;
finalDepth = 710.879883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.350711
#   Actual altitude:          50.350711
#   Commanded vehicle depth:  710.879883 
#   Seafloor depth:           -761.230594
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896020 meters
#   Minimum depth: 760.463935 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.858540 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.463935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802207;
longitude = -136.044092;
duration = 487;
initialDepth = 711.714809;
finalDepth = 710.463935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.350711
#   Actual altitude:          50.350711
#   Commanded vehicle depth:  710.463935 
#   Seafloor depth:           -760.694407
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896027 meters
#   Minimum depth: 761.714809 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.893585 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.714809 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801116;
longitude = -136.043899;
duration = 487;
initialDepth = 711.201370;
finalDepth = 711.714809;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1787760000001
#   Actual altitude:          51.1787760000001
#   Commanded vehicle depth:  711.714809 
#   Seafloor depth:           -762.893585
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896035 meters
#   Minimum depth: 761.201370 meters looking forward 100.000000 meters along route
#   Maximum depth: 761.805892 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.201370 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800025;
longitude = -136.043705;
duration = 487;
initialDepth = 710.421776;
finalDepth = 711.201370;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1787760000001
#   Actual altitude:          51.1787760000001
#   Commanded vehicle depth:  711.20137 
#   Seafloor depth:           -761.776246
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896042 meters
#   Minimum depth: 760.421776 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.948016 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.421776 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798934;
longitude = -136.043512;
duration = 487;
initialDepth = 699.130462;
finalDepth = 710.421776;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.865686
#   Actual altitude:          51.865686
#   Commanded vehicle depth:  710.421776 
#   Seafloor depth:           -762.287462
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896050 meters
#   Minimum depth: 749.130462 meters looking forward 100.000000 meters along route
#   Maximum depth: 759.484858 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 699.130462 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797843;
longitude = -136.043318;
duration = 487;
initialDepth = 696.770435;
finalDepth = 699.130462;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.3543960000001
#   Actual altitude:          60.3543960000001
#   Commanded vehicle depth:  699.130462 
#   Seafloor depth:           -759.484858
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896057 meters
#   Minimum depth: 746.770435 meters looking forward 100.000000 meters along route
#   Maximum depth: 748.491212 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 696.770435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796752;
longitude = -136.043125;
duration = 487;
initialDepth = 696.028580;
finalDepth = 696.770435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.3543960000001
#   Actual altitude:          60.3543960000001
#   Commanded vehicle depth:  696.770435 
#   Seafloor depth:           -748.491212
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896065 meters
#   Minimum depth: 746.028580 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.683187 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 696.028580 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795661;
longitude = -136.042931;
duration = 487;
initialDepth = 695.396417;
finalDepth = 696.028580;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.720777
#   Actual altitude:          51.720777
#   Commanded vehicle depth:  696.02858 
#   Seafloor depth:           -746.395214
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 124.780350 meters
#   Minimum depth: 745.396417 meters looking forward 100.000000 meters along route
#   Maximum depth: 746.499387 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 695.396417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794569;
longitude = -136.042737;
duration = 499;
initialDepth = 694.285487;
finalDepth = 695.396417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1029699999999
#   Actual altitude:          51.1029699999999
#   Commanded vehicle depth:  695.396417 
#   Seafloor depth:           -746.499387
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 119.011802 meters
#   Minimum depth: 744.285487 meters looking forward 100.000000 meters along route
#   Maximum depth: 745.354642 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.285487 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.793453;
longitude = -136.042539;
duration = 476;
initialDepth = 692.324917;
finalDepth = 694.285487;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1029699999999
#   Actual altitude:          51.1029699999999
#   Commanded vehicle depth:  694.285487 
#   Seafloor depth:           -745.354642
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896087 meters
#   Minimum depth: 742.324917 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.165471 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.324917 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792387;
longitude = -136.042350;
duration = 487;
initialDepth = 691.365503;
finalDepth = 692.324917;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.564472
#   Actual altitude:          51.564472
#   Commanded vehicle depth:  692.324917 
#   Seafloor depth:           -743.889389
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 102.758394 meters
#   Minimum depth: 741.365503 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.645786 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.365503 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791296;
longitude = -136.042157;
duration = 411;
initialDepth = 690.786324;
finalDepth = 691.365503;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.564472
#   Actual altitude:          51.564472
#   Commanded vehicle depth:  691.365503 
#   Seafloor depth:           -742.645786
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 110.559777 meters
#   Minimum depth: 740.786324 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.357351 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 690.786324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790376;
longitude = -136.041994;
duration = 442;
initialDepth = 689.406727;
finalDepth = 690.786324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2802830000001
#   Actual altitude:          51.2802830000001
#   Commanded vehicle depth:  690.786324 
#   Seafloor depth:           -741.318668
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896109 meters
#   Minimum depth: 739.406727 meters looking forward 100.000000 meters along route
#   Maximum depth: 740.394017 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.406727 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789387;
longitude = -136.041818;
duration = 487;
initialDepth = 684.287869;
finalDepth = 689.406727;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9872899999999
#   Actual altitude:          50.9872899999999
#   Commanded vehicle depth:  689.406727 
#   Seafloor depth:           -740.394017
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 111.210457 meters
#   Minimum depth: 734.287869 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.016890 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.287869 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788296;
longitude = -136.041625;
duration = 444;
initialDepth = 683.782562;
finalDepth = 684.287869;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.729021
#   Actual altitude:          53.729021
#   Commanded vehicle depth:  684.287869 
#   Seafloor depth:           -738.016890
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 102.107750 meters
#   Minimum depth: 733.782562 meters looking forward 100.000000 meters along route
#   Maximum depth: 734.090657 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 683.782562 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787300;
longitude = -136.041448;
duration = 408;
initialDepth = 682.693449;
finalDepth = 683.782562;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.729021
#   Actual altitude:          53.729021
#   Commanded vehicle depth:  683.782562 
#   Seafloor depth:           -734.090657
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896129 meters
#   Minimum depth: 732.693449 meters looking forward 100.000000 meters along route
#   Maximum depth: 734.113409 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 682.693449 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786386;
longitude = -136.041286;
duration = 487;
initialDepth = 683.178631;
finalDepth = 682.693449;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4199600000001
#   Actual altitude:          51.4199600000001
#   Commanded vehicle depth:  682.693449 
#   Seafloor depth:           -734.113409
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 121.896136 meters
#   Minimum depth: 733.178631 meters looking forward 100.000000 meters along route
#   Maximum depth: 734.504170 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 683.178631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785295;
longitude = -136.041093;
duration = 487;
initialDepth = 681.631896;
finalDepth = 683.178631;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4199600000001
#   Actual altitude:          51.4199600000001
#   Commanded vehicle depth:  683.178631 
#   Seafloor depth:           -733.667990
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 100.244304 meters
#   Minimum depth: 731.631896 meters looking forward 100.000000 meters along route
#   Maximum depth: 733.158684 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 681.631896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784204;
longitude = -136.040899;
duration = 400;
initialDepth = 681.512985;
finalDepth = 681.631896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.526788
#   Actual altitude:          51.526788
#   Commanded vehicle depth:  681.631896 
#   Seafloor depth:           -733.158684
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 42
#   Segment length 158.507694 meters
#   Minimum depth: 731.512985 meters looking forward 100.000000 meters along route
#   Maximum depth: 733.241684 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 681.512985 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783307;
longitude = -136.040740;
duration = 634;
# abortOnTimeout    = True; 
initialDepth = 683.331863;
finalDepth = 681.512985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.526788
#   Actual altitude:          51.526788
#   Commanded vehicle depth:  681.512985 
#   Seafloor depth:           -731.512985
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 41
#   Segment length 105.801793 meters
#   Minimum depth: 733.331863 meters looking forward 100.000000 meters along route
#   Maximum depth: 734.535566 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 683.331863 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783257;
longitude = -136.045052;
duration = 423;
# abortOnTimeout    = True; 
initialDepth = 685.090443;
finalDepth = 683.331863;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  683.331863 
#   Seafloor depth:           -733.331863
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870311 meters
#   Minimum depth: 735.090443 meters looking forward 100.000000 meters along route
#   Maximum depth: 736.453210 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.090443 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784204;
longitude = -136.045209;
duration = 487;
initialDepth = 684.791541;
finalDepth = 685.090443;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  685.090443 
#   Seafloor depth:           -735.090443
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870307 meters
#   Minimum depth: 734.791541 meters looking forward 100.000000 meters along route
#   Maximum depth: 735.629726 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.791541 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785295;
longitude = -136.045390;
duration = 487;
initialDepth = 685.926622;
finalDepth = 684.791541;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  684.791541 
#   Seafloor depth:           -734.791541
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870302 meters
#   Minimum depth: 735.926622 meters looking forward 100.000000 meters along route
#   Maximum depth: 737.223044 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.926622 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786386;
longitude = -136.045571;
duration = 487;
initialDepth = 689.652835;
finalDepth = 685.926622;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  685.926622 
#   Seafloor depth:           -735.926622
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870297 meters
#   Minimum depth: 739.652835 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.078543 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.652835 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787477;
longitude = -136.045753;
duration = 487;
initialDepth = 691.179511;
finalDepth = 689.652835;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  689.652835 
#   Seafloor depth:           -739.652835
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870293 meters
#   Minimum depth: 741.179511 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.464562 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.179511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788568;
longitude = -136.045934;
duration = 487;
initialDepth = 692.489243;
finalDepth = 691.179511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  691.179511 
#   Seafloor depth:           -741.179511
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870288 meters
#   Minimum depth: 742.489243 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.797828 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.489243 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789660;
longitude = -136.046115;
duration = 487;
initialDepth = 694.258624;
finalDepth = 692.489243;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  692.489243 
#   Seafloor depth:           -742.489243
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870283 meters
#   Minimum depth: 744.258624 meters looking forward 100.000000 meters along route
#   Maximum depth: 746.521235 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.258624 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790751;
longitude = -136.046296;
duration = 487;
initialDepth = 696.730817;
finalDepth = 694.258624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  694.258624 
#   Seafloor depth:           -744.258624
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870278 meters
#   Minimum depth: 746.730817 meters looking forward 100.000000 meters along route
#   Maximum depth: 748.481064 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 696.730817 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791842;
longitude = -136.046477;
duration = 487;
initialDepth = 698.119430;
finalDepth = 696.730817;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  696.730817 
#   Seafloor depth:           -746.730817
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870273 meters
#   Minimum depth: 748.119430 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.154068 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 698.119430 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792933;
longitude = -136.046658;
duration = 487;
initialDepth = 700.392104;
finalDepth = 698.119430;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  698.11943 
#   Seafloor depth:           -748.119430
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870269 meters
#   Minimum depth: 750.392104 meters looking forward 100.000000 meters along route
#   Maximum depth: 751.424450 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.392104 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794024;
longitude = -136.046839;
duration = 487;
initialDepth = 700.285774;
finalDepth = 700.392104;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  700.392104 
#   Seafloor depth:           -750.392104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870264 meters
#   Minimum depth: 750.285774 meters looking forward 100.000000 meters along route
#   Maximum depth: 753.894708 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.285774 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795115;
longitude = -136.047020;
duration = 487;
initialDepth = 705.224338;
finalDepth = 700.285774;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  700.285774 
#   Seafloor depth:           -750.285774
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870259 meters
#   Minimum depth: 755.224338 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.129114 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 705.224338 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796206;
longitude = -136.047201;
duration = 487;
initialDepth = 713.933279;
finalDepth = 705.224338;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  705.224338 
#   Seafloor depth:           -755.224338
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870254 meters
#   Minimum depth: 763.933279 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.111843 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.933279 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797297;
longitude = -136.047382;
duration = 487;
initialDepth = 721.187397;
finalDepth = 713.933279;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  713.933279 
#   Seafloor depth:           -763.933279
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870250 meters
#   Minimum depth: 771.187397 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.884383 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.187397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798388;
longitude = -136.047563;
duration = 487;
initialDepth = 722.393021;
finalDepth = 721.187397;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  721.187397 
#   Seafloor depth:           -771.187397
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870245 meters
#   Minimum depth: 772.393021 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.622173 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.393021 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799479;
longitude = -136.047744;
duration = 487;
initialDepth = 722.102211;
finalDepth = 722.393021;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.603202
#   Actual altitude:          50.603202
#   Commanded vehicle depth:  722.393021 
#   Seafloor depth:           -772.996223
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870240 meters
#   Minimum depth: 772.102211 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.492604 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.102211 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800570;
longitude = -136.047925;
duration = 487;
initialDepth = 718.544275;
finalDepth = 722.102211;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.266193
#   Actual altitude:          51.266193
#   Commanded vehicle depth:  722.102211 
#   Seafloor depth:           -773.368404
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870235 meters
#   Minimum depth: 768.544275 meters looking forward 100.000000 meters along route
#   Maximum depth: 769.496224 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.544275 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801662;
longitude = -136.048106;
duration = 487;
initialDepth = 718.177524;
finalDepth = 718.544275;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.266193
#   Actual altitude:          51.266193
#   Commanded vehicle depth:  718.544275 
#   Seafloor depth:           -769.496224
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870231 meters
#   Minimum depth: 768.177524 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.509239 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.177524 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802753;
longitude = -136.048287;
duration = 487;
initialDepth = 714.453362;
finalDepth = 718.177524;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.951949
#   Actual altitude:          50.951949
#   Commanded vehicle depth:  718.177524 
#   Seafloor depth:           -768.509239
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870226 meters
#   Minimum depth: 764.453362 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.902031 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.453362 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803844;
longitude = -136.048468;
duration = 487;
initialDepth = 713.588387;
finalDepth = 714.453362;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.448669
#   Actual altitude:          53.448669
#   Commanded vehicle depth:  714.453362 
#   Seafloor depth:           -767.902031
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870221 meters
#   Minimum depth: 763.588387 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.100439 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.588387 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804935;
longitude = -136.048649;
duration = 487;
initialDepth = 712.393672;
finalDepth = 713.588387;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.448669
#   Actual altitude:          53.448669
#   Commanded vehicle depth:  713.588387 
#   Seafloor depth:           -764.100439
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870216 meters
#   Minimum depth: 762.393672 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.214756 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.393672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806026;
longitude = -136.048830;
duration = 487;
initialDepth = 712.586038;
finalDepth = 712.393672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.59542
#   Actual altitude:          51.59542
#   Commanded vehicle depth:  712.393672 
#   Seafloor depth:           -763.989092
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870212 meters
#   Minimum depth: 762.586038 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.290781 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.586038 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807117;
longitude = -136.049011;
duration = 487;
initialDepth = 713.544864;
finalDepth = 712.586038;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.59542
#   Actual altitude:          51.59542
#   Commanded vehicle depth:  712.586038 
#   Seafloor depth:           -762.586038
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 112.112886 meters
#   Minimum depth: 763.544864 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.852353 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.544864 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808208;
longitude = -136.049192;
duration = 448;
initialDepth = 713.850192;
finalDepth = 713.544864;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.307489
#   Actual altitude:          51.307489
#   Commanded vehicle depth:  713.544864 
#   Seafloor depth:           -764.852353
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 101.159973 meters
#   Minimum depth: 763.850192 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.731487 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.850192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809212;
longitude = -136.049359;
duration = 404;
initialDepth = 714.577439;
finalDepth = 713.850192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.307489
#   Actual altitude:          51.307489
#   Commanded vehicle depth:  713.850192 
#   Seafloor depth:           -763.850192
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870198 meters
#   Minimum depth: 764.577439 meters looking forward 100.000000 meters along route
#   Maximum depth: 765.707625 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.577439 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810118;
longitude = -136.049509;
duration = 487;
initialDepth = 716.577310;
finalDepth = 714.577439;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  714.577439 
#   Seafloor depth:           -764.577439
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870194 meters
#   Minimum depth: 766.577310 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.401281 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.577310 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811209;
longitude = -136.049690;
duration = 487;
initialDepth = 716.983324;
finalDepth = 716.577310;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  716.57731 
#   Seafloor depth:           -766.577310
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870189 meters
#   Minimum depth: 766.983324 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.218930 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.983324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812300;
longitude = -136.049871;
duration = 487;
initialDepth = 718.322189;
finalDepth = 716.983324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  716.983324 
#   Seafloor depth:           -766.983324
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870184 meters
#   Minimum depth: 768.322189 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.936140 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.322189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813391;
longitude = -136.050052;
duration = 487;
initialDepth = 719.387339;
finalDepth = 718.322189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  718.322189 
#   Seafloor depth:           -768.322189
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 121.870180 meters
#   Minimum depth: 769.387339 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.176713 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.387339 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814482;
longitude = -136.050233;
duration = 487;
initialDepth = 722.323258;
finalDepth = 719.387339;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  719.387339 
#   Seafloor depth:           -769.387339
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.374859 meters
#   Minimum depth: 772.323258 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.894187 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.323258 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815573;
longitude = -136.050414;
duration = 401;
initialDepth = 723.583603;
finalDepth = 722.323258;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.120952
#   Actual altitude:          50.120952
#   Commanded vehicle depth:  722.323258 
#   Seafloor depth:           -772.444210
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 40
#   Segment length 144.194522 meters
#   Minimum depth: 773.583603 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.995910 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.583603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.816472;
longitude = -136.050563;
duration = 576;
# abortOnTimeout    = True; 
initialDepth = 724.807754;
finalDepth = 723.583603;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.120952
#   Actual altitude:          50.120952
#   Commanded vehicle depth:  723.583603 
#   Seafloor depth:           -773.583603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 39
#   Segment length 124.975504 meters
#   Minimum depth: 774.807754 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.361160 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.807754 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.816419;
longitude = -136.054492;
duration = 499;
# abortOnTimeout    = True; 
initialDepth = 721.455016;
finalDepth = 724.807754;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.553406
#   Actual altitude:          51.553406
#   Commanded vehicle depth:  724.807754 
#   Seafloor depth:           -776.361160
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865068 meters
#   Minimum depth: 771.455016 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.417485 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.455016 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815300;
longitude = -136.054309;
duration = 487;
initialDepth = 719.663905;
finalDepth = 721.455016;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9624690000001
#   Actual altitude:          52.9624690000001
#   Commanded vehicle depth:  721.455016 
#   Seafloor depth:           -774.417485
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865073 meters
#   Minimum depth: 769.663905 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.721677 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.663905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814209;
longitude = -136.054130;
duration = 487;
initialDepth = 719.590976;
finalDepth = 719.663905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9624690000001
#   Actual altitude:          52.9624690000001
#   Commanded vehicle depth:  719.663905 
#   Seafloor depth:           -770.721677
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865077 meters
#   Minimum depth: 769.590976 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.120729 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.590976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813118;
longitude = -136.053952;
duration = 487;
initialDepth = 720.795049;
finalDepth = 719.590976;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.057772
#   Actual altitude:          51.057772
#   Commanded vehicle depth:  719.590976 
#   Seafloor depth:           -769.590976
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865081 meters
#   Minimum depth: 770.795049 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.273652 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.795049 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812027;
longitude = -136.053773;
duration = 487;
initialDepth = 719.968041;
finalDepth = 720.795049;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.339876
#   Actual altitude:          50.339876
#   Commanded vehicle depth:  720.795049 
#   Seafloor depth:           -771.134925
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865085 meters
#   Minimum depth: 769.968041 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.655586 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.968041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810936;
longitude = -136.053595;
duration = 487;
initialDepth = 719.095409;
finalDepth = 719.968041;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.687545
#   Actual altitude:          50.687545
#   Commanded vehicle depth:  719.968041 
#   Seafloor depth:           -770.655586
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865090 meters
#   Minimum depth: 769.095409 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.742633 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.095409 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809845;
longitude = -136.053417;
duration = 487;
initialDepth = 717.837620;
finalDepth = 719.095409;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6472239999999
#   Actual altitude:          51.6472239999999
#   Commanded vehicle depth:  719.095409 
#   Seafloor depth:           -770.742633
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865094 meters
#   Minimum depth: 767.837620 meters looking forward 100.000000 meters along route
#   Maximum depth: 769.066053 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 717.837620 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808754;
longitude = -136.053238;
duration = 487;
initialDepth = 719.066745;
finalDepth = 717.837620;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6472239999999
#   Actual altitude:          51.6472239999999
#   Commanded vehicle depth:  717.83762 
#   Seafloor depth:           -768.774566
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865098 meters
#   Minimum depth: 769.066745 meters looking forward 100.000000 meters along route
#   Maximum depth: 769.674074 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.066745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807663;
longitude = -136.053060;
duration = 487;
initialDepth = 719.102146;
finalDepth = 719.066745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.936946
#   Actual altitude:          50.936946
#   Commanded vehicle depth:  719.066745 
#   Seafloor depth:           -769.066745
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865102 meters
#   Minimum depth: 769.102146 meters looking forward 100.000000 meters along route
#   Maximum depth: 769.593493 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.102146 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806571;
longitude = -136.052881;
duration = 487;
initialDepth = 719.510183;
finalDepth = 719.102146;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4742520000001
#   Actual altitude:          50.4742520000001
#   Commanded vehicle depth:  719.102146 
#   Seafloor depth:           -769.576398
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865106 meters
#   Minimum depth: 769.510183 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.355722 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.510183 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805480;
longitude = -136.052703;
duration = 487;
initialDepth = 719.960622;
finalDepth = 719.510183;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4742520000001
#   Actual altitude:          50.4742520000001
#   Commanded vehicle depth:  719.510183 
#   Seafloor depth:           -769.510183
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 112.677081 meters
#   Minimum depth: 769.960622 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.957556 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.960622 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804389;
longitude = -136.052524;
duration = 450;
initialDepth = 720.230466;
finalDepth = 719.960622;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7924680000001
#   Actual altitude:          51.7924680000001
#   Commanded vehicle depth:  719.960622 
#   Seafloor depth:           -771.753090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 100.586865 meters
#   Minimum depth: 770.230466 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.133492 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.230466 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803380;
longitude = -136.052359;
duration = 402;
initialDepth = 721.418356;
finalDepth = 720.230466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7924680000001
#   Actual altitude:          51.7924680000001
#   Commanded vehicle depth:  720.230466 
#   Seafloor depth:           -770.230466
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865118 meters
#   Minimum depth: 771.418356 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.597743 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.418356 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802480;
longitude = -136.052212;
duration = 487;
initialDepth = 726.720037;
finalDepth = 721.418356;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  721.418356 
#   Seafloor depth:           -771.418356
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865123 meters
#   Minimum depth: 776.720037 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.347057 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.720037 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801389;
longitude = -136.052034;
duration = 487;
initialDepth = 728.895787;
finalDepth = 726.720037;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  726.720037 
#   Seafloor depth:           -776.720037
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865126 meters
#   Minimum depth: 778.895787 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.408526 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.895787 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800298;
longitude = -136.051855;
duration = 487;
initialDepth = 729.800834;
finalDepth = 728.895787;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  728.895787 
#   Seafloor depth:           -778.895787
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865130 meters
#   Minimum depth: 779.800834 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.425047 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.800834 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799207;
longitude = -136.051677;
duration = 487;
initialDepth = 725.128699;
finalDepth = 729.800834;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6242129999999
#   Actual altitude:          50.6242129999999
#   Commanded vehicle depth:  729.800834 
#   Seafloor depth:           -780.425047
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865135 meters
#   Minimum depth: 775.128699 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.987729 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.128699 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798116;
longitude = -136.051498;
duration = 487;
initialDepth = 719.874563;
finalDepth = 725.128699;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.85903
#   Actual altitude:          53.85903
#   Commanded vehicle depth:  725.128699 
#   Seafloor depth:           -778.987729
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865139 meters
#   Minimum depth: 769.874563 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.476534 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.874563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797024;
longitude = -136.051320;
duration = 487;
initialDepth = 716.538597;
finalDepth = 719.874563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.85903
#   Actual altitude:          53.85903
#   Commanded vehicle depth:  719.874563 
#   Seafloor depth:           -773.476534
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865143 meters
#   Minimum depth: 766.538597 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.656186 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.538597 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795933;
longitude = -136.051141;
duration = 487;
initialDepth = 704.998303;
finalDepth = 716.538597;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.601971
#   Actual altitude:          53.601971
#   Commanded vehicle depth:  716.538597 
#   Seafloor depth:           -768.656186
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865148 meters
#   Minimum depth: 754.998303 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.699176 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 704.998303 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794842;
longitude = -136.050963;
duration = 487;
initialDepth = 700.642012;
finalDepth = 704.998303;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.700873
#   Actual altitude:          59.700873
#   Commanded vehicle depth:  704.998303 
#   Seafloor depth:           -764.699176
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865151 meters
#   Minimum depth: 750.642012 meters looking forward 100.000000 meters along route
#   Maximum depth: 753.407814 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.642012 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.793751;
longitude = -136.050784;
duration = 487;
initialDepth = 698.558004;
finalDepth = 700.642012;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.700873
#   Actual altitude:          59.700873
#   Commanded vehicle depth:  700.642012 
#   Seafloor depth:           -753.407814
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.572216 meters
#   Minimum depth: 748.558004 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.202384 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 698.558004 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792660;
longitude = -136.050606;
duration = 426;
initialDepth = 697.527625;
finalDepth = 698.558004;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.765802
#   Actual altitude:          52.765802
#   Commanded vehicle depth:  698.558004 
#   Seafloor depth:           -750.202384
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.691810 meters
#   Minimum depth: 747.527625 meters looking forward 100.000000 meters along route
#   Maximum depth: 748.219666 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 697.527625 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791706;
longitude = -136.050450;
duration = 426;
initialDepth = 695.989959;
finalDepth = 697.527625;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6443800000001
#   Actual altitude:          51.6443800000001
#   Commanded vehicle depth:  697.527625 
#   Seafloor depth:           -748.219666
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865163 meters
#   Minimum depth: 745.989959 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.063696 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 695.989959 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790751;
longitude = -136.050294;
duration = 487;
initialDepth = 694.268048;
finalDepth = 695.989959;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0737370000001
#   Actual altitude:          51.0737370000001
#   Commanded vehicle depth:  695.989959 
#   Seafloor depth:           -747.063696
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865167 meters
#   Minimum depth: 744.268048 meters looking forward 100.000000 meters along route
#   Maximum depth: 745.907713 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.268048 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789660;
longitude = -136.050115;
duration = 487;
initialDepth = 692.411532;
finalDepth = 694.268048;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6396649999999
#   Actual altitude:          51.6396649999999
#   Commanded vehicle depth:  694.268048 
#   Seafloor depth:           -745.907713
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865172 meters
#   Minimum depth: 742.411532 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.663316 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.411532 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788568;
longitude = -136.049937;
duration = 487;
initialDepth = 688.359715;
finalDepth = 692.411532;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6396649999999
#   Actual altitude:          51.6396649999999
#   Commanded vehicle depth:  692.411532 
#   Seafloor depth:           -743.663316
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865176 meters
#   Minimum depth: 738.359715 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.136073 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 688.359715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787477;
longitude = -136.049758;
duration = 487;
initialDepth = 686.588698;
finalDepth = 688.359715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.776358
#   Actual altitude:          53.776358
#   Commanded vehicle depth:  688.359715 
#   Seafloor depth:           -742.136073
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865180 meters
#   Minimum depth: 736.588698 meters looking forward 100.000000 meters along route
#   Maximum depth: 737.805833 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.588698 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786386;
longitude = -136.049580;
duration = 487;
initialDepth = 686.346627;
finalDepth = 686.588698;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.776358
#   Actual altitude:          53.776358
#   Commanded vehicle depth:  686.588698 
#   Seafloor depth:           -737.805833
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 121.865184 meters
#   Minimum depth: 736.346627 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.675194 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.346627 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785295;
longitude = -136.049401;
duration = 487;
initialDepth = 682.360935;
finalDepth = 686.346627;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.217135
#   Actual altitude:          51.217135
#   Commanded vehicle depth:  686.346627 
#   Seafloor depth:           -736.346627
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 116.891285 meters
#   Minimum depth: 732.360935 meters looking forward 100.000000 meters along route
#   Maximum depth: 736.460008 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 682.360935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784204;
longitude = -136.049223;
duration = 467;
initialDepth = 682.081528;
finalDepth = 682.360935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.099073
#   Actual altitude:          54.099073
#   Commanded vehicle depth:  682.360935 
#   Seafloor depth:           -736.460008
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 38
#   Segment length 150.741885 meters
#   Minimum depth: 732.081528 meters looking forward 100.000000 meters along route
#   Maximum depth: 733.181829 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 682.081528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783158;
longitude = -136.049052;
duration = 602;
# abortOnTimeout    = True; 
initialDepth = 683.323044;
finalDepth = 682.081528;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.099073
#   Actual altitude:          54.099073
#   Commanded vehicle depth:  682.081528 
#   Seafloor depth:           -732.081528
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 37
#   Segment length 115.721103 meters
#   Minimum depth: 733.323044 meters looking forward 100.000000 meters along route
#   Maximum depth: 734.574114 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 683.323044 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783168;
longitude = -136.053155;
duration = 462;
# abortOnTimeout    = True; 
initialDepth = 685.274364;
finalDepth = 683.323044;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  683.323044 
#   Seafloor depth:           -733.323044
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865927 meters
#   Minimum depth: 735.274364 meters looking forward 100.000000 meters along route
#   Maximum depth: 737.249914 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.274364 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784204;
longitude = -136.053325;
duration = 487;
initialDepth = 687.931212;
finalDepth = 685.274364;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  685.274364 
#   Seafloor depth:           -735.274364
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865922 meters
#   Minimum depth: 737.931212 meters looking forward 100.000000 meters along route
#   Maximum depth: 739.720349 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 687.931212 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785295;
longitude = -136.053504;
duration = 487;
initialDepth = 690.375651;
finalDepth = 687.931212;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  687.931212 
#   Seafloor depth:           -737.931212
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865919 meters
#   Minimum depth: 740.375651 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.560298 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 690.375651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786386;
longitude = -136.053682;
duration = 487;
initialDepth = 692.038521;
finalDepth = 690.375651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  690.375651 
#   Seafloor depth:           -740.375651
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865914 meters
#   Minimum depth: 742.038521 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.998974 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.038521 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787477;
longitude = -136.053861;
duration = 487;
initialDepth = 694.373056;
finalDepth = 692.038521;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  692.038521 
#   Seafloor depth:           -742.038521
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865909 meters
#   Minimum depth: 744.373056 meters looking forward 100.000000 meters along route
#   Maximum depth: 745.927999 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.373056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788568;
longitude = -136.054040;
duration = 487;
initialDepth = 696.623772;
finalDepth = 694.373056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  694.373056 
#   Seafloor depth:           -744.373056
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865906 meters
#   Minimum depth: 746.623772 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.822198 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 696.623772 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789660;
longitude = -136.054219;
duration = 487;
initialDepth = 698.327952;
finalDepth = 696.623772;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  696.623772 
#   Seafloor depth:           -746.623772
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865901 meters
#   Minimum depth: 748.327952 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.505926 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 698.327952 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790751;
longitude = -136.054398;
duration = 487;
initialDepth = 700.592682;
finalDepth = 698.327952;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  698.327952 
#   Seafloor depth:           -748.327952
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865897 meters
#   Minimum depth: 750.592682 meters looking forward 100.000000 meters along route
#   Maximum depth: 756.167498 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.592682 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791842;
longitude = -136.054577;
duration = 487;
initialDepth = 709.263285;
finalDepth = 700.592682;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  700.592682 
#   Seafloor depth:           -750.592682
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865893 meters
#   Minimum depth: 759.263285 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.405551 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 709.263285 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792933;
longitude = -136.054755;
duration = 487;
initialDepth = 719.674318;
finalDepth = 709.263285;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  709.263285 
#   Seafloor depth:           -759.263285
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865888 meters
#   Minimum depth: 769.674318 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.884209 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.674318 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794024;
longitude = -136.054934;
duration = 487;
initialDepth = 725.779396;
finalDepth = 719.674318;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  719.674318 
#   Seafloor depth:           -769.674318
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865884 meters
#   Minimum depth: 775.779396 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.213329 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.779396 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795115;
longitude = -136.055113;
duration = 487;
initialDepth = 729.107834;
finalDepth = 725.779396;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  725.779396 
#   Seafloor depth:           -775.779396
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865880 meters
#   Minimum depth: 779.107834 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.815311 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.107834 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796206;
longitude = -136.055292;
duration = 487;
initialDepth = 729.688714;
finalDepth = 729.107834;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.107834 
#   Seafloor depth:           -779.107834
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 110.350277 meters
#   Minimum depth: 779.688714 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.144351 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.688714 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797297;
longitude = -136.055471;
duration = 441;
initialDepth = 728.473865;
finalDepth = 729.688714;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.308581
#   Actual altitude:          50.308581
#   Commanded vehicle depth:  729.688714 
#   Seafloor depth:           -779.997295
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.915002 meters
#   Minimum depth: 778.473865 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.300891 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.473865 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798285;
longitude = -136.055633;
duration = 411;
initialDepth = 728.351777;
finalDepth = 728.473865;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8270259999999
#   Actual altitude:          50.8270259999999
#   Commanded vehicle depth:  728.473865 
#   Seafloor depth:           -779.300891
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865868 meters
#   Minimum depth: 778.351777 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.984835 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.351777 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799207;
longitude = -136.055784;
duration = 487;
initialDepth = 725.614844;
finalDepth = 728.351777;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8270259999999
#   Actual altitude:          50.8270259999999
#   Commanded vehicle depth:  728.351777 
#   Seafloor depth:           -778.620776
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865864 meters
#   Minimum depth: 775.614844 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.571579 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.614844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800298;
longitude = -136.055962;
duration = 487;
initialDepth = 722.334330;
finalDepth = 725.614844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9567350000001
#   Actual altitude:          51.9567350000001
#   Commanded vehicle depth:  725.614844 
#   Seafloor depth:           -777.571579
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865859 meters
#   Minimum depth: 772.334330 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.974953 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.334330 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801389;
longitude = -136.056141;
duration = 487;
initialDepth = 719.864903;
finalDepth = 722.334330;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.640623
#   Actual altitude:          52.640623
#   Commanded vehicle depth:  722.33433 
#   Seafloor depth:           -774.974953
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865855 meters
#   Minimum depth: 769.864903 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.949807 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.864903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802480;
longitude = -136.056320;
duration = 487;
initialDepth = 717.588909;
finalDepth = 719.864903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.640623
#   Actual altitude:          52.640623
#   Commanded vehicle depth:  719.864903 
#   Seafloor depth:           -771.949807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865851 meters
#   Minimum depth: 767.588909 meters looking forward 100.000000 meters along route
#   Maximum depth: 769.131397 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 717.588909 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803571;
longitude = -136.056499;
duration = 487;
initialDepth = 716.458507;
finalDepth = 717.588909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0849039999999
#   Actual altitude:          52.0849039999999
#   Commanded vehicle depth:  717.588909 
#   Seafloor depth:           -769.131397
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865847 meters
#   Minimum depth: 766.458507 meters looking forward 100.000000 meters along route
#   Maximum depth: 766.931671 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.458507 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804662;
longitude = -136.056678;
duration = 487;
initialDepth = 716.165945;
finalDepth = 716.458507;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.542488
#   Actual altitude:          51.542488
#   Commanded vehicle depth:  716.458507 
#   Seafloor depth:           -766.931671
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865842 meters
#   Minimum depth: 766.165945 meters looking forward 100.000000 meters along route
#   Maximum depth: 766.560691 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.165945 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805753;
longitude = -136.056856;
duration = 487;
initialDepth = 715.492889;
finalDepth = 716.165945;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.473164
#   Actual altitude:          50.473164
#   Commanded vehicle depth:  716.165945 
#   Seafloor depth:           -766.420574
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865838 meters
#   Minimum depth: 765.492889 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.088230 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 715.492889 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806844;
longitude = -136.057035;
duration = 487;
initialDepth = 716.244871;
finalDepth = 715.492889;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.595341
#   Actual altitude:          51.595341
#   Commanded vehicle depth:  715.492889 
#   Seafloor depth:           -767.088230
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865834 meters
#   Minimum depth: 766.244871 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.263644 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.244871 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807935;
longitude = -136.057214;
duration = 487;
initialDepth = 716.533846;
finalDepth = 716.244871;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.595341
#   Actual altitude:          51.595341
#   Commanded vehicle depth:  716.244871 
#   Seafloor depth:           -766.244871
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865829 meters
#   Minimum depth: 766.533846 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.696046 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.533846 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809026;
longitude = -136.057393;
duration = 487;
initialDepth = 717.696705;
finalDepth = 716.533846;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1622
#   Actual altitude:          51.1622
#   Commanded vehicle depth:  716.533846 
#   Seafloor depth:           -767.696046
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865825 meters
#   Minimum depth: 767.696705 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.841920 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 717.696705 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810118;
longitude = -136.057572;
duration = 487;
initialDepth = 718.774605;
finalDepth = 717.696705;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1622
#   Actual altitude:          51.1622
#   Commanded vehicle depth:  717.696705 
#   Seafloor depth:           -767.696705
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865821 meters
#   Minimum depth: 768.774605 meters looking forward 100.000000 meters along route
#   Maximum depth: 769.254465 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.774605 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811209;
longitude = -136.057751;
duration = 487;
initialDepth = 719.818009;
finalDepth = 718.774605;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0858320000001
#   Actual altitude:          50.0858320000001
#   Commanded vehicle depth:  718.774605 
#   Seafloor depth:           -768.860437
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.767467 meters
#   Minimum depth: 769.818009 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.642521 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.818009 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812300;
longitude = -136.057929;
duration = 431;
initialDepth = 721.889030;
finalDepth = 719.818009;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0858320000001
#   Actual altitude:          50.0858320000001
#   Commanded vehicle depth:  719.818009 
#   Seafloor depth:           -769.818009
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 105.497709 meters
#   Minimum depth: 771.889030 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.851766 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.889030 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813265;
longitude = -136.058088;
duration = 421;
initialDepth = 723.135521;
finalDepth = 721.889030;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  721.88903 
#   Seafloor depth:           -771.889030
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 121.865809 meters
#   Minimum depth: 773.135521 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.856575 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.135521 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814209;
longitude = -136.058242;
duration = 487;
initialDepth = 724.401053;
finalDepth = 723.135521;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  723.135521 
#   Seafloor depth:           -773.135521
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 117.137466 meters
#   Minimum depth: 774.401053 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.299410 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.401053 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815300;
longitude = -136.058421;
duration = 468;
initialDepth = 725.275970;
finalDepth = 724.401053;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  724.401053 
#   Seafloor depth:           -774.401053
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 36
#   Segment length 149.995996 meters
#   Minimum depth: 775.275970 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.612743 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.275970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.816349;
longitude = -136.058593;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 726.715642;
finalDepth = 725.275970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  725.27597 
#   Seafloor depth:           -775.275970
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 35
#   Segment length 109.096104 meters
#   Minimum depth: 776.715642 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.659607 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.715642 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.816277;
longitude = -136.062677;
duration = 436;
# abortOnTimeout    = True; 
initialDepth = 724.477430;
finalDepth = 726.715642;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.943965
#   Actual altitude:          50.943965
#   Commanded vehicle depth:  726.715642 
#   Seafloor depth:           -777.659607
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866281 meters
#   Minimum depth: 774.477430 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.488023 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.477430 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815300;
longitude = -136.062517;
duration = 487;
initialDepth = 722.394008;
finalDepth = 724.477430;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.010593
#   Actual altitude:          52.010593
#   Commanded vehicle depth:  724.47743 
#   Seafloor depth:           -776.488023
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 107.923956 meters
#   Minimum depth: 772.394008 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.826707 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.394008 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814209;
longitude = -136.062338;
duration = 431;
initialDepth = 721.019154;
finalDepth = 722.394008;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.010593
#   Actual altitude:          52.010593
#   Commanded vehicle depth:  722.394008 
#   Seafloor depth:           -773.826707
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 105.342046 meters
#   Minimum depth: 771.019154 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.129586 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.019154 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813243;
longitude = -136.062179;
duration = 421;
initialDepth = 719.891598;
finalDepth = 721.019154;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4326990000001
#   Actual altitude:          51.4326990000001
#   Commanded vehicle depth:  721.019154 
#   Seafloor depth:           -772.129586
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866293 meters
#   Minimum depth: 769.891598 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.883830 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.891598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812300;
longitude = -136.062024;
duration = 487;
initialDepth = 719.725332;
finalDepth = 719.891598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1104320000001
#   Actual altitude:          51.1104320000001
#   Commanded vehicle depth:  719.891598 
#   Seafloor depth:           -770.883830
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866298 meters
#   Minimum depth: 769.725332 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.918550 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.725332 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811209;
longitude = -136.061845;
duration = 487;
initialDepth = 718.862984;
finalDepth = 719.725332;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9922319999999
#   Actual altitude:          50.9922319999999
#   Commanded vehicle depth:  719.725332 
#   Seafloor depth:           -769.725332
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866301 meters
#   Minimum depth: 768.862984 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.359507 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.862984 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810118;
longitude = -136.061666;
duration = 487;
initialDepth = 716.410343;
finalDepth = 718.862984;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.496523
#   Actual altitude:          51.496523
#   Commanded vehicle depth:  718.862984 
#   Seafloor depth:           -770.359507
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866306 meters
#   Minimum depth: 766.410343 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.454859 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.410343 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809026;
longitude = -136.061487;
duration = 487;
initialDepth = 714.895613;
finalDepth = 716.410343;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.044516
#   Actual altitude:          52.044516
#   Commanded vehicle depth:  716.410343 
#   Seafloor depth:           -768.454859
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866311 meters
#   Minimum depth: 764.895613 meters looking forward 100.000000 meters along route
#   Maximum depth: 765.856510 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.895613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807935;
longitude = -136.061308;
duration = 487;
initialDepth = 713.974581;
finalDepth = 714.895613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.044516
#   Actual altitude:          52.044516
#   Commanded vehicle depth:  714.895613 
#   Seafloor depth:           -765.856510
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866315 meters
#   Minimum depth: 763.974581 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.622535 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.974581 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806844;
longitude = -136.061129;
duration = 487;
initialDepth = 714.332304;
finalDepth = 713.974581;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9608969999999
#   Actual altitude:          50.9608969999999
#   Commanded vehicle depth:  713.974581 
#   Seafloor depth:           -764.622535
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866319 meters
#   Minimum depth: 764.332304 meters looking forward 100.000000 meters along route
#   Maximum depth: 765.129020 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.332304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805753;
longitude = -136.060950;
duration = 487;
initialDepth = 715.957970;
finalDepth = 714.332304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.647954
#   Actual altitude:          50.647954
#   Commanded vehicle depth:  714.332304 
#   Seafloor depth:           -764.332304
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866323 meters
#   Minimum depth: 765.957970 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.636882 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 715.957970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804662;
longitude = -136.060771;
duration = 487;
initialDepth = 718.116470;
finalDepth = 715.957970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  715.95797 
#   Seafloor depth:           -765.957970
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866328 meters
#   Minimum depth: 768.116470 meters looking forward 100.000000 meters along route
#   Maximum depth: 769.954131 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.116470 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803571;
longitude = -136.060592;
duration = 487;
initialDepth = 721.134959;
finalDepth = 718.116470;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  718.11647 
#   Seafloor depth:           -768.116470
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866332 meters
#   Minimum depth: 771.134959 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.921080 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.134959 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802480;
longitude = -136.060413;
duration = 487;
initialDepth = 724.093939;
finalDepth = 721.134959;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  721.134959 
#   Seafloor depth:           -771.134959
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866336 meters
#   Minimum depth: 774.093939 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.823957 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.093939 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801389;
longitude = -136.060234;
duration = 487;
initialDepth = 729.186207;
finalDepth = 724.093939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.121089
#   Actual altitude:          50.121089
#   Commanded vehicle depth:  724.093939 
#   Seafloor depth:           -774.215028
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866341 meters
#   Minimum depth: 779.186207 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.854021 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.186207 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800298;
longitude = -136.060055;
duration = 487;
initialDepth = 730.823668;
finalDepth = 729.186207;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.121089
#   Actual altitude:          50.121089
#   Commanded vehicle depth:  729.186207 
#   Seafloor depth:           -779.186207
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866345 meters
#   Minimum depth: 780.823668 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.835911 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.823668 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799207;
longitude = -136.059876;
duration = 487;
initialDepth = 732.015999;
finalDepth = 730.823668;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  730.823668 
#   Seafloor depth:           -780.823668
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866349 meters
#   Minimum depth: 782.015999 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.256430 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.015999 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798116;
longitude = -136.059697;
duration = 487;
initialDepth = 732.177678;
finalDepth = 732.015999;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.371494
#   Actual altitude:          50.371494
#   Commanded vehicle depth:  732.015999 
#   Seafloor depth:           -782.387493
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866354 meters
#   Minimum depth: 782.177678 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.098416 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.177678 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797024;
longitude = -136.059518;
duration = 487;
initialDepth = 731.176557;
finalDepth = 732.177678;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.920738
#   Actual altitude:          50.920738
#   Commanded vehicle depth:  732.177678 
#   Seafloor depth:           -783.098416
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 108.908799 meters
#   Minimum depth: 781.176557 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.837688 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.176557 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795933;
longitude = -136.059339;
duration = 435;
initialDepth = 727.596492;
finalDepth = 731.176557;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.920738
#   Actual altitude:          50.920738
#   Commanded vehicle depth:  731.176557 
#   Seafloor depth:           -781.837688
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 104.357331 meters
#   Minimum depth: 777.596492 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.669939 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.596492 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794958;
longitude = -136.059179;
duration = 417;
initialDepth = 725.155224;
finalDepth = 727.596492;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.073447
#   Actual altitude:          53.073447
#   Commanded vehicle depth:  727.596492 
#   Seafloor depth:           -780.669939
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866365 meters
#   Minimum depth: 775.155224 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.249627 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.155224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794024;
longitude = -136.059025;
duration = 487;
initialDepth = 716.327543;
finalDepth = 725.155224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.073447
#   Actual altitude:          53.073447
#   Commanded vehicle depth:  725.155224 
#   Seafloor depth:           -776.249627
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866370 meters
#   Minimum depth: 766.327543 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.056941 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.327543 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792933;
longitude = -136.058846;
duration = 487;
initialDepth = 701.906201;
finalDepth = 716.327543;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.7293980000001
#   Actual altitude:          57.7293980000001
#   Commanded vehicle depth:  716.327543 
#   Seafloor depth:           -774.056941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866374 meters
#   Minimum depth: 751.906201 meters looking forward 100.000000 meters along route
#   Maximum depth: 761.513847 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 701.906201 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791842;
longitude = -136.058667;
duration = 487;
initialDepth = 699.438782;
finalDepth = 701.906201;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.607646
#   Actual altitude:          59.607646
#   Commanded vehicle depth:  701.906201 
#   Seafloor depth:           -761.513847
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866379 meters
#   Minimum depth: 749.438782 meters looking forward 100.000000 meters along route
#   Maximum depth: 751.243913 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 699.438782 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790751;
longitude = -136.058488;
duration = 487;
initialDepth = 697.489926;
finalDepth = 699.438782;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.607646
#   Actual altitude:          59.607646
#   Commanded vehicle depth:  699.438782 
#   Seafloor depth:           -751.243913
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866383 meters
#   Minimum depth: 747.489926 meters looking forward 100.000000 meters along route
#   Maximum depth: 748.802198 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 697.489926 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789660;
longitude = -136.058309;
duration = 487;
initialDepth = 694.958681;
finalDepth = 697.489926;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8051310000001
#   Actual altitude:          51.8051310000001
#   Commanded vehicle depth:  697.489926 
#   Seafloor depth:           -748.802198
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866387 meters
#   Minimum depth: 744.958681 meters looking forward 100.000000 meters along route
#   Maximum depth: 746.855512 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.958681 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788568;
longitude = -136.058130;
duration = 487;
initialDepth = 692.093375;
finalDepth = 694.958681;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.896831
#   Actual altitude:          51.896831
#   Commanded vehicle depth:  694.958681 
#   Seafloor depth:           -746.855512
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866392 meters
#   Minimum depth: 742.093375 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.192616 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.093375 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787477;
longitude = -136.057951;
duration = 487;
initialDepth = 689.125045;
finalDepth = 692.093375;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.099241
#   Actual altitude:          52.099241
#   Commanded vehicle depth:  692.093375 
#   Seafloor depth:           -744.192616
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866396 meters
#   Minimum depth: 739.125045 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.267996 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.125045 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786386;
longitude = -136.057772;
duration = 487;
initialDepth = 686.769314;
finalDepth = 689.125045;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.142951
#   Actual altitude:          52.142951
#   Commanded vehicle depth:  689.125045 
#   Seafloor depth:           -741.267996
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 121.866400 meters
#   Minimum depth: 736.769314 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.461216 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.769314 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785295;
longitude = -136.057593;
duration = 487;
initialDepth = 683.046182;
finalDepth = 686.769314;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.142951
#   Actual altitude:          52.142951
#   Commanded vehicle depth:  686.769314 
#   Seafloor depth:           -738.461216
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 123.763376 meters
#   Minimum depth: 733.046182 meters looking forward 100.000000 meters along route
#   Maximum depth: 736.074449 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 683.046182 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784204;
longitude = -136.057414;
duration = 495;
initialDepth = 681.576046;
finalDepth = 683.046182;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.0282669999999
#   Actual altitude:          53.0282669999999
#   Commanded vehicle depth:  683.046182 
#   Seafloor depth:           -736.074449
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 34
#   Segment length 149.994519 meters
#   Minimum depth: 731.576046 meters looking forward 100.000000 meters along route
#   Maximum depth: 732.870911 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 681.576046 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783096;
longitude = -136.057232;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 681.739349;
finalDepth = 681.576046;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.0282669999999
#   Actual altitude:          53.0282669999999
#   Commanded vehicle depth:  681.576046 
#   Seafloor depth:           -732.870911
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 33
#   Segment length 131.917405 meters
#   Minimum depth: 731.739349 meters looking forward 100.000000 meters along route
#   Maximum depth: 734.065446 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 681.739349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783023;
longitude = -136.061309;
duration = 527;
# abortOnTimeout    = True; 
initialDepth = 684.900573;
finalDepth = 681.739349;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.294865
#   Actual altitude:          51.294865
#   Commanded vehicle depth:  681.739349 
#   Seafloor depth:           -731.739349
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866874 meters
#   Minimum depth: 734.900573 meters looking forward 100.000000 meters along route
#   Maximum depth: 737.562614 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.900573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784204;
longitude = -136.061503;
duration = 487;
initialDepth = 688.723189;
finalDepth = 684.900573;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  684.900573 
#   Seafloor depth:           -734.900573
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866870 meters
#   Minimum depth: 738.723189 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.386668 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 688.723189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785295;
longitude = -136.061682;
duration = 487;
initialDepth = 692.382459;
finalDepth = 688.723189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  688.723189 
#   Seafloor depth:           -738.723189
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866866 meters
#   Minimum depth: 742.382459 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.077135 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.382459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786386;
longitude = -136.061862;
duration = 487;
initialDepth = 694.740452;
finalDepth = 692.382459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  692.382459 
#   Seafloor depth:           -742.382459
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866861 meters
#   Minimum depth: 744.740452 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.030969 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.740452 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787477;
longitude = -136.062041;
duration = 487;
initialDepth = 697.732744;
finalDepth = 694.740452;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  694.740452 
#   Seafloor depth:           -744.740452
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866857 meters
#   Minimum depth: 747.732744 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.049021 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 697.732744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788568;
longitude = -136.062220;
duration = 487;
initialDepth = 700.654708;
finalDepth = 697.732744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  697.732744 
#   Seafloor depth:           -747.732744
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866852 meters
#   Minimum depth: 750.654708 meters looking forward 100.000000 meters along route
#   Maximum depth: 753.149220 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.654708 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789660;
longitude = -136.062399;
duration = 487;
initialDepth = 703.943520;
finalDepth = 700.654708;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  700.654708 
#   Seafloor depth:           -750.654708
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866848 meters
#   Minimum depth: 753.943520 meters looking forward 100.000000 meters along route
#   Maximum depth: 766.460531 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 703.943520 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790751;
longitude = -136.062579;
duration = 487;
initialDepth = 720.334980;
finalDepth = 703.943520;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  703.94352 
#   Seafloor depth:           -753.943520
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866844 meters
#   Minimum depth: 770.334980 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.601525 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.334980 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791842;
longitude = -136.062758;
duration = 487;
initialDepth = 725.281826;
finalDepth = 720.334980;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  720.33498 
#   Seafloor depth:           -770.334980
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866839 meters
#   Minimum depth: 775.281826 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.000218 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.281826 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792933;
longitude = -136.062937;
duration = 487;
initialDepth = 730.699551;
finalDepth = 725.281826;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  725.281826 
#   Seafloor depth:           -775.281826
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866835 meters
#   Minimum depth: 780.699551 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.264034 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.699551 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794024;
longitude = -136.063117;
duration = 487;
initialDepth = 732.572385;
finalDepth = 730.699551;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  730.699551 
#   Seafloor depth:           -780.699551
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866831 meters
#   Minimum depth: 782.572385 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.100971 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.572385 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795115;
longitude = -136.063296;
duration = 487;
initialDepth = 733.151091;
finalDepth = 732.572385;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  732.572385 
#   Seafloor depth:           -782.572385
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866826 meters
#   Minimum depth: 783.151091 meters looking forward 100.000000 meters along route
#   Maximum depth: 784.491229 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.151091 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796206;
longitude = -136.063475;
duration = 487;
initialDepth = 734.282224;
finalDepth = 733.151091;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  733.151091 
#   Seafloor depth:           -783.151091
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 109.669583 meters
#   Minimum depth: 784.282224 meters looking forward 100.000000 meters along route
#   Maximum depth: 784.793632 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.282224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797297;
longitude = -136.063654;
duration = 438;
initialDepth = 725.985402;
finalDepth = 734.282224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.511408
#   Actual altitude:          50.511408
#   Commanded vehicle depth:  734.282224 
#   Seafloor depth:           -784.793632
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 103.597352 meters
#   Minimum depth: 775.985402 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.213762 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.985402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798279;
longitude = -136.063816;
duration = 414;
initialDepth = 724.604858;
finalDepth = 725.985402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.22836
#   Actual altitude:          57.22836
#   Commanded vehicle depth:  725.985402 
#   Seafloor depth:           -783.213762
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866814 meters
#   Minimum depth: 774.604858 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.956865 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.604858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799207;
longitude = -136.063968;
duration = 487;
initialDepth = 720.568897;
finalDepth = 724.604858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.22836
#   Actual altitude:          57.22836
#   Commanded vehicle depth:  724.604858 
#   Seafloor depth:           -775.181603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866810 meters
#   Minimum depth: 770.568897 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.183258 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.568897 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800298;
longitude = -136.064147;
duration = 487;
initialDepth = 720.461968;
finalDepth = 720.568897;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9697640000001
#   Actual altitude:          52.9697640000001
#   Commanded vehicle depth:  720.568897 
#   Seafloor depth:           -773.538661
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866805 meters
#   Minimum depth: 770.461968 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.161225 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.461968 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801389;
longitude = -136.064327;
duration = 487;
initialDepth = 719.225371;
finalDepth = 720.461968;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9697640000001
#   Actual altitude:          52.9697640000001
#   Commanded vehicle depth:  720.461968 
#   Seafloor depth:           -770.461968
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866801 meters
#   Minimum depth: 769.225371 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.569982 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.225371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802480;
longitude = -136.064506;
duration = 487;
initialDepth = 717.159440;
finalDepth = 719.225371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.344611
#   Actual altitude:          51.344611
#   Commanded vehicle depth:  719.225371 
#   Seafloor depth:           -770.569982
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866797 meters
#   Minimum depth: 767.159440 meters looking forward 100.000000 meters along route
#   Maximum depth: 769.014119 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 717.159440 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803571;
longitude = -136.064685;
duration = 487;
initialDepth = 710.631853;
finalDepth = 717.159440;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.854679
#   Actual altitude:          51.854679
#   Commanded vehicle depth:  717.15944 
#   Seafloor depth:           -769.014119
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866792 meters
#   Minimum depth: 760.631853 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.281998 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.631853 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804662;
longitude = -136.064865;
duration = 487;
initialDepth = 710.824168;
finalDepth = 710.631853;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6501450000001
#   Actual altitude:          53.6501450000001
#   Commanded vehicle depth:  710.631853 
#   Seafloor depth:           -764.281998
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866788 meters
#   Minimum depth: 760.824168 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.304650 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.824168 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805753;
longitude = -136.065044;
duration = 487;
initialDepth = 713.138306;
finalDepth = 710.824168;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6501450000001
#   Actual altitude:          53.6501450000001
#   Commanded vehicle depth:  710.824168 
#   Seafloor depth:           -760.824168
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866783 meters
#   Minimum depth: 763.138306 meters looking forward 100.000000 meters along route
#   Maximum depth: 765.615630 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.138306 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806844;
longitude = -136.065223;
duration = 487;
initialDepth = 716.514982;
finalDepth = 713.138306;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  713.138306 
#   Seafloor depth:           -763.138306
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866779 meters
#   Minimum depth: 766.514982 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.137304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.514982 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807935;
longitude = -136.065402;
duration = 487;
initialDepth = 719.095606;
finalDepth = 716.514982;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  716.514982 
#   Seafloor depth:           -766.514982
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866775 meters
#   Minimum depth: 769.095606 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.993213 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.095606 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809026;
longitude = -136.065582;
duration = 487;
initialDepth = 722.450410;
finalDepth = 719.095606;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  719.095606 
#   Seafloor depth:           -769.095606
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866770 meters
#   Minimum depth: 772.450410 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.804647 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.450410 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810118;
longitude = -136.065761;
duration = 487;
initialDepth = 723.375095;
finalDepth = 722.450410;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  722.45041 
#   Seafloor depth:           -772.450410
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866766 meters
#   Minimum depth: 773.375095 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.070915 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.375095 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811209;
longitude = -136.065940;
duration = 487;
initialDepth = 723.766058;
finalDepth = 723.375095;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.545616
#   Actual altitude:          50.545616
#   Commanded vehicle depth:  723.375095 
#   Seafloor depth:           -773.920711
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.790495 meters
#   Minimum depth: 773.766058 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.105252 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.766058 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812300;
longitude = -136.066119;
duration = 411;
initialDepth = 724.143735;
finalDepth = 723.766058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.545616
#   Actual altitude:          50.545616
#   Commanded vehicle depth:  723.766058 
#   Seafloor depth:           -773.766058
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 110.476335 meters
#   Minimum depth: 774.143735 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.448109 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.143735 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813220;
longitude = -136.066271;
duration = 441;
initialDepth = 725.841290;
finalDepth = 724.143735;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  724.143735 
#   Seafloor depth:           -774.143735
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 121.866754 meters
#   Minimum depth: 775.841290 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.719715 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.841290 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814209;
longitude = -136.066433;
duration = 487;
initialDepth = 727.295569;
finalDepth = 725.841290;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  725.84129 
#   Seafloor depth:           -775.841290
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 100.942988 meters
#   Minimum depth: 777.295569 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.803051 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.295569 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815300;
longitude = -136.066613;
duration = 403;
initialDepth = 729.936523;
finalDepth = 727.295569;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  727.295569 
#   Seafloor depth:           -777.295569
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 32
#   Segment length 150.003142 meters
#   Minimum depth: 779.936523 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.954510 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.936523 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.816204;
longitude = -136.066761;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 731.444421;
finalDepth = 729.936523;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.936523 
#   Seafloor depth:           -779.936523
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 31
#   Segment length 92.789769 meters
#   Minimum depth: 781.444421 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.032425 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.444421 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.816131;
longitude = -136.070845;
duration = 371;
# abortOnTimeout    = True; 
initialDepth = 729.095795;
finalDepth = 731.444421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.588004
#   Actual altitude:          51.588004
#   Commanded vehicle depth:  731.444421 
#   Seafloor depth:           -783.032425
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867173 meters
#   Minimum depth: 779.095795 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.975201 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.095795 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815300;
longitude = -136.070708;
duration = 487;
initialDepth = 727.410012;
finalDepth = 729.095795;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.879406
#   Actual altitude:          51.879406
#   Commanded vehicle depth:  729.095795 
#   Seafloor depth:           -780.975201
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 113.093212 meters
#   Minimum depth: 777.410012 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.659903 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.410012 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814209;
longitude = -136.070529;
duration = 452;
initialDepth = 726.769544;
finalDepth = 727.410012;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.879406
#   Actual altitude:          51.879406
#   Commanded vehicle depth:  727.410012 
#   Seafloor depth:           -778.659903
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.174351 meters
#   Minimum depth: 776.769544 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.254322 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.769544 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813197;
longitude = -136.070362;
duration = 400;
initialDepth = 726.463670;
finalDepth = 726.769544;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2498909999999
#   Actual altitude:          51.2498909999999
#   Commanded vehicle depth:  726.769544 
#   Seafloor depth:           -777.254322
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867185 meters
#   Minimum depth: 776.463670 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.030508 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.463670 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812300;
longitude = -136.070215;
duration = 487;
initialDepth = 724.022517;
finalDepth = 726.463670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.484778
#   Actual altitude:          50.484778
#   Commanded vehicle depth:  726.46367 
#   Seafloor depth:           -776.481102
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867189 meters
#   Minimum depth: 774.022517 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.114750 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.022517 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811209;
longitude = -136.070035;
duration = 487;
initialDepth = 722.109746;
finalDepth = 724.022517;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.092233
#   Actual altitude:          52.092233
#   Commanded vehicle depth:  724.022517 
#   Seafloor depth:           -776.114750
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867194 meters
#   Minimum depth: 772.109746 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.268511 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.109746 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810118;
longitude = -136.069856;
duration = 487;
initialDepth = 719.244583;
finalDepth = 722.109746;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.092233
#   Actual altitude:          52.092233
#   Commanded vehicle depth:  722.109746 
#   Seafloor depth:           -773.268511
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867198 meters
#   Minimum depth: 769.244583 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.617887 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.244583 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809026;
longitude = -136.069676;
duration = 487;
initialDepth = 717.461542;
finalDepth = 719.244583;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.373304
#   Actual altitude:          52.373304
#   Commanded vehicle depth:  719.244583 
#   Seafloor depth:           -771.617887
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867203 meters
#   Minimum depth: 767.461542 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.485781 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 717.461542 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807935;
longitude = -136.069497;
duration = 487;
initialDepth = 713.153559;
finalDepth = 717.461542;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.373304
#   Actual altitude:          52.373304
#   Commanded vehicle depth:  717.461542 
#   Seafloor depth:           -768.485781
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867207 meters
#   Minimum depth: 763.153559 meters looking forward 100.000000 meters along route
#   Maximum depth: 766.662721 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.153559 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806844;
longitude = -136.069317;
duration = 487;
initialDepth = 714.759188;
finalDepth = 713.153559;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5091620000001
#   Actual altitude:          53.5091620000001
#   Commanded vehicle depth:  713.153559 
#   Seafloor depth:           -766.662721
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867212 meters
#   Minimum depth: 764.759188 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.587551 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.759188 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805753;
longitude = -136.069138;
duration = 487;
initialDepth = 719.532903;
finalDepth = 714.759188;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5091620000001
#   Actual altitude:          53.5091620000001
#   Commanded vehicle depth:  714.759188 
#   Seafloor depth:           -764.759188
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867216 meters
#   Minimum depth: 769.532903 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.274989 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.532903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804662;
longitude = -136.068958;
duration = 487;
initialDepth = 720.742760;
finalDepth = 719.532903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  719.532903 
#   Seafloor depth:           -769.532903
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867220 meters
#   Minimum depth: 770.742760 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.212181 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.742760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803571;
longitude = -136.068779;
duration = 487;
initialDepth = 720.817892;
finalDepth = 720.742760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.469421
#   Actual altitude:          50.469421
#   Commanded vehicle depth:  720.74276 
#   Seafloor depth:           -771.212181
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867225 meters
#   Minimum depth: 770.817892 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.289866 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.817892 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802480;
longitude = -136.068599;
duration = 487;
initialDepth = 721.310357;
finalDepth = 720.817892;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4719739999999
#   Actual altitude:          50.4719739999999
#   Commanded vehicle depth:  720.817892 
#   Seafloor depth:           -771.289866
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867229 meters
#   Minimum depth: 771.310357 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.258240 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.310357 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801389;
longitude = -136.068420;
duration = 487;
initialDepth = 724.430244;
finalDepth = 721.310357;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4719739999999
#   Actual altitude:          50.4719739999999
#   Commanded vehicle depth:  721.310357 
#   Seafloor depth:           -771.310357
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867234 meters
#   Minimum depth: 774.430244 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.110886 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.430244 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800298;
longitude = -136.068240;
duration = 487;
initialDepth = 728.983266;
finalDepth = 724.430244;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.661703
#   Actual altitude:          51.661703
#   Commanded vehicle depth:  724.430244 
#   Seafloor depth:           -776.091947
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867238 meters
#   Minimum depth: 778.983266 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.811683 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.983266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799207;
longitude = -136.068061;
duration = 487;
initialDepth = 733.218802;
finalDepth = 728.983266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.661703
#   Actual altitude:          51.661703
#   Commanded vehicle depth:  728.983266 
#   Seafloor depth:           -779.075206
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867242 meters
#   Minimum depth: 783.218802 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.595366 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.218802 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798116;
longitude = -136.067882;
duration = 487;
initialDepth = 732.830236;
finalDepth = 733.218802;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.327096
#   Actual altitude:          50.327096
#   Commanded vehicle depth:  733.218802 
#   Seafloor depth:           -783.545898
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867247 meters
#   Minimum depth: 782.830236 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.198749 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.830236 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797024;
longitude = -136.067702;
duration = 487;
initialDepth = 732.797234;
finalDepth = 732.830236;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.368513
#   Actual altitude:          50.368513
#   Commanded vehicle depth:  732.830236 
#   Seafloor depth:           -783.198749
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867251 meters
#   Minimum depth: 782.797234 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.978818 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.797234 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795933;
longitude = -136.067523;
duration = 487;
initialDepth = 732.299544;
finalDepth = 732.797234;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.368513
#   Actual altitude:          50.368513
#   Commanded vehicle depth:  732.797234 
#   Seafloor depth:           -782.797234
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867256 meters
#   Minimum depth: 782.299544 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.020295 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.299544 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794842;
longitude = -136.067343;
duration = 487;
initialDepth = 730.393882;
finalDepth = 732.299544;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.706757
#   Actual altitude:          50.706757
#   Commanded vehicle depth:  732.299544 
#   Seafloor depth:           -783.006301
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867260 meters
#   Minimum depth: 780.393882 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.968773 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.393882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.793751;
longitude = -136.067164;
duration = 487;
initialDepth = 723.412899;
finalDepth = 730.393882;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5748910000001
#   Actual altitude:          51.5748910000001
#   Commanded vehicle depth:  730.393882 
#   Seafloor depth:           -781.968773
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867265 meters
#   Minimum depth: 773.412899 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.764084 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.412899 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792660;
longitude = -136.066984;
duration = 487;
initialDepth = 709.727860;
finalDepth = 723.412899;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.351185
#   Actual altitude:          55.351185
#   Commanded vehicle depth:  723.412899 
#   Seafloor depth:           -778.764084
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867269 meters
#   Minimum depth: 759.727860 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.580938 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 709.727860 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791569;
longitude = -136.066805;
duration = 487;
initialDepth = 702.404508;
finalDepth = 709.727860;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.853078
#   Actual altitude:          62.853078
#   Commanded vehicle depth:  709.72786 
#   Seafloor depth:           -772.580938
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867273 meters
#   Minimum depth: 752.404508 meters looking forward 100.000000 meters along route
#   Maximum depth: 755.594187 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.404508 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790478;
longitude = -136.066625;
duration = 487;
initialDepth = 698.144528;
finalDepth = 702.404508;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.853078
#   Actual altitude:          62.853078
#   Commanded vehicle depth:  702.404508 
#   Seafloor depth:           -755.594187
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867278 meters
#   Minimum depth: 748.144528 meters looking forward 100.000000 meters along route
#   Maximum depth: 751.568784 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 698.144528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789387;
longitude = -136.066446;
duration = 487;
initialDepth = 695.364671;
finalDepth = 698.144528;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.424256
#   Actual altitude:          53.424256
#   Commanded vehicle depth:  698.144528 
#   Seafloor depth:           -751.568784
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867282 meters
#   Minimum depth: 745.364671 meters looking forward 100.000000 meters along route
#   Maximum depth: 748.079585 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 695.364671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788296;
longitude = -136.066266;
duration = 487;
initialDepth = 691.833552;
finalDepth = 695.364671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.424256
#   Actual altitude:          53.424256
#   Commanded vehicle depth:  695.364671 
#   Seafloor depth:           -748.079585
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 121.867287 meters
#   Minimum depth: 741.833552 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.590278 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.833552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787205;
longitude = -136.066087;
duration = 487;
initialDepth = 687.673985;
finalDepth = 691.833552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.756726
#   Actual altitude:          52.756726
#   Commanded vehicle depth:  691.833552 
#   Seafloor depth:           -744.590278
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 123.621063 meters
#   Minimum depth: 737.673985 meters looking forward 100.000000 meters along route
#   Maximum depth: 740.961067 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 687.673985 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786113;
longitude = -136.065907;
duration = 494;
initialDepth = 685.402814;
finalDepth = 687.673985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2870819999999
#   Actual altitude:          53.2870819999999
#   Commanded vehicle depth:  687.673985 
#   Seafloor depth:           -740.961067
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 120.113524 meters
#   Minimum depth: 735.402814 meters looking forward 100.000000 meters along route
#   Maximum depth: 737.619721 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.402814 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785007;
longitude = -136.065725;
duration = 480;
initialDepth = 682.663328;
finalDepth = 685.402814;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2870819999999
#   Actual altitude:          53.2870819999999
#   Commanded vehicle depth:  685.402814 
#   Seafloor depth:           -737.619721
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 109.492919 meters
#   Minimum depth: 732.663328 meters looking forward 100.000000 meters along route
#   Maximum depth: 734.263416 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 682.663328 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783931;
longitude = -136.065548;
duration = 437;
initialDepth = 682.305847;
finalDepth = 682.663328;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.216907
#   Actual altitude:          52.216907
#   Commanded vehicle depth:  682.663328 
#   Seafloor depth:           -734.263416
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 30
#   Segment length 149.995646 meters
#   Minimum depth: 732.305847 meters looking forward 100.000000 meters along route
#   Maximum depth: 734.208323 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 682.305847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782951;
longitude = -136.065387;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 684.208323;
finalDepth = 682.305847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.600088
#   Actual altitude:          51.600088
#   Commanded vehicle depth:  682.305847 
#   Seafloor depth:           -732.305847
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 29
#   Segment length 87.180010 meters
#   Minimum depth: 734.208323 meters looking forward 100.000000 meters along route
#   Maximum depth: 735.310922 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.208323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782878;
longitude = -136.069464;
duration = 348;
# abortOnTimeout    = True; 
initialDepth = 685.892713;
finalDepth = 684.208323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1789150000001
#   Actual altitude:          50.1789150000001
#   Commanded vehicle depth:  684.208323 
#   Seafloor depth:           -734.387238
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867772 meters
#   Minimum depth: 735.892713 meters looking forward 100.000000 meters along route
#   Maximum depth: 737.693222 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.892713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783659;
longitude = -136.069593;
duration = 487;
initialDepth = 688.366872;
finalDepth = 685.892713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1789150000001
#   Actual altitude:          50.1789150000001
#   Commanded vehicle depth:  685.892713 
#   Seafloor depth:           -735.892713
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867767 meters
#   Minimum depth: 738.366872 meters looking forward 100.000000 meters along route
#   Maximum depth: 740.601130 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 688.366872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784750;
longitude = -136.069772;
duration = 487;
initialDepth = 691.405905;
finalDepth = 688.366872;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  688.366872 
#   Seafloor depth:           -738.366872
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867763 meters
#   Minimum depth: 741.405905 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.569805 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.405905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785841;
longitude = -136.069952;
duration = 487;
initialDepth = 694.161871;
finalDepth = 691.405905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  691.405905 
#   Seafloor depth:           -741.405905
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867759 meters
#   Minimum depth: 744.161871 meters looking forward 100.000000 meters along route
#   Maximum depth: 746.868032 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.161871 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786932;
longitude = -136.070132;
duration = 487;
initialDepth = 697.839838;
finalDepth = 694.161871;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  694.161871 
#   Seafloor depth:           -744.161871
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867754 meters
#   Minimum depth: 747.839838 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.548191 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 697.839838 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788023;
longitude = -136.070311;
duration = 487;
initialDepth = 701.662640;
finalDepth = 697.839838;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  697.839838 
#   Seafloor depth:           -747.839838
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867749 meters
#   Minimum depth: 751.662640 meters looking forward 100.000000 meters along route
#   Maximum depth: 756.304497 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 701.662640 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789114;
longitude = -136.070491;
duration = 487;
initialDepth = 710.373717;
finalDepth = 701.662640;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  701.66264 
#   Seafloor depth:           -751.662640
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867745 meters
#   Minimum depth: 760.373717 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.477554 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.373717 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790205;
longitude = -136.070671;
duration = 487;
initialDepth = 724.021192;
finalDepth = 710.373717;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  710.373717 
#   Seafloor depth:           -760.373717
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867741 meters
#   Minimum depth: 774.021192 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.786134 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.021192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791296;
longitude = -136.070851;
duration = 487;
initialDepth = 729.086487;
finalDepth = 724.021192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  724.021192 
#   Seafloor depth:           -774.021192
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867736 meters
#   Minimum depth: 779.086487 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.383601 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.086487 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792387;
longitude = -136.071030;
duration = 487;
initialDepth = 732.699317;
finalDepth = 729.086487;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.086487 
#   Seafloor depth:           -779.086487
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867732 meters
#   Minimum depth: 782.699317 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.283849 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.699317 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.793478;
longitude = -136.071210;
duration = 487;
initialDepth = 733.010888;
finalDepth = 732.699317;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  732.699317 
#   Seafloor depth:           -782.699317
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867727 meters
#   Minimum depth: 783.010888 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.488022 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.010888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794569;
longitude = -136.071390;
duration = 487;
initialDepth = 732.445960;
finalDepth = 733.010888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.477134
#   Actual altitude:          50.477134
#   Commanded vehicle depth:  733.010888 
#   Seafloor depth:           -783.488022
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867723 meters
#   Minimum depth: 782.445960 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.894249 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.445960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795661;
longitude = -136.071569;
duration = 487;
initialDepth = 732.422062;
finalDepth = 732.445960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.477134
#   Actual altitude:          50.477134
#   Commanded vehicle depth:  732.44596 
#   Seafloor depth:           -782.894249
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867718 meters
#   Minimum depth: 782.422062 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.579929 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.422062 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796752;
longitude = -136.071749;
duration = 487;
initialDepth = 729.780284;
finalDepth = 732.422062;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4482889999999
#   Actual altitude:          50.4482889999999
#   Commanded vehicle depth:  732.422062 
#   Seafloor depth:           -782.499216
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867714 meters
#   Minimum depth: 779.780284 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.728664 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.780284 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797843;
longitude = -136.071929;
duration = 487;
initialDepth = 727.150868;
finalDepth = 729.780284;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9483799999999
#   Actual altitude:          52.9483799999999
#   Commanded vehicle depth:  729.780284 
#   Seafloor depth:           -782.728664
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 110.668240 meters
#   Minimum depth: 777.150868 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.761990 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.150868 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798934;
longitude = -136.072109;
duration = 442;
initialDepth = 726.355377;
finalDepth = 727.150868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9483799999999
#   Actual altitude:          52.9483799999999
#   Commanded vehicle depth:  727.150868 
#   Seafloor depth:           -777.150868
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.600249 meters
#   Minimum depth: 776.355377 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.873163 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.355377 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799925;
longitude = -136.072272;
duration = 410;
initialDepth = 723.717887;
finalDepth = 726.355377;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.517786
#   Actual altitude:          50.517786
#   Commanded vehicle depth:  726.355377 
#   Seafloor depth:           -776.873163
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867701 meters
#   Minimum depth: 773.717887 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.380055 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.717887 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800843;
longitude = -136.072423;
duration = 487;
initialDepth = 720.948147;
finalDepth = 723.717887;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.662168
#   Actual altitude:          51.662168
#   Commanded vehicle depth:  723.717887 
#   Seafloor depth:           -775.380055
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867698 meters
#   Minimum depth: 770.948147 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.384133 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.948147 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801934;
longitude = -136.072603;
duration = 487;
initialDepth = 721.315708;
finalDepth = 720.948147;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.662168
#   Actual altitude:          51.662168
#   Commanded vehicle depth:  720.948147 
#   Seafloor depth:           -771.384133
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867692 meters
#   Minimum depth: 771.315708 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.763186 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.315708 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803025;
longitude = -136.072782;
duration = 487;
initialDepth = 720.584598;
finalDepth = 721.315708;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4359860000001
#   Actual altitude:          50.4359860000001
#   Commanded vehicle depth:  721.315708 
#   Seafloor depth:           -771.536453
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867688 meters
#   Minimum depth: 770.584598 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.473437 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.584598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804117;
longitude = -136.072962;
duration = 487;
initialDepth = 719.713213;
finalDepth = 720.584598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.888839
#   Actual altitude:          50.888839
#   Commanded vehicle depth:  720.584598 
#   Seafloor depth:           -771.473437
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867684 meters
#   Minimum depth: 769.713213 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.170251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.713213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805208;
longitude = -136.073142;
duration = 487;
initialDepth = 722.598103;
finalDepth = 719.713213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.888839
#   Actual altitude:          50.888839
#   Commanded vehicle depth:  719.713213 
#   Seafloor depth:           -770.543554
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867679 meters
#   Minimum depth: 772.598103 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.792569 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.598103 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806299;
longitude = -136.073322;
duration = 487;
initialDepth = 724.337529;
finalDepth = 722.598103;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.830341
#   Actual altitude:          50.830341
#   Commanded vehicle depth:  722.598103 
#   Seafloor depth:           -772.598103
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867675 meters
#   Minimum depth: 774.337529 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.904901 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.337529 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807390;
longitude = -136.073501;
duration = 487;
initialDepth = 724.390893;
finalDepth = 724.337529;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  724.337529 
#   Seafloor depth:           -774.337529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867670 meters
#   Minimum depth: 774.390893 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.713037 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.390893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808481;
longitude = -136.073681;
duration = 487;
initialDepth = 726.293088;
finalDepth = 724.390893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  724.390893 
#   Seafloor depth:           -774.390893
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867666 meters
#   Minimum depth: 776.293088 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.291510 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.293088 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809572;
longitude = -136.073861;
duration = 487;
initialDepth = 727.496803;
finalDepth = 726.293088;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  726.293088 
#   Seafloor depth:           -776.293088
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867661 meters
#   Minimum depth: 777.496803 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.014277 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.496803 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810663;
longitude = -136.074040;
duration = 487;
initialDepth = 729.235249;
finalDepth = 727.496803;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  727.496803 
#   Seafloor depth:           -777.496803
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867657 meters
#   Minimum depth: 779.235249 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.917984 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.235249 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811754;
longitude = -136.074220;
duration = 487;
initialDepth = 728.952379;
finalDepth = 729.235249;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.064554
#   Actual altitude:          50.064554
#   Commanded vehicle depth:  729.235249 
#   Seafloor depth:           -779.299803
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867653 meters
#   Minimum depth: 778.952379 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.580987 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.952379 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812845;
longitude = -136.074400;
duration = 487;
initialDepth = 730.731340;
finalDepth = 728.952379;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.064554
#   Actual altitude:          50.064554
#   Commanded vehicle depth:  728.952379 
#   Seafloor depth:           -778.952379
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 121.867648 meters
#   Minimum depth: 780.731340 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.909198 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.731340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813936;
longitude = -136.074580;
duration = 487;
initialDepth = 732.362814;
finalDepth = 730.731340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  730.73134 
#   Seafloor depth:           -780.731340
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 115.103442 meters
#   Minimum depth: 782.362814 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.868431 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.362814 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815027;
longitude = -136.074759;
duration = 460;
initialDepth = 733.911682;
finalDepth = 732.362814;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  732.362814 
#   Seafloor depth:           -782.362814
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 28
#   Segment length 150.004280 meters
#   Minimum depth: 783.911682 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.477218 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.911682 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.816058;
longitude = -136.074929;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 734.132677;
finalDepth = 733.911682;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  733.911682 
#   Seafloor depth:           -783.911682
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 27
#   Segment length 167.884321 meters
#   Minimum depth: 784.132677 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.551163 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.132677 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815985;
longitude = -136.079013;
duration = 671;
# abortOnTimeout    = True; 
initialDepth = 732.588079;
finalDepth = 734.132677;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.418486
#   Actual altitude:          52.418486
#   Commanded vehicle depth:  734.132677 
#   Seafloor depth:           -786.551163
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868125 meters
#   Minimum depth: 782.588079 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.862337 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.588079 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814482;
longitude = -136.078765;
duration = 487;
initialDepth = 731.604490;
finalDepth = 732.588079;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.418486
#   Actual altitude:          52.418486
#   Commanded vehicle depth:  732.588079 
#   Seafloor depth:           -783.862337
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868129 meters
#   Minimum depth: 781.604490 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.525378 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.604490 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813391;
longitude = -136.078585;
duration = 487;
initialDepth = 731.688287;
finalDepth = 731.604490;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.274258
#   Actual altitude:          51.274258
#   Commanded vehicle depth:  731.60449 
#   Seafloor depth:           -782.183502
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868134 meters
#   Minimum depth: 781.688287 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.345504 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.688287 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812300;
longitude = -136.078405;
duration = 487;
initialDepth = 731.011708;
finalDepth = 731.688287;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6572170000001
#   Actual altitude:          50.6572170000001
#   Commanded vehicle depth:  731.688287 
#   Seafloor depth:           -782.345504
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868138 meters
#   Minimum depth: 781.011708 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.727845 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.011708 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811209;
longitude = -136.078225;
duration = 487;
initialDepth = 729.904104;
finalDepth = 731.011708;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.716137
#   Actual altitude:          50.716137
#   Commanded vehicle depth:  731.011708 
#   Seafloor depth:           -781.727845
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868143 meters
#   Minimum depth: 779.904104 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.902968 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.904104 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810118;
longitude = -136.078045;
duration = 487;
initialDepth = 730.213537;
finalDepth = 729.904104;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.998864
#   Actual altitude:          50.998864
#   Commanded vehicle depth:  729.904104 
#   Seafloor depth:           -780.902968
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868147 meters
#   Minimum depth: 780.213537 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.594712 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.213537 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809026;
longitude = -136.077865;
duration = 487;
initialDepth = 730.447493;
finalDepth = 730.213537;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.998864
#   Actual altitude:          50.998864
#   Commanded vehicle depth:  730.213537 
#   Seafloor depth:           -780.594712
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868152 meters
#   Minimum depth: 780.447493 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.163064 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.447493 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807935;
longitude = -136.077685;
duration = 487;
initialDepth = 726.604035;
finalDepth = 730.447493;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.381175
#   Actual altitude:          50.381175
#   Commanded vehicle depth:  730.447493 
#   Seafloor depth:           -780.447493
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868157 meters
#   Minimum depth: 776.604035 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.715683 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.604035 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806844;
longitude = -136.077506;
duration = 487;
initialDepth = 724.062192;
finalDepth = 726.604035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.1116480000001
#   Actual altitude:          55.1116480000001
#   Commanded vehicle depth:  726.604035 
#   Seafloor depth:           -781.715683
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868161 meters
#   Minimum depth: 774.062192 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.255260 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.062192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805753;
longitude = -136.077326;
duration = 487;
initialDepth = 723.306669;
finalDepth = 724.062192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.1116480000001
#   Actual altitude:          55.1116480000001
#   Commanded vehicle depth:  724.062192 
#   Seafloor depth:           -775.083010
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868165 meters
#   Minimum depth: 773.306669 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.494838 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.306669 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804662;
longitude = -136.077146;
duration = 487;
initialDepth = 723.755334;
finalDepth = 723.306669;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.020818
#   Actual altitude:          51.020818
#   Commanded vehicle depth:  723.306669 
#   Seafloor depth:           -773.306669
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868170 meters
#   Minimum depth: 773.755334 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.204289 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.755334 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803571;
longitude = -136.076966;
duration = 487;
initialDepth = 725.082626;
finalDepth = 723.755334;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.122119
#   Actual altitude:          51.122119
#   Commanded vehicle depth:  723.755334 
#   Seafloor depth:           -774.877453
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868175 meters
#   Minimum depth: 775.082626 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.216322 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.082626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802480;
longitude = -136.076786;
duration = 487;
initialDepth = 727.905349;
finalDepth = 725.082626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.122119
#   Actual altitude:          51.122119
#   Commanded vehicle depth:  725.082626 
#   Seafloor depth:           -775.082626
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868179 meters
#   Minimum depth: 777.905349 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.696243 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.905349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801389;
longitude = -136.076606;
duration = 487;
initialDepth = 729.207342;
finalDepth = 727.905349;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  727.905349 
#   Seafloor depth:           -777.905349
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868183 meters
#   Minimum depth: 779.207342 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.838394 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.207342 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800298;
longitude = -136.076426;
duration = 487;
initialDepth = 730.223121;
finalDepth = 729.207342;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.207342 
#   Seafloor depth:           -779.207342
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868189 meters
#   Minimum depth: 780.223121 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.191879 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.223121 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799207;
longitude = -136.076246;
duration = 487;
initialDepth = 730.611334;
finalDepth = 730.223121;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  730.223121 
#   Seafloor depth:           -780.223121
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868192 meters
#   Minimum depth: 780.611334 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.782406 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.611334 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798116;
longitude = -136.076066;
duration = 487;
initialDepth = 732.090957;
finalDepth = 730.611334;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  730.611334 
#   Seafloor depth:           -780.611334
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868197 meters
#   Minimum depth: 782.090957 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.387953 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.090957 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797024;
longitude = -136.075886;
duration = 487;
initialDepth = 732.204562;
finalDepth = 732.090957;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.060162
#   Actual altitude:          50.060162
#   Commanded vehicle depth:  732.090957 
#   Seafloor depth:           -782.151119
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868202 meters
#   Minimum depth: 782.204562 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.626390 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.204562 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795933;
longitude = -136.075706;
duration = 487;
initialDepth = 732.853818;
finalDepth = 732.204562;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.060162
#   Actual altitude:          50.060162
#   Commanded vehicle depth:  732.204562 
#   Seafloor depth:           -782.263272
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868206 meters
#   Minimum depth: 782.853818 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.543218 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.853818 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794842;
longitude = -136.075526;
duration = 487;
initialDepth = 732.009890;
finalDepth = 732.853818;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.05871
#   Actual altitude:          50.05871
#   Commanded vehicle depth:  732.853818 
#   Seafloor depth:           -782.853818
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868211 meters
#   Minimum depth: 782.009890 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.005146 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.009890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.793751;
longitude = -136.075346;
duration = 487;
initialDepth = 729.052493;
finalDepth = 732.009890;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9952559999999
#   Actual altitude:          50.9952559999999
#   Commanded vehicle depth:  732.00989 
#   Seafloor depth:           -783.005146
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868215 meters
#   Minimum depth: 779.052493 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.888455 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.052493 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792660;
longitude = -136.075166;
duration = 487;
initialDepth = 715.910403;
finalDepth = 729.052493;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.835962
#   Actual altitude:          52.835962
#   Commanded vehicle depth:  729.052493 
#   Seafloor depth:           -781.888455
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868220 meters
#   Minimum depth: 765.910403 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.547570 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 715.910403 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791569;
longitude = -136.074986;
duration = 487;
initialDepth = 708.683940;
finalDepth = 715.910403;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.637167
#   Actual altitude:          62.637167
#   Commanded vehicle depth:  715.910403 
#   Seafloor depth:           -778.547570
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868224 meters
#   Minimum depth: 758.683940 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.470263 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 708.683940 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790478;
longitude = -136.074806;
duration = 487;
initialDepth = 700.797971;
finalDepth = 708.683940;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.637167
#   Actual altitude:          62.637167
#   Commanded vehicle depth:  708.68394 
#   Seafloor depth:           -763.470263
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868229 meters
#   Minimum depth: 750.797971 meters looking forward 100.000000 meters along route
#   Maximum depth: 753.858028 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.797971 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789387;
longitude = -136.074626;
duration = 487;
initialDepth = 698.100562;
finalDepth = 700.797971;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.786323
#   Actual altitude:          54.786323
#   Commanded vehicle depth:  700.797971 
#   Seafloor depth:           -753.858028
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868233 meters
#   Minimum depth: 748.100562 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.664437 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 698.100562 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788296;
longitude = -136.074447;
duration = 487;
initialDepth = 694.597347;
finalDepth = 698.100562;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.060057
#   Actual altitude:          53.060057
#   Commanded vehicle depth:  698.100562 
#   Seafloor depth:           -750.664437
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868238 meters
#   Minimum depth: 744.597347 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.282567 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.597347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787205;
longitude = -136.074267;
duration = 487;
initialDepth = 690.878868;
finalDepth = 694.597347;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.68522
#   Actual altitude:          52.68522
#   Commanded vehicle depth:  694.597347 
#   Seafloor depth:           -747.282567
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868242 meters
#   Minimum depth: 740.878868 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.734787 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 690.878868 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786113;
longitude = -136.074087;
duration = 487;
initialDepth = 689.316514;
finalDepth = 690.878868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.855919
#   Actual altitude:          52.855919
#   Commanded vehicle depth:  690.878868 
#   Seafloor depth:           -743.734787
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 121.868247 meters
#   Minimum depth: 739.316514 meters looking forward 100.000000 meters along route
#   Maximum depth: 740.854851 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.316514 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785022;
longitude = -136.073907;
duration = 487;
initialDepth = 686.224697;
finalDepth = 689.316514;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.855919
#   Actual altitude:          52.855919
#   Commanded vehicle depth:  689.316514 
#   Seafloor depth:           -740.854851
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 125.801052 meters
#   Minimum depth: 736.224697 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.748812 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.224697 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783931;
longitude = -136.073727;
duration = 503;
initialDepth = 685.588319;
finalDepth = 686.224697;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.5241150000001
#   Actual altitude:          52.5241150000001
#   Commanded vehicle depth:  686.224697 
#   Seafloor depth:           -738.748812
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 26
#   Segment length 149.990766 meters
#   Minimum depth: 735.588319 meters looking forward 100.000000 meters along route
#   Maximum depth: 736.078928 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.588319 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782805;
longitude = -136.073541;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 685.988052;
finalDepth = 685.588319;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.5241150000001
#   Actual altitude:          52.5241150000001
#   Commanded vehicle depth:  685.588319 
#   Seafloor depth:           -735.918594
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 25
#   Segment length 164.310717 meters
#   Minimum depth: 735.988052 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.701694 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.988052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782733;
longitude = -136.077618;
duration = 657;
# abortOnTimeout    = True; 
initialDepth = 689.230767;
finalDepth = 685.988052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.330275
#   Actual altitude:          50.330275
#   Commanded vehicle depth:  685.988052 
#   Seafloor depth:           -735.988052
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868733 meters
#   Minimum depth: 739.230767 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.156257 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.230767 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784204;
longitude = -136.077861;
duration = 487;
initialDepth = 691.942561;
finalDepth = 689.230767;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  689.230767 
#   Seafloor depth:           -739.230767
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868729 meters
#   Minimum depth: 741.942561 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.219755 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.942561 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785295;
longitude = -136.078041;
duration = 487;
initialDepth = 695.248778;
finalDepth = 691.942561;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  691.942561 
#   Seafloor depth:           -741.942561
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868724 meters
#   Minimum depth: 745.248778 meters looking forward 100.000000 meters along route
#   Maximum depth: 748.257059 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 695.248778 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786386;
longitude = -136.078221;
duration = 487;
initialDepth = 699.254546;
finalDepth = 695.248778;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  695.248778 
#   Seafloor depth:           -745.248778
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868719 meters
#   Minimum depth: 749.254546 meters looking forward 100.000000 meters along route
#   Maximum depth: 751.834413 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 699.254546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787477;
longitude = -136.078401;
duration = 487;
initialDepth = 702.500285;
finalDepth = 699.254546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  699.254546 
#   Seafloor depth:           -749.254546
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868715 meters
#   Minimum depth: 752.500285 meters looking forward 100.000000 meters along route
#   Maximum depth: 761.132369 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.500285 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788568;
longitude = -136.078582;
duration = 487;
initialDepth = 711.804594;
finalDepth = 702.500285;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  702.500285 
#   Seafloor depth:           -752.500285
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868710 meters
#   Minimum depth: 761.804594 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.039286 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.804594 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789660;
longitude = -136.078762;
duration = 487;
initialDepth = 725.066288;
finalDepth = 711.804594;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  711.804594 
#   Seafloor depth:           -761.804594
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868706 meters
#   Minimum depth: 775.066288 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.869304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.066288 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790751;
longitude = -136.078942;
duration = 487;
initialDepth = 730.819373;
finalDepth = 725.066288;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  725.066288 
#   Seafloor depth:           -775.066288
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868701 meters
#   Minimum depth: 780.819373 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.219225 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.819373 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791842;
longitude = -136.079122;
duration = 487;
initialDepth = 731.947839;
finalDepth = 730.819373;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  730.819373 
#   Seafloor depth:           -780.819373
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868697 meters
#   Minimum depth: 781.947839 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.308315 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.947839 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792933;
longitude = -136.079302;
duration = 487;
initialDepth = 732.042779;
finalDepth = 731.947839;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3604759999999
#   Actual altitude:          50.3604759999999
#   Commanded vehicle depth:  731.947839 
#   Seafloor depth:           -782.308315
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868692 meters
#   Minimum depth: 782.042779 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.354664 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.042779 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794024;
longitude = -136.079483;
duration = 487;
initialDepth = 730.796139;
finalDepth = 732.042779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3604759999999
#   Actual altitude:          50.3604759999999
#   Commanded vehicle depth:  732.042779 
#   Seafloor depth:           -782.100372
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868687 meters
#   Minimum depth: 780.796139 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.847019 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.796139 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795115;
longitude = -136.079663;
duration = 487;
initialDepth = 730.237553;
finalDepth = 730.796139;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.05088
#   Actual altitude:          51.05088
#   Commanded vehicle depth:  730.796139 
#   Seafloor depth:           -781.847019
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868683 meters
#   Minimum depth: 780.237553 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.217340 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.237553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796206;
longitude = -136.079843;
duration = 487;
initialDepth = 728.911331;
finalDepth = 730.237553;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.05088
#   Actual altitude:          51.05088
#   Commanded vehicle depth:  730.237553 
#   Seafloor depth:           -781.217340
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868678 meters
#   Minimum depth: 778.911331 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.441521 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.911331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797297;
longitude = -136.080023;
duration = 487;
initialDepth = 728.508918;
finalDepth = 728.911331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.979787
#   Actual altitude:          50.979787
#   Commanded vehicle depth:  728.911331 
#   Seafloor depth:           -779.441521
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868674 meters
#   Minimum depth: 778.508918 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.811551 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.508918 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798388;
longitude = -136.080203;
duration = 487;
initialDepth = 727.483932;
finalDepth = 728.508918;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5301899999999
#   Actual altitude:          50.5301899999999
#   Commanded vehicle depth:  728.508918 
#   Seafloor depth:           -778.811551
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868669 meters
#   Minimum depth: 777.483932 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.235753 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.483932 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799479;
longitude = -136.080383;
duration = 487;
initialDepth = 726.116687;
finalDepth = 727.483932;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7518210000001
#   Actual altitude:          50.7518210000001
#   Commanded vehicle depth:  727.483932 
#   Seafloor depth:           -778.235753
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868665 meters
#   Minimum depth: 776.116687 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.526525 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.116687 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800570;
longitude = -136.080564;
duration = 487;
initialDepth = 725.943847;
finalDepth = 726.116687;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.409838
#   Actual altitude:          51.409838
#   Commanded vehicle depth:  726.116687 
#   Seafloor depth:           -777.526525
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868660 meters
#   Minimum depth: 775.943847 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.358569 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.943847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801662;
longitude = -136.080744;
duration = 487;
initialDepth = 726.743411;
finalDepth = 725.943847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.409838
#   Actual altitude:          51.409838
#   Commanded vehicle depth:  725.943847 
#   Seafloor depth:           -776.030361
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868655 meters
#   Minimum depth: 776.743411 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.865098 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.743411 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802753;
longitude = -136.080924;
duration = 487;
initialDepth = 728.613036;
finalDepth = 726.743411;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.086514
#   Actual altitude:          50.086514
#   Commanded vehicle depth:  726.743411 
#   Seafloor depth:           -776.743411
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868651 meters
#   Minimum depth: 778.613036 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.080266 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.613036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803844;
longitude = -136.081104;
duration = 487;
initialDepth = 731.183015;
finalDepth = 728.613036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  728.613036 
#   Seafloor depth:           -778.613036
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868647 meters
#   Minimum depth: 781.183015 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.679898 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.183015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804935;
longitude = -136.081284;
duration = 487;
initialDepth = 733.372106;
finalDepth = 731.183015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  731.183015 
#   Seafloor depth:           -781.183015
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868641 meters
#   Minimum depth: 783.372106 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.825922 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.372106 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806026;
longitude = -136.081464;
duration = 487;
initialDepth = 733.927172;
finalDepth = 733.372106;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  733.372106 
#   Seafloor depth:           -783.372106
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868638 meters
#   Minimum depth: 783.927172 meters looking forward 100.000000 meters along route
#   Maximum depth: 784.401489 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.927172 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807117;
longitude = -136.081645;
duration = 487;
initialDepth = 734.436174;
finalDepth = 733.927172;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  733.927172 
#   Seafloor depth:           -783.927172
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868632 meters
#   Minimum depth: 784.436174 meters looking forward 100.000000 meters along route
#   Maximum depth: 785.111840 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.436174 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808208;
longitude = -136.081825;
duration = 487;
initialDepth = 735.230267;
finalDepth = 734.436174;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  734.436174 
#   Seafloor depth:           -784.436174
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868628 meters
#   Minimum depth: 785.230267 meters looking forward 100.000000 meters along route
#   Maximum depth: 785.675981 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.230267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809299;
longitude = -136.082005;
duration = 487;
initialDepth = 734.484291;
finalDepth = 735.230267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.082983
#   Actual altitude:          50.082983
#   Commanded vehicle depth:  735.230267 
#   Seafloor depth:           -785.313250
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868624 meters
#   Minimum depth: 784.484291 meters looking forward 100.000000 meters along route
#   Maximum depth: 785.123428 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.484291 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810390;
longitude = -136.082185;
duration = 487;
initialDepth = 735.028630;
finalDepth = 734.484291;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.082983
#   Actual altitude:          50.082983
#   Commanded vehicle depth:  734.484291 
#   Seafloor depth:           -784.484291
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868619 meters
#   Minimum depth: 785.028630 meters looking forward 100.000000 meters along route
#   Maximum depth: 785.287404 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.028630 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811481;
longitude = -136.082365;
duration = 487;
initialDepth = 734.509397;
finalDepth = 735.028630;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.101374
#   Actual altitude:          50.101374
#   Commanded vehicle depth:  735.02863 
#   Seafloor depth:           -785.130004
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 121.868614 meters
#   Minimum depth: 784.509397 meters looking forward 100.000000 meters along route
#   Maximum depth: 785.569188 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.509397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812573;
longitude = -136.082546;
duration = 487;
initialDepth = 735.520050;
finalDepth = 734.509397;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.059791
#   Actual altitude:          51.059791
#   Commanded vehicle depth:  734.509397 
#   Seafloor depth:           -785.569188
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 124.566102 meters
#   Minimum depth: 785.520050 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.538010 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.520050 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813664;
longitude = -136.082726;
duration = 498;
initialDepth = 736.581833;
finalDepth = 735.520050;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.059791
#   Actual altitude:          51.059791
#   Commanded vehicle depth:  735.52005 
#   Seafloor depth:           -785.520050
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 126.566684 meters
#   Minimum depth: 786.581833 meters looking forward 100.000000 meters along route
#   Maximum depth: 788.498590 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.581833 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814779;
longitude = -136.082910;
duration = 506;
initialDepth = 738.590256;
finalDepth = 736.581833;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  736.581833 
#   Seafloor depth:           -786.581833
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 24
#   Segment length 150.005418 meters
#   Minimum depth: 788.590256 meters looking forward 100.000000 meters along route
#   Maximum depth: 789.621211 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.590256 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815912;
longitude = -136.083097;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 739.325127;
finalDepth = 738.590256;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  738.590256 
#   Seafloor depth:           -788.590256
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 23
#   Segment length 90.643715 meters
#   Minimum depth: 789.325127 meters looking forward 100.000000 meters along route
#   Maximum depth: 789.494308 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 739.325127 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815839;
longitude = -136.087181;
duration = 362;
# abortOnTimeout    = True; 
initialDepth = 738.028283;
finalDepth = 739.325127;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1691810000001
#   Actual altitude:          50.1691810000001
#   Commanded vehicle depth:  739.325127 
#   Seafloor depth:           -789.494308
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869085 meters
#   Minimum depth: 788.028283 meters looking forward 100.000000 meters along route
#   Maximum depth: 788.911090 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.028283 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815027;
longitude = -136.087047;
duration = 487;
initialDepth = 737.002325;
finalDepth = 738.028283;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.882807
#   Actual altitude:          50.882807
#   Commanded vehicle depth:  738.028283 
#   Seafloor depth:           -788.911090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869089 meters
#   Minimum depth: 787.002325 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.840137 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.002325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813936;
longitude = -136.086866;
duration = 487;
initialDepth = 736.763735;
finalDepth = 737.002325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.882807
#   Actual altitude:          50.882807
#   Commanded vehicle depth:  737.002325 
#   Seafloor depth:           -787.840137
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869094 meters
#   Minimum depth: 786.763735 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.477192 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.763735 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812845;
longitude = -136.086686;
duration = 487;
initialDepth = 736.083831;
finalDepth = 736.763735;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.837812
#   Actual altitude:          50.837812
#   Commanded vehicle depth:  736.763735 
#   Seafloor depth:           -787.477192
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869098 meters
#   Minimum depth: 786.083831 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.537736 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.083831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811754;
longitude = -136.086506;
duration = 487;
initialDepth = 735.406276;
finalDepth = 736.083831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7134569999999
#   Actual altitude:          50.7134569999999
#   Commanded vehicle depth:  736.083831 
#   Seafloor depth:           -786.537736
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869103 meters
#   Minimum depth: 785.406276 meters looking forward 100.000000 meters along route
#   Maximum depth: 785.889040 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.406276 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810663;
longitude = -136.086325;
duration = 487;
initialDepth = 734.071209;
finalDepth = 735.406276;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.482764
#   Actual altitude:          50.482764
#   Commanded vehicle depth:  735.406276 
#   Seafloor depth:           -785.889040
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869108 meters
#   Minimum depth: 784.071209 meters looking forward 100.000000 meters along route
#   Maximum depth: 785.106086 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.071209 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809572;
longitude = -136.086145;
duration = 487;
initialDepth = 732.309888;
finalDepth = 734.071209;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0348770000001
#   Actual altitude:          51.0348770000001
#   Commanded vehicle depth:  734.071209 
#   Seafloor depth:           -785.106086
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869113 meters
#   Minimum depth: 782.309888 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.512582 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.309888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808481;
longitude = -136.085964;
duration = 487;
initialDepth = 731.136511;
finalDepth = 732.309888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.202694
#   Actual altitude:          51.202694
#   Commanded vehicle depth:  732.309888 
#   Seafloor depth:           -783.512582
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869116 meters
#   Minimum depth: 781.136511 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.981825 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.136511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807390;
longitude = -136.085784;
duration = 487;
initialDepth = 730.763247;
finalDepth = 731.136511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.202694
#   Actual altitude:          51.202694
#   Commanded vehicle depth:  731.136511 
#   Seafloor depth:           -781.981825
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869122 meters
#   Minimum depth: 780.763247 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.201778 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.763247 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806299;
longitude = -136.085604;
duration = 487;
initialDepth = 728.002826;
finalDepth = 730.763247;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8453139999999
#   Actual altitude:          50.8453139999999
#   Commanded vehicle depth:  730.763247 
#   Seafloor depth:           -781.101033
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869126 meters
#   Minimum depth: 778.002826 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.966875 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.002826 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805208;
longitude = -136.085423;
duration = 487;
initialDepth = 720.284724;
finalDepth = 728.002826;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.515497
#   Actual altitude:          50.515497
#   Commanded vehicle depth:  728.002826 
#   Seafloor depth:           -778.518323
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869131 meters
#   Minimum depth: 770.284724 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.003128 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.284724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804117;
longitude = -136.085243;
duration = 487;
initialDepth = 720.326667;
finalDepth = 720.284724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.718404
#   Actual altitude:          55.718404
#   Commanded vehicle depth:  720.284724 
#   Seafloor depth:           -776.003128
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869135 meters
#   Minimum depth: 770.326667 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.934057 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.326667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803025;
longitude = -136.085062;
duration = 487;
initialDepth = 719.371158;
finalDepth = 720.326667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.718404
#   Actual altitude:          55.718404
#   Commanded vehicle depth:  720.326667 
#   Seafloor depth:           -770.326667
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869140 meters
#   Minimum depth: 769.371158 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.674227 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.371158 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801934;
longitude = -136.084882;
duration = 487;
initialDepth = 722.889218;
finalDepth = 719.371158;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  719.371158 
#   Seafloor depth:           -769.371158
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869145 meters
#   Minimum depth: 772.889218 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.138553 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.889218 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800843;
longitude = -136.084702;
duration = 487;
initialDepth = 724.219857;
finalDepth = 722.889218;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  722.889218 
#   Seafloor depth:           -772.889218
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869149 meters
#   Minimum depth: 774.219857 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.642104 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.219857 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799752;
longitude = -136.084521;
duration = 487;
initialDepth = 727.355355;
finalDepth = 724.219857;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  724.219857 
#   Seafloor depth:           -774.219857
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869154 meters
#   Minimum depth: 777.355355 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.135406 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.355355 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798661;
longitude = -136.084341;
duration = 487;
initialDepth = 728.256816;
finalDepth = 727.355355;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  727.355355 
#   Seafloor depth:           -777.355355
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869159 meters
#   Minimum depth: 778.256816 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.614056 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.256816 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797570;
longitude = -136.084160;
duration = 487;
initialDepth = 729.421932;
finalDepth = 728.256816;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  728.256816 
#   Seafloor depth:           -778.256816
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869163 meters
#   Minimum depth: 779.421932 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.151709 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.421932 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796479;
longitude = -136.083980;
duration = 487;
initialDepth = 730.697438;
finalDepth = 729.421932;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.297648
#   Actual altitude:          50.297648
#   Commanded vehicle depth:  729.421932 
#   Seafloor depth:           -779.719580
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869167 meters
#   Minimum depth: 780.697438 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.146618 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.697438 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795388;
longitude = -136.083799;
duration = 487;
initialDepth = 730.938840;
finalDepth = 730.697438;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.297648
#   Actual altitude:          50.297648
#   Commanded vehicle depth:  730.697438 
#   Seafloor depth:           -780.697438
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 110.550247 meters
#   Minimum depth: 780.938840 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.921409 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.938840 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794297;
longitude = -136.083619;
duration = 442;
initialDepth = 731.959515;
finalDepth = 730.938840;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  730.93884 
#   Seafloor depth:           -780.938840
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.720808 meters
#   Minimum depth: 781.959515 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.212652 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.959515 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.793307;
longitude = -136.083455;
duration = 410;
initialDepth = 731.744884;
finalDepth = 731.959515;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  731.959515 
#   Seafloor depth:           -781.959515
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869180 meters
#   Minimum depth: 781.744884 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.225953 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.744884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792387;
longitude = -136.083303;
duration = 487;
initialDepth = 724.338957;
finalDepth = 731.744884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.481069
#   Actual altitude:          50.481069
#   Commanded vehicle depth:  731.744884 
#   Seafloor depth:           -782.225953
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869185 meters
#   Minimum depth: 774.338957 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.593177 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.338957 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791296;
longitude = -136.083123;
duration = 487;
initialDepth = 712.787765;
finalDepth = 724.338957;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2542199999999
#   Actual altitude:          57.2542199999999
#   Commanded vehicle depth:  724.338957 
#   Seafloor depth:           -781.593177
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869190 meters
#   Minimum depth: 762.787765 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.636941 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.787765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790205;
longitude = -136.082943;
duration = 487;
initialDepth = 702.008195;
finalDepth = 712.787765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.8491759999999
#   Actual altitude:          59.8491759999999
#   Commanded vehicle depth:  712.787765 
#   Seafloor depth:           -772.636941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869194 meters
#   Minimum depth: 752.008195 meters looking forward 100.000000 meters along route
#   Maximum depth: 760.336378 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.008195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789114;
longitude = -136.082762;
duration = 487;
initialDepth = 698.339944;
finalDepth = 702.008195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.8491759999999
#   Actual altitude:          59.8491759999999
#   Commanded vehicle depth:  702.008195 
#   Seafloor depth:           -760.336378
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869199 meters
#   Minimum depth: 748.339944 meters looking forward 100.000000 meters along route
#   Maximum depth: 751.412827 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 698.339944 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788023;
longitude = -136.082582;
duration = 487;
initialDepth = 694.755060;
finalDepth = 698.339944;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.328183
#   Actual altitude:          58.328183
#   Commanded vehicle depth:  698.339944 
#   Seafloor depth:           -751.412827
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869204 meters
#   Minimum depth: 744.755060 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.255688 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.755060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786932;
longitude = -136.082401;
duration = 487;
initialDepth = 691.414684;
finalDepth = 694.755060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.072883
#   Actual altitude:          53.072883
#   Commanded vehicle depth:  694.75506 
#   Seafloor depth:           -747.255688
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869208 meters
#   Minimum depth: 741.414684 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.875798 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.414684 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785841;
longitude = -136.082221;
duration = 487;
initialDepth = 688.129560;
finalDepth = 691.414684;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.500628
#   Actual altitude:          52.500628
#   Commanded vehicle depth:  691.414684 
#   Seafloor depth:           -743.875798
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 121.869212 meters
#   Minimum depth: 738.129560 meters looking forward 100.000000 meters along route
#   Maximum depth: 740.606455 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 688.129560 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784750;
longitude = -136.082041;
duration = 487;
initialDepth = 685.808536;
finalDepth = 688.129560;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.476895
#   Actual altitude:          52.476895
#   Commanded vehicle depth:  688.12956 
#   Seafloor depth:           -740.606455
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 111.530458 meters
#   Minimum depth: 735.808536 meters looking forward 100.000000 meters along route
#   Maximum depth: 737.198956 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.808536 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783659;
longitude = -136.081860;
duration = 446;
initialDepth = 685.145164;
finalDepth = 685.808536;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.476895
#   Actual altitude:          52.476895
#   Commanded vehicle depth:  685.808536 
#   Seafloor depth:           -737.198956
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 22
#   Segment length 149.997911 meters
#   Minimum depth: 735.145164 meters looking forward 100.000000 meters along route
#   Maximum depth: 735.600983 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.145164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782660;
longitude = -136.081695;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 685.687790;
finalDepth = 685.145164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.3904199999999
#   Actual altitude:          51.3904199999999
#   Commanded vehicle depth:  685.145164 
#   Seafloor depth:           -735.600983
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 21
#   Segment length 180.619380 meters
#   Minimum depth: 735.687790 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.074518 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.687790 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782587;
longitude = -136.085772;
duration = 722;
# abortOnTimeout    = True; 
initialDepth = 688.880059;
finalDepth = 685.687790;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.455819
#   Actual altitude:          50.455819
#   Commanded vehicle depth:  685.68779 
#   Seafloor depth:           -735.687790
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869623 meters
#   Minimum depth: 738.880059 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.814347 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 688.880059 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784204;
longitude = -136.086040;
duration = 487;
initialDepth = 692.300672;
finalDepth = 688.880059;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  688.880059 
#   Seafloor depth:           -738.880059
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869617 meters
#   Minimum depth: 742.300672 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.474353 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.300672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785295;
longitude = -136.086220;
duration = 487;
initialDepth = 695.341359;
finalDepth = 692.300672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  692.300672 
#   Seafloor depth:           -742.300672
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869614 meters
#   Minimum depth: 745.341359 meters looking forward 100.000000 meters along route
#   Maximum depth: 748.373277 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 695.341359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786386;
longitude = -136.086401;
duration = 487;
initialDepth = 699.445880;
finalDepth = 695.341359;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  695.341359 
#   Seafloor depth:           -745.341359
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869608 meters
#   Minimum depth: 749.445880 meters looking forward 100.000000 meters along route
#   Maximum depth: 756.744269 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 699.445880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787477;
longitude = -136.086581;
duration = 487;
initialDepth = 708.318830;
finalDepth = 699.445880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  699.44588 
#   Seafloor depth:           -749.445880
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869604 meters
#   Minimum depth: 758.318830 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.617628 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 708.318830 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788568;
longitude = -136.086762;
duration = 487;
initialDepth = 715.622181;
finalDepth = 708.318830;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  708.31883 
#   Seafloor depth:           -758.318830
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869600 meters
#   Minimum depth: 765.622181 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.447756 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 715.622181 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789660;
longitude = -136.086943;
duration = 487;
initialDepth = 727.902873;
finalDepth = 715.622181;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  715.622181 
#   Seafloor depth:           -765.622181
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869594 meters
#   Minimum depth: 777.902873 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.373807 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.902873 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790751;
longitude = -136.087123;
duration = 487;
initialDepth = 730.983938;
finalDepth = 727.902873;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  727.902873 
#   Seafloor depth:           -777.902873
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869590 meters
#   Minimum depth: 780.983938 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.383636 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.983938 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791842;
longitude = -136.087304;
duration = 487;
initialDepth = 730.039628;
finalDepth = 730.983938;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3827180000001
#   Actual altitude:          50.3827180000001
#   Commanded vehicle depth:  730.983938 
#   Seafloor depth:           -781.366656
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869585 meters
#   Minimum depth: 780.039628 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.855225 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.039628 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792933;
longitude = -136.087485;
duration = 487;
initialDepth = 728.730701;
finalDepth = 730.039628;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.815597
#   Actual altitude:          50.815597
#   Commanded vehicle depth:  730.039628 
#   Seafloor depth:           -780.855225
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869581 meters
#   Minimum depth: 778.730701 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.780630 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.730701 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794024;
longitude = -136.087665;
duration = 487;
initialDepth = 728.195221;
finalDepth = 728.730701;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.049929
#   Actual altitude:          51.049929
#   Commanded vehicle depth:  728.730701 
#   Seafloor depth:           -779.780630
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869576 meters
#   Minimum depth: 778.195221 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.725181 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.195221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795115;
longitude = -136.087846;
duration = 487;
initialDepth = 727.410692;
finalDepth = 728.195221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.049929
#   Actual altitude:          51.049929
#   Commanded vehicle depth:  728.195221 
#   Seafloor depth:           -778.725181
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869571 meters
#   Minimum depth: 777.410692 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.120550 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.410692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796206;
longitude = -136.088026;
duration = 487;
initialDepth = 723.029305;
finalDepth = 727.410692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7098579999999
#   Actual altitude:          50.7098579999999
#   Commanded vehicle depth:  727.410692 
#   Seafloor depth:           -778.120550
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869567 meters
#   Minimum depth: 773.029305 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.157990 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.029305 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797297;
longitude = -136.088207;
duration = 487;
initialDepth = 719.800989;
finalDepth = 723.029305;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.128685
#   Actual altitude:          54.128685
#   Commanded vehicle depth:  723.029305 
#   Seafloor depth:           -777.157990
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869562 meters
#   Minimum depth: 769.800989 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.685506 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.800989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798388;
longitude = -136.088388;
duration = 487;
initialDepth = 712.700576;
finalDepth = 719.800989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.128685
#   Actual altitude:          54.128685
#   Commanded vehicle depth:  719.800989 
#   Seafloor depth:           -772.685506
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869557 meters
#   Minimum depth: 762.700576 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.329647 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.700576 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799479;
longitude = -136.088568;
duration = 487;
initialDepth = 707.983982;
finalDepth = 712.700576;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.6290710000001
#   Actual altitude:          54.6290710000001
#   Commanded vehicle depth:  712.700576 
#   Seafloor depth:           -767.329647
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869553 meters
#   Minimum depth: 757.983982 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.130684 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 707.983982 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800570;
longitude = -136.088749;
duration = 487;
initialDepth = 700.766780;
finalDepth = 707.983982;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.6290710000001
#   Actual altitude:          54.6290710000001
#   Commanded vehicle depth:  707.983982 
#   Seafloor depth:           -762.130684
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869548 meters
#   Minimum depth: 750.766780 meters looking forward 100.000000 meters along route
#   Maximum depth: 756.869349 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.766780 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801662;
longitude = -136.088929;
duration = 487;
initialDepth = 701.083977;
finalDepth = 700.766780;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.102569
#   Actual altitude:          56.102569
#   Commanded vehicle depth:  700.76678 
#   Seafloor depth:           -756.869349
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869544 meters
#   Minimum depth: 751.083977 meters looking forward 100.000000 meters along route
#   Maximum depth: 758.940201 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 701.083977 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802753;
longitude = -136.089110;
duration = 487;
initialDepth = 710.429993;
finalDepth = 701.083977;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.102569
#   Actual altitude:          56.102569
#   Commanded vehicle depth:  701.083977 
#   Seafloor depth:           -751.083977
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869538 meters
#   Minimum depth: 760.429993 meters looking forward 100.000000 meters along route
#   Maximum depth: 765.186213 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.429993 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803844;
longitude = -136.089291;
duration = 487;
initialDepth = 715.360950;
finalDepth = 710.429993;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  710.429993 
#   Seafloor depth:           -760.429993
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869535 meters
#   Minimum depth: 765.360950 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.228768 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 715.360950 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804935;
longitude = -136.089471;
duration = 487;
initialDepth = 724.341775;
finalDepth = 715.360950;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  715.36095 
#   Seafloor depth:           -765.360950
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869529 meters
#   Minimum depth: 774.341775 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.270088 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.341775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806026;
longitude = -136.089652;
duration = 487;
initialDepth = 725.899678;
finalDepth = 724.341775;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  724.341775 
#   Seafloor depth:           -774.341775
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869525 meters
#   Minimum depth: 775.899678 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.537590 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.899678 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807117;
longitude = -136.089832;
duration = 487;
initialDepth = 728.771142;
finalDepth = 725.899678;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  725.899678 
#   Seafloor depth:           -775.899678
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869520 meters
#   Minimum depth: 778.771142 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.534284 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.771142 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808208;
longitude = -136.090013;
duration = 487;
initialDepth = 732.479963;
finalDepth = 728.771142;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  728.771142 
#   Seafloor depth:           -778.771142
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869515 meters
#   Minimum depth: 782.479963 meters looking forward 100.000000 meters along route
#   Maximum depth: 784.410345 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.479963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809299;
longitude = -136.090194;
duration = 487;
initialDepth = 734.854765;
finalDepth = 732.479963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  732.479963 
#   Seafloor depth:           -782.479963
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869511 meters
#   Minimum depth: 784.854765 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.240790 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.854765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810390;
longitude = -136.090374;
duration = 487;
initialDepth = 736.281587;
finalDepth = 734.854765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  734.854765 
#   Seafloor depth:           -784.854765
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869506 meters
#   Minimum depth: 786.281587 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.318617 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.281587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811481;
longitude = -136.090555;
duration = 487;
initialDepth = 737.423070;
finalDepth = 736.281587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  736.281587 
#   Seafloor depth:           -786.281587
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869502 meters
#   Minimum depth: 787.423070 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.872555 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.423070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812573;
longitude = -136.090735;
duration = 487;
initialDepth = 738.213829;
finalDepth = 737.423070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  737.42307 
#   Seafloor depth:           -787.423070
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 121.869497 meters
#   Minimum depth: 788.213829 meters looking forward 100.000000 meters along route
#   Maximum depth: 789.050380 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.213829 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813664;
longitude = -136.090916;
duration = 487;
initialDepth = 739.058512;
finalDepth = 738.213829;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  738.213829 
#   Seafloor depth:           -788.213829
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 112.957672 meters
#   Minimum depth: 789.058512 meters looking forward 100.000000 meters along route
#   Maximum depth: 790.295966 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 739.058512 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814755;
longitude = -136.091097;
duration = 451;
initialDepth = 740.394073;
finalDepth = 739.058512;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  739.058512 
#   Seafloor depth:           -789.058512
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 20
#   Segment length 150.006557 meters
#   Minimum depth: 790.394073 meters looking forward 100.000000 meters along route
#   Maximum depth: 791.478709 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 740.394073 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815766;
longitude = -136.091264;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 739.512355;
finalDepth = 740.394073;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  740.394073 
#   Seafloor depth:           -790.394073
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 19
#   Segment length 196.206822 meters
#   Minimum depth: 789.512355 meters looking forward 100.000000 meters along route
#   Maximum depth: 791.455505 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 739.512355 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815693;
longitude = -136.095348;
duration = 784;
# abortOnTimeout    = True; 
initialDepth = 737.937452;
finalDepth = 739.512355;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9431500000001
#   Actual altitude:          51.9431500000001
#   Commanded vehicle depth:  739.512355 
#   Seafloor depth:           -791.455505
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.869967 meters
#   Minimum depth: 787.937452 meters looking forward 100.000000 meters along route
#   Maximum depth: 788.942655 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.937452 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813936;
longitude = -136.095057;
duration = 487;
initialDepth = 735.484947;
finalDepth = 737.937452;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9431500000001
#   Actual altitude:          51.9431500000001
#   Commanded vehicle depth:  737.937452 
#   Seafloor depth:           -788.942655
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.869972 meters
#   Minimum depth: 785.484947 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.585223 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.484947 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812845;
longitude = -136.094876;
duration = 487;
initialDepth = 732.094505;
finalDepth = 735.484947;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.100276
#   Actual altitude:          52.100276
#   Commanded vehicle depth:  735.484947 
#   Seafloor depth:           -787.585223
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.869976 meters
#   Minimum depth: 782.094505 meters looking forward 100.000000 meters along route
#   Maximum depth: 784.613321 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.094505 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811754;
longitude = -136.094695;
duration = 487;
initialDepth = 727.673480;
finalDepth = 732.094505;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.518816
#   Actual altitude:          52.518816
#   Commanded vehicle depth:  732.094505 
#   Seafloor depth:           -784.613321
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.869981 meters
#   Minimum depth: 777.673480 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.326131 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.673480 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810663;
longitude = -136.094514;
duration = 487;
initialDepth = 724.568170;
finalDepth = 727.673480;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.652651
#   Actual altitude:          53.652651
#   Commanded vehicle depth:  727.67348 
#   Seafloor depth:           -781.326131
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.869985 meters
#   Minimum depth: 774.568170 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.977614 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.568170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809572;
longitude = -136.094334;
duration = 487;
initialDepth = 718.159264;
finalDepth = 724.568170;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.652651
#   Actual altitude:          53.652651
#   Commanded vehicle depth:  724.56817 
#   Seafloor depth:           -776.977614
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.869990 meters
#   Minimum depth: 768.159264 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.945662 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.159264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808481;
longitude = -136.094153;
duration = 487;
initialDepth = 714.849049;
finalDepth = 718.159264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.786398
#   Actual altitude:          54.786398
#   Commanded vehicle depth:  718.159264 
#   Seafloor depth:           -772.945662
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.869995 meters
#   Minimum depth: 764.849049 meters looking forward 100.000000 meters along route
#   Maximum depth: 766.929910 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.849049 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807390;
longitude = -136.093972;
duration = 487;
initialDepth = 713.060804;
finalDepth = 714.849049;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.786398
#   Actual altitude:          54.786398
#   Commanded vehicle depth:  714.849049 
#   Seafloor depth:           -766.929910
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870000 meters
#   Minimum depth: 763.060804 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.620273 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.060804 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806299;
longitude = -136.093791;
duration = 487;
initialDepth = 703.378815;
finalDepth = 713.060804;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0808609999999
#   Actual altitude:          52.0808609999999
#   Commanded vehicle depth:  713.060804 
#   Seafloor depth:           -764.620273
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870004 meters
#   Minimum depth: 753.378815 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.046469 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 703.378815 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805208;
longitude = -136.093610;
duration = 487;
initialDepth = 694.372935;
finalDepth = 703.378815;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.667654
#   Actual altitude:          58.667654
#   Commanded vehicle depth:  703.378815 
#   Seafloor depth:           -762.046469
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870009 meters
#   Minimum depth: 744.372935 meters looking forward 100.000000 meters along route
#   Maximum depth: 748.137339 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.372935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804117;
longitude = -136.093429;
duration = 487;
initialDepth = 692.967959;
finalDepth = 694.372935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.667654
#   Actual altitude:          58.667654
#   Commanded vehicle depth:  694.372935 
#   Seafloor depth:           -748.137339
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870014 meters
#   Minimum depth: 742.967959 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.105836 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.967959 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803025;
longitude = -136.093249;
duration = 487;
initialDepth = 692.707206;
finalDepth = 692.967959;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.764404
#   Actual altitude:          53.764404
#   Commanded vehicle depth:  692.967959 
#   Seafloor depth:           -744.105836
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870018 meters
#   Minimum depth: 742.707206 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.547976 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.707206 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801934;
longitude = -136.093068;
duration = 487;
initialDepth = 693.654525;
finalDepth = 692.707206;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.137877
#   Actual altitude:          51.137877
#   Commanded vehicle depth:  692.707206 
#   Seafloor depth:           -742.720505
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870023 meters
#   Minimum depth: 743.654525 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.114195 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.654525 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800843;
longitude = -136.092887;
duration = 487;
initialDepth = 702.058053;
finalDepth = 693.654525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.013299
#   Actual altitude:          50.013299
#   Commanded vehicle depth:  693.654525 
#   Seafloor depth:           -743.654525
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870028 meters
#   Minimum depth: 752.058053 meters looking forward 100.000000 meters along route
#   Maximum depth: 759.491777 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.058053 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799752;
longitude = -136.092706;
duration = 487;
initialDepth = 712.439987;
finalDepth = 702.058053;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  702.058053 
#   Seafloor depth:           -752.058053
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870033 meters
#   Minimum depth: 762.439987 meters looking forward 100.000000 meters along route
#   Maximum depth: 769.164483 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.439987 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798661;
longitude = -136.092525;
duration = 487;
initialDepth = 720.672384;
finalDepth = 712.439987;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  712.439987 
#   Seafloor depth:           -762.439987
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870037 meters
#   Minimum depth: 770.672384 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.434359 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.672384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797570;
longitude = -136.092344;
duration = 487;
initialDepth = 724.854827;
finalDepth = 720.672384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  720.672384 
#   Seafloor depth:           -770.672384
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870042 meters
#   Minimum depth: 774.854827 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.764080 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.854827 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796479;
longitude = -136.092164;
duration = 487;
initialDepth = 726.936515;
finalDepth = 724.854827;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  724.854827 
#   Seafloor depth:           -774.854827
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870047 meters
#   Minimum depth: 776.936515 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.918256 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.936515 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795388;
longitude = -136.091983;
duration = 487;
initialDepth = 728.157187;
finalDepth = 726.936515;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  726.936515 
#   Seafloor depth:           -776.936515
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870051 meters
#   Minimum depth: 778.157187 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.513084 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.157187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794297;
longitude = -136.091802;
duration = 487;
initialDepth = 729.629290;
finalDepth = 728.157187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  728.157187 
#   Seafloor depth:           -778.157187
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870056 meters
#   Minimum depth: 779.629290 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.335073 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.629290 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.793206;
longitude = -136.091621;
duration = 487;
initialDepth = 730.491126;
finalDepth = 729.629290;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.62929 
#   Seafloor depth:           -779.629290
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870061 meters
#   Minimum depth: 780.491126 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.796861 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.491126 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792115;
longitude = -136.091440;
duration = 487;
initialDepth = 722.879703;
finalDepth = 730.491126;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.113145
#   Actual altitude:          50.113145
#   Commanded vehicle depth:  730.491126 
#   Seafloor depth:           -780.604271
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870065 meters
#   Minimum depth: 772.879703 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.435129 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.879703 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791023;
longitude = -136.091259;
duration = 487;
initialDepth = 713.851973;
finalDepth = 722.879703;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.555426
#   Actual altitude:          57.555426
#   Commanded vehicle depth:  722.879703 
#   Seafloor depth:           -780.435129
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870070 meters
#   Minimum depth: 763.851973 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.417410 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.851973 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789932;
longitude = -136.091079;
duration = 487;
initialDepth = 702.895372;
finalDepth = 713.851973;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.565437
#   Actual altitude:          58.565437
#   Commanded vehicle depth:  713.851973 
#   Seafloor depth:           -772.417410
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870075 meters
#   Minimum depth: 752.895372 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.298522 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.895372 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788841;
longitude = -136.090898;
duration = 487;
initialDepth = 696.231448;
finalDepth = 702.895372;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.4031500000001
#   Actual altitude:          59.4031500000001
#   Commanded vehicle depth:  702.895372 
#   Seafloor depth:           -762.298522
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870080 meters
#   Minimum depth: 746.231448 meters looking forward 100.000000 meters along route
#   Maximum depth: 749.477528 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 696.231448 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787750;
longitude = -136.090717;
duration = 487;
initialDepth = 693.088302;
finalDepth = 696.231448;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.4031500000001
#   Actual altitude:          59.4031500000001
#   Commanded vehicle depth:  696.231448 
#   Seafloor depth:           -749.477528
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870084 meters
#   Minimum depth: 743.088302 meters looking forward 100.000000 meters along route
#   Maximum depth: 746.015941 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.088302 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786659;
longitude = -136.090536;
duration = 487;
initialDepth = 689.934215;
finalDepth = 693.088302;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.24608
#   Actual altitude:          53.24608
#   Commanded vehicle depth:  693.088302 
#   Seafloor depth:           -746.015941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 121.870089 meters
#   Minimum depth: 739.934215 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.951968 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.934215 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785568;
longitude = -136.090355;
duration = 487;
initialDepth = 687.275555;
finalDepth = 689.934215;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.927639
#   Actual altitude:          52.927639
#   Commanded vehicle depth:  689.934215 
#   Seafloor depth:           -741.951968
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 116.249287 meters
#   Minimum depth: 737.275555 meters looking forward 100.000000 meters along route
#   Maximum depth: 739.237474 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 687.275555 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784477;
longitude = -136.090174;
duration = 464;
initialDepth = 685.052380;
finalDepth = 687.275555;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.017753
#   Actual altitude:          52.017753
#   Commanded vehicle depth:  687.275555 
#   Seafloor depth:           -739.237474
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 103.103767 meters
#   Minimum depth: 735.052380 meters looking forward 100.000000 meters along route
#   Maximum depth: 736.658381 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.052380 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783436;
longitude = -136.090002;
duration = 412;
initialDepth = 684.775375;
finalDepth = 685.052380;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.961919
#   Actual altitude:          51.961919
#   Commanded vehicle depth:  685.05238 
#   Seafloor depth:           -736.658381
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 18
#   Segment length 149.999055 meters
#   Minimum depth: 734.775375 meters looking forward 100.000000 meters along route
#   Maximum depth: 735.460916 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.775375 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782513;
longitude = -136.089849;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 685.253986;
finalDepth = 684.775375;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.606001
#   Actual altitude:          51.606001
#   Commanded vehicle depth:  684.775375 
#   Seafloor depth:           -734.775375
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 17
#   Segment length 75.169495 meters
#   Minimum depth: 735.253986 meters looking forward 100.000000 meters along route
#   Maximum depth: 736.207106 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.253986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782440;
longitude = -136.093926;
duration = 300;
# abortOnTimeout    = True; 
initialDepth = 686.960946;
finalDepth = 685.253986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.210568
#   Actual altitude:          50.210568
#   Commanded vehicle depth:  685.253986 
#   Seafloor depth:           -735.464554
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870574 meters
#   Minimum depth: 736.960946 meters looking forward 100.000000 meters along route
#   Maximum depth: 739.412674 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.960946 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783113;
longitude = -136.094038;
duration = 487;
initialDepth = 690.058311;
finalDepth = 686.960946;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.210568
#   Actual altitude:          50.210568
#   Commanded vehicle depth:  686.960946 
#   Seafloor depth:           -736.960946
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870569 meters
#   Minimum depth: 740.058311 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.501449 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 690.058311 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784204;
longitude = -136.094219;
duration = 487;
initialDepth = 693.006988;
finalDepth = 690.058311;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  690.058311 
#   Seafloor depth:           -740.058311
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870565 meters
#   Minimum depth: 743.006988 meters looking forward 100.000000 meters along route
#   Maximum depth: 745.314767 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.006988 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785295;
longitude = -136.094400;
duration = 487;
initialDepth = 695.954175;
finalDepth = 693.006988;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  693.006988 
#   Seafloor depth:           -743.006988
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870560 meters
#   Minimum depth: 745.954175 meters looking forward 100.000000 meters along route
#   Maximum depth: 748.057231 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 695.954175 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786386;
longitude = -136.094581;
duration = 487;
initialDepth = 698.953139;
finalDepth = 695.954175;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  695.954175 
#   Seafloor depth:           -745.954175
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870555 meters
#   Minimum depth: 748.953139 meters looking forward 100.000000 meters along route
#   Maximum depth: 757.483002 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 698.953139 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787477;
longitude = -136.094762;
duration = 487;
initialDepth = 708.715243;
finalDepth = 698.953139;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  698.953139 
#   Seafloor depth:           -748.953139
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870550 meters
#   Minimum depth: 758.715243 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.815492 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 708.715243 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788568;
longitude = -136.094943;
duration = 487;
initialDepth = 716.997118;
finalDepth = 708.715243;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  708.715243 
#   Seafloor depth:           -758.715243
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870546 meters
#   Minimum depth: 766.997118 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.798157 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.997118 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789660;
longitude = -136.095124;
duration = 487;
initialDepth = 729.318581;
finalDepth = 716.997118;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  716.997118 
#   Seafloor depth:           -766.997118
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870540 meters
#   Minimum depth: 779.318581 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.843537 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.318581 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790751;
longitude = -136.095305;
duration = 487;
initialDepth = 729.599848;
finalDepth = 729.318581;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.318581 
#   Seafloor depth:           -779.318581
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870536 meters
#   Minimum depth: 779.599848 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.571493 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.599848 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791842;
longitude = -136.095486;
duration = 487;
initialDepth = 728.258408;
finalDepth = 729.599848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9716450000001
#   Actual altitude:          50.9716450000001
#   Commanded vehicle depth:  729.599848 
#   Seafloor depth:           -780.571493
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870532 meters
#   Minimum depth: 778.258408 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.287076 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.258408 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792933;
longitude = -136.095667;
duration = 487;
initialDepth = 725.673271;
finalDepth = 728.258408;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0286679999999
#   Actual altitude:          51.0286679999999
#   Commanded vehicle depth:  728.258408 
#   Seafloor depth:           -779.287076
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870526 meters
#   Minimum depth: 775.673271 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.819051 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.673271 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794024;
longitude = -136.095848;
duration = 487;
initialDepth = 723.205892;
finalDepth = 725.673271;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1457799999999
#   Actual altitude:          52.1457799999999
#   Commanded vehicle depth:  725.673271 
#   Seafloor depth:           -777.819051
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870522 meters
#   Minimum depth: 773.205892 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.227948 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.205892 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795115;
longitude = -136.096029;
duration = 487;
initialDepth = 717.637775;
finalDepth = 723.205892;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1457799999999
#   Actual altitude:          52.1457799999999
#   Commanded vehicle depth:  723.205892 
#   Seafloor depth:           -775.227948
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870517 meters
#   Minimum depth: 767.637775 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.163056 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 717.637775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796206;
longitude = -136.096210;
duration = 487;
initialDepth = 708.828190;
finalDepth = 717.637775;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.5252809999999
#   Actual altitude:          54.5252809999999
#   Commanded vehicle depth:  717.637775 
#   Seafloor depth:           -772.163056
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870512 meters
#   Minimum depth: 758.828190 meters looking forward 100.000000 meters along route
#   Maximum depth: 766.263001 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 708.828190 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797297;
longitude = -136.096391;
duration = 487;
initialDepth = 694.512949;
finalDepth = 708.828190;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.4348110000001
#   Actual altitude:          57.4348110000001
#   Commanded vehicle depth:  708.82819 
#   Seafloor depth:           -766.263001
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870508 meters
#   Minimum depth: 744.512949 meters looking forward 100.000000 meters along route
#   Maximum depth: 757.282645 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.512949 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798388;
longitude = -136.096573;
duration = 487;
initialDepth = 689.194688;
finalDepth = 694.512949;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.769696
#   Actual altitude:          62.769696
#   Commanded vehicle depth:  694.512949 
#   Seafloor depth:           -757.282645
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870502 meters
#   Minimum depth: 739.194688 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.738724 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.194688 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799479;
longitude = -136.096754;
duration = 487;
initialDepth = 692.527296;
finalDepth = 689.194688;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.769696
#   Actual altitude:          62.769696
#   Commanded vehicle depth:  689.194688 
#   Seafloor depth:           -739.194688
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870498 meters
#   Minimum depth: 742.527296 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.011019 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.527296 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800570;
longitude = -136.096935;
duration = 487;
initialDepth = 692.786565;
finalDepth = 692.527296;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  692.527296 
#   Seafloor depth:           -742.527296
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870494 meters
#   Minimum depth: 742.786565 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.642370 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.786565 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801662;
longitude = -136.097116;
duration = 487;
initialDepth = 692.716203;
finalDepth = 692.786565;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.855805
#   Actual altitude:          50.855805
#   Commanded vehicle depth:  692.786565 
#   Seafloor depth:           -743.642370
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870488 meters
#   Minimum depth: 742.716203 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.517776 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.716203 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802753;
longitude = -136.097297;
duration = 487;
initialDepth = 694.199436;
finalDepth = 692.716203;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.855805
#   Actual altitude:          50.855805
#   Commanded vehicle depth:  692.716203 
#   Seafloor depth:           -742.716203
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870484 meters
#   Minimum depth: 744.199436 meters looking forward 100.000000 meters along route
#   Maximum depth: 751.918220 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.199436 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803844;
longitude = -136.097478;
duration = 487;
initialDepth = 703.680566;
finalDepth = 694.199436;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  694.199436 
#   Seafloor depth:           -744.199436
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870479 meters
#   Minimum depth: 753.680566 meters looking forward 100.000000 meters along route
#   Maximum depth: 754.524628 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 703.680566 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804935;
longitude = -136.097659;
duration = 487;
initialDepth = 702.391242;
finalDepth = 703.680566;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.225577
#   Actual altitude:          50.225577
#   Commanded vehicle depth:  703.680566 
#   Seafloor depth:           -753.906143
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870474 meters
#   Minimum depth: 752.391242 meters looking forward 100.000000 meters along route
#   Maximum depth: 753.162180 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.391242 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806026;
longitude = -136.097840;
duration = 487;
initialDepth = 701.760725;
finalDepth = 702.391242;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.770938
#   Actual altitude:          50.770938
#   Commanded vehicle depth:  702.391242 
#   Seafloor depth:           -753.162180
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870470 meters
#   Minimum depth: 751.760725 meters looking forward 100.000000 meters along route
#   Maximum depth: 752.843155 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 701.760725 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807117;
longitude = -136.098021;
duration = 487;
initialDepth = 702.880418;
finalDepth = 701.760725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.87356
#   Actual altitude:          50.87356
#   Commanded vehicle depth:  701.760725 
#   Seafloor depth:           -752.634285
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870464 meters
#   Minimum depth: 752.880418 meters looking forward 100.000000 meters along route
#   Maximum depth: 761.670019 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.880418 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808208;
longitude = -136.098202;
duration = 487;
initialDepth = 715.523221;
finalDepth = 702.880418;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.87356
#   Actual altitude:          50.87356
#   Commanded vehicle depth:  702.880418 
#   Seafloor depth:           -752.880418
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870460 meters
#   Minimum depth: 765.523221 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.635916 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 715.523221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809299;
longitude = -136.098383;
duration = 487;
initialDepth = 725.489498;
finalDepth = 715.523221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  715.523221 
#   Seafloor depth:           -765.523221
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870456 meters
#   Minimum depth: 775.489498 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.938581 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.489498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810390;
longitude = -136.098564;
duration = 487;
initialDepth = 731.354280;
finalDepth = 725.489498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  725.489498 
#   Seafloor depth:           -775.489498
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870450 meters
#   Minimum depth: 781.354280 meters looking forward 100.000000 meters along route
#   Maximum depth: 784.940563 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.354280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811481;
longitude = -136.098745;
duration = 487;
initialDepth = 735.990412;
finalDepth = 731.354280;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  731.35428 
#   Seafloor depth:           -781.354280
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 121.870446 meters
#   Minimum depth: 785.990412 meters looking forward 100.000000 meters along route
#   Maximum depth: 788.480301 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.990412 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812573;
longitude = -136.098926;
duration = 487;
initialDepth = 738.970350;
finalDepth = 735.990412;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  735.990412 
#   Seafloor depth:           -785.990412
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 113.705990 meters
#   Minimum depth: 788.970350 meters looking forward 100.000000 meters along route
#   Maximum depth: 790.200767 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.970350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813664;
longitude = -136.099107;
duration = 454;
initialDepth = 740.645930;
finalDepth = 738.970350;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  738.97035 
#   Seafloor depth:           -788.970350
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 104.815427 meters
#   Minimum depth: 790.645930 meters looking forward 100.000000 meters along route
#   Maximum depth: 791.828498 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 740.645930 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814682;
longitude = -136.099276;
duration = 419;
initialDepth = 741.420157;
finalDepth = 740.645930;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  740.64593 
#   Seafloor depth:           -790.645930
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 16
#   Segment length 150.013794 meters
#   Minimum depth: 791.420157 meters looking forward 100.000000 meters along route
#   Maximum depth: 791.984299 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 741.420157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815620;
longitude = -136.099432;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 740.057437;
finalDepth = 741.420157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.5641419999999
#   Actual altitude:          50.5641419999999
#   Commanded vehicle depth:  741.420157 
#   Seafloor depth:           -791.984299
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 179.789048 meters
#   Minimum depth: 790.057437 meters looking forward 100.000000 meters along route
#   Maximum depth: 791.273056 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 740.057437 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815546;
longitude = -136.103516;
duration = 719;
# abortOnTimeout    = True; 
initialDepth = 737.111869;
finalDepth = 740.057437;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2156189999999
#   Actual altitude:          51.2156189999999
#   Commanded vehicle depth:  740.057437 
#   Seafloor depth:           -791.273056
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870934 meters
#   Minimum depth: 787.111869 meters looking forward 100.000000 meters along route
#   Maximum depth: 789.539521 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.111869 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813936;
longitude = -136.103249;
duration = 487;
initialDepth = 732.616328;
finalDepth = 737.111869;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4276520000001
#   Actual altitude:          52.4276520000001
#   Commanded vehicle depth:  737.111869 
#   Seafloor depth:           -789.539521
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870939 meters
#   Minimum depth: 782.616328 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.601031 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.616328 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812845;
longitude = -136.103067;
duration = 487;
initialDepth = 726.177539;
finalDepth = 732.616328;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.9847030000001
#   Actual altitude:          53.9847030000001
#   Commanded vehicle depth:  732.616328 
#   Seafloor depth:           -786.601031
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870943 meters
#   Minimum depth: 776.177539 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.919013 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.177539 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811754;
longitude = -136.102886;
duration = 487;
initialDepth = 716.259178;
finalDepth = 726.177539;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7414739999999
#   Actual altitude:          54.7414739999999
#   Commanded vehicle depth:  726.177539 
#   Seafloor depth:           -780.919013
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870949 meters
#   Minimum depth: 766.259178 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.268349 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.259178 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810663;
longitude = -136.102705;
duration = 487;
initialDepth = 706.641427;
finalDepth = 716.259178;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.0091709999999
#   Actual altitude:          58.0091709999999
#   Commanded vehicle depth:  716.259178 
#   Seafloor depth:           -774.268349
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870953 meters
#   Minimum depth: 756.641427 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.774579 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 706.641427 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809572;
longitude = -136.102523;
duration = 487;
initialDepth = 697.520811;
finalDepth = 706.641427;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.133152
#   Actual altitude:          58.133152
#   Commanded vehicle depth:  706.641427 
#   Seafloor depth:           -764.774579
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870958 meters
#   Minimum depth: 747.520811 meters looking forward 100.000000 meters along route
#   Maximum depth: 754.305085 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 697.520811 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808481;
longitude = -136.102342;
duration = 487;
initialDepth = 692.435474;
finalDepth = 697.520811;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.133152
#   Actual altitude:          58.133152
#   Commanded vehicle depth:  697.520811 
#   Seafloor depth:           -754.305085
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870963 meters
#   Minimum depth: 742.435474 meters looking forward 100.000000 meters along route
#   Maximum depth: 745.392535 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.435474 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807390;
longitude = -136.102161;
duration = 487;
initialDepth = 693.542896;
finalDepth = 692.435474;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.784274
#   Actual altitude:          56.784274
#   Commanded vehicle depth:  692.435474 
#   Seafloor depth:           -745.392535
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870967 meters
#   Minimum depth: 743.542896 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.454280 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.542896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806299;
longitude = -136.101979;
duration = 487;
initialDepth = 699.050945;
finalDepth = 693.542896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.957061
#   Actual altitude:          52.957061
#   Commanded vehicle depth:  693.542896 
#   Seafloor depth:           -743.542896
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870973 meters
#   Minimum depth: 749.050945 meters looking forward 100.000000 meters along route
#   Maximum depth: 751.536181 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 699.050945 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805208;
longitude = -136.101798;
duration = 487;
initialDepth = 693.424939;
finalDepth = 699.050945;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  699.050945 
#   Seafloor depth:           -749.050945
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870977 meters
#   Minimum depth: 743.424939 meters looking forward 100.000000 meters along route
#   Maximum depth: 748.337391 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.424939 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804117;
longitude = -136.101617;
duration = 487;
initialDepth = 692.921469;
finalDepth = 693.424939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.912452
#   Actual altitude:          54.912452
#   Commanded vehicle depth:  693.424939 
#   Seafloor depth:           -748.337391
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870982 meters
#   Minimum depth: 742.921469 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.218565 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.921469 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803025;
longitude = -136.101436;
duration = 487;
initialDepth = 693.261832;
finalDepth = 692.921469;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.912452
#   Actual altitude:          54.912452
#   Commanded vehicle depth:  692.921469 
#   Seafloor depth:           -742.921469
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870987 meters
#   Minimum depth: 743.261832 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.573744 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.261832 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801934;
longitude = -136.101254;
duration = 487;
initialDepth = 692.283693;
finalDepth = 693.261832;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  693.261832 
#   Seafloor depth:           -743.261832
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870991 meters
#   Minimum depth: 742.283693 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.509920 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.283693 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800843;
longitude = -136.101073;
duration = 487;
initialDepth = 692.354995;
finalDepth = 692.283693;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.226227
#   Actual altitude:          50.226227
#   Commanded vehicle depth:  692.283693 
#   Seafloor depth:           -742.509920
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.870997 meters
#   Minimum depth: 742.354995 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.653878 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.354995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799752;
longitude = -136.100892;
duration = 487;
initialDepth = 705.232155;
finalDepth = 692.354995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.226227
#   Actual altitude:          50.226227
#   Commanded vehicle depth:  692.354995 
#   Seafloor depth:           -742.354995
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871001 meters
#   Minimum depth: 755.232155 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.832159 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 705.232155 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798661;
longitude = -136.100710;
duration = 487;
initialDepth = 715.525256;
finalDepth = 705.232155;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  705.232155 
#   Seafloor depth:           -755.232155
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871006 meters
#   Minimum depth: 765.525256 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.374620 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 715.525256 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797570;
longitude = -136.100529;
duration = 487;
initialDepth = 720.856983;
finalDepth = 715.525256;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  715.525256 
#   Seafloor depth:           -765.525256
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871011 meters
#   Minimum depth: 770.856983 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.769568 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.856983 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796479;
longitude = -136.100348;
duration = 487;
initialDepth = 724.592660;
finalDepth = 720.856983;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  720.856983 
#   Seafloor depth:           -770.856983
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871016 meters
#   Minimum depth: 774.592660 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.301871 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.592660 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795388;
longitude = -136.100167;
duration = 487;
initialDepth = 726.664467;
finalDepth = 724.592660;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  724.59266 
#   Seafloor depth:           -774.592660
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871020 meters
#   Minimum depth: 776.664467 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.730104 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.664467 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794297;
longitude = -136.099985;
duration = 487;
initialDepth = 728.792653;
finalDepth = 726.664467;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  726.664467 
#   Seafloor depth:           -776.664467
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871025 meters
#   Minimum depth: 778.792653 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.359214 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.792653 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.793206;
longitude = -136.099804;
duration = 487;
initialDepth = 729.561814;
finalDepth = 728.792653;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  728.792653 
#   Seafloor depth:           -778.792653
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871030 meters
#   Minimum depth: 779.561814 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.250445 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.561814 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792115;
longitude = -136.099623;
duration = 487;
initialDepth = 719.175174;
finalDepth = 729.561814;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.561814 
#   Seafloor depth:           -779.561814
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871035 meters
#   Minimum depth: 769.175174 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.729793 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.175174 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791023;
longitude = -136.099441;
duration = 487;
initialDepth = 713.178186;
finalDepth = 719.175174;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.554619
#   Actual altitude:          60.554619
#   Commanded vehicle depth:  719.175174 
#   Seafloor depth:           -779.729793
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871040 meters
#   Minimum depth: 763.178186 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.450343 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.178186 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789932;
longitude = -136.099260;
duration = 487;
initialDepth = 701.354879;
finalDepth = 713.178186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.554619
#   Actual altitude:          60.554619
#   Commanded vehicle depth:  713.178186 
#   Seafloor depth:           -768.450343
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871044 meters
#   Minimum depth: 751.354879 meters looking forward 100.000000 meters along route
#   Maximum depth: 760.570269 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 701.354879 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788841;
longitude = -136.099079;
duration = 487;
initialDepth = 697.467922;
finalDepth = 701.354879;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.2153900000001
#   Actual altitude:          59.2153900000001
#   Commanded vehicle depth:  701.354879 
#   Seafloor depth:           -760.570269
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871049 meters
#   Minimum depth: 747.467922 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.656382 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 697.467922 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787750;
longitude = -136.098897;
duration = 487;
initialDepth = 694.953672;
finalDepth = 697.467922;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.2153900000001
#   Actual altitude:          59.2153900000001
#   Commanded vehicle depth:  697.467922 
#   Seafloor depth:           -750.656382
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871054 meters
#   Minimum depth: 744.953672 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.228069 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.953672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786659;
longitude = -136.098716;
duration = 487;
initialDepth = 691.737161;
finalDepth = 694.953672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.18846
#   Actual altitude:          53.18846
#   Commanded vehicle depth:  694.953672 
#   Seafloor depth:           -747.228069
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871059 meters
#   Minimum depth: 741.737161 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.169564 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.737161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785568;
longitude = -136.098535;
duration = 487;
initialDepth = 688.450043;
finalDepth = 691.737161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.432403
#   Actual altitude:          52.432403
#   Commanded vehicle depth:  691.737161 
#   Seafloor depth:           -744.169564
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 121.871064 meters
#   Minimum depth: 738.450043 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.333767 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 688.450043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784477;
longitude = -136.098354;
duration = 487;
initialDepth = 686.485984;
finalDepth = 688.450043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8837239999999
#   Actual altitude:          52.8837239999999
#   Commanded vehicle depth:  688.450043 
#   Seafloor depth:           -741.333767
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 113.791392 meters
#   Minimum depth: 736.485984 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.204591 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.485984 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783386;
longitude = -136.098172;
duration = 455;
initialDepth = 686.195297;
finalDepth = 686.485984;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.8837239999999
#   Actual altitude:          52.8837239999999
#   Commanded vehicle depth:  686.485984 
#   Seafloor depth:           -738.204591
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 14
#   Segment length 150.006290 meters
#   Minimum depth: 736.195297 meters looking forward 100.000000 meters along route
#   Maximum depth: 737.847123 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.195297 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782367;
longitude = -136.098003;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 687.394836;
finalDepth = 686.195297;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.718607
#   Actual altitude:          51.718607
#   Commanded vehicle depth:  686.195297 
#   Seafloor depth:           -736.195297
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 13
#   Segment length 91.589453 meters
#   Minimum depth: 737.394836 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.925416 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 687.394836 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782293;
longitude = -136.102080;
duration = 366;
# abortOnTimeout    = True; 
initialDepth = 689.538845;
finalDepth = 687.394836;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  687.394836 
#   Seafloor depth:           -737.394836
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871468 meters
#   Minimum depth: 739.538845 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.329572 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.538845 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783113;
longitude = -136.102216;
duration = 487;
initialDepth = 691.993903;
finalDepth = 689.538845;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  689.538845 
#   Seafloor depth:           -739.538845
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871464 meters
#   Minimum depth: 741.993903 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.390169 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.993903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784204;
longitude = -136.102398;
duration = 487;
initialDepth = 694.816145;
finalDepth = 691.993903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  691.993903 
#   Seafloor depth:           -741.993903
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871458 meters
#   Minimum depth: 744.816145 meters looking forward 100.000000 meters along route
#   Maximum depth: 746.831354 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.816145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785295;
longitude = -136.102579;
duration = 487;
initialDepth = 697.581945;
finalDepth = 694.816145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  694.816145 
#   Seafloor depth:           -744.816145
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871454 meters
#   Minimum depth: 747.581945 meters looking forward 100.000000 meters along route
#   Maximum depth: 749.793973 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 697.581945 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786386;
longitude = -136.102761;
duration = 487;
initialDepth = 700.378709;
finalDepth = 697.581945;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  697.581945 
#   Seafloor depth:           -747.581945
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871449 meters
#   Minimum depth: 750.378709 meters looking forward 100.000000 meters along route
#   Maximum depth: 753.984930 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.378709 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787477;
longitude = -136.102942;
duration = 487;
initialDepth = 706.174464;
finalDepth = 700.378709;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  700.378709 
#   Seafloor depth:           -750.378709
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871444 meters
#   Minimum depth: 756.174464 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.666335 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 706.174464 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788568;
longitude = -136.103124;
duration = 487;
initialDepth = 715.143381;
finalDepth = 706.174464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  706.174464 
#   Seafloor depth:           -756.174464
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871439 meters
#   Minimum depth: 765.143381 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.732229 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 715.143381 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789660;
longitude = -136.103305;
duration = 487;
initialDepth = 721.958948;
finalDepth = 715.143381;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  715.143381 
#   Seafloor depth:           -765.143381
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871435 meters
#   Minimum depth: 771.958948 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.988082 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.958948 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790751;
longitude = -136.103487;
duration = 487;
initialDepth = 729.867616;
finalDepth = 721.958948;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  721.958948 
#   Seafloor depth:           -771.958948
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871429 meters
#   Minimum depth: 779.867616 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.408104 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.867616 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791842;
longitude = -136.103668;
duration = 487;
initialDepth = 728.641473;
finalDepth = 729.867616;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.540488
#   Actual altitude:          50.540488
#   Commanded vehicle depth:  729.867616 
#   Seafloor depth:           -780.408104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871425 meters
#   Minimum depth: 778.641473 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.669909 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.641473 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792933;
longitude = -136.103850;
duration = 487;
initialDepth = 726.160266;
finalDepth = 728.641473;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0284359999999
#   Actual altitude:          51.0284359999999
#   Commanded vehicle depth:  728.641473 
#   Seafloor depth:           -779.669909
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871420 meters
#   Minimum depth: 776.160266 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.184273 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.160266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794024;
longitude = -136.104031;
duration = 487;
initialDepth = 723.705598;
finalDepth = 726.160266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.024007
#   Actual altitude:          52.024007
#   Commanded vehicle depth:  726.160266 
#   Seafloor depth:           -778.184273
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871415 meters
#   Minimum depth: 773.705598 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.935762 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.705598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795115;
longitude = -136.104213;
duration = 487;
initialDepth = 721.347799;
finalDepth = 723.705598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2301639999999
#   Actual altitude:          52.2301639999999
#   Commanded vehicle depth:  723.705598 
#   Seafloor depth:           -775.935762
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871410 meters
#   Minimum depth: 771.347799 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.102210 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.347799 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796206;
longitude = -136.104394;
duration = 487;
initialDepth = 718.354566;
finalDepth = 721.347799;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2301639999999
#   Actual altitude:          52.2301639999999
#   Commanded vehicle depth:  721.347799 
#   Seafloor depth:           -773.102210
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871405 meters
#   Minimum depth: 768.354566 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.933404 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.354566 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797297;
longitude = -136.104576;
duration = 487;
initialDepth = 712.457467;
finalDepth = 718.354566;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.578838
#   Actual altitude:          52.578838
#   Commanded vehicle depth:  718.354566 
#   Seafloor depth:           -770.933404
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871401 meters
#   Minimum depth: 762.457467 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.481126 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.457467 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798388;
longitude = -136.104757;
duration = 487;
initialDepth = 697.975607;
finalDepth = 712.457467;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0236590000001
#   Actual altitude:          55.0236590000001
#   Commanded vehicle depth:  712.457467 
#   Seafloor depth:           -767.481126
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871395 meters
#   Minimum depth: 747.975607 meters looking forward 100.000000 meters along route
#   Maximum depth: 756.537979 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 697.975607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799479;
longitude = -136.104939;
duration = 487;
initialDepth = 694.901309;
finalDepth = 697.975607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.562372
#   Actual altitude:          58.562372
#   Commanded vehicle depth:  697.975607 
#   Seafloor depth:           -756.537979
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871391 meters
#   Minimum depth: 744.901309 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.156594 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.901309 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800570;
longitude = -136.105120;
duration = 487;
initialDepth = 694.555417;
finalDepth = 694.901309;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.562372
#   Actual altitude:          58.562372
#   Commanded vehicle depth:  694.901309 
#   Seafloor depth:           -747.156594
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871386 meters
#   Minimum depth: 744.555417 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.711485 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.555417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801662;
longitude = -136.105302;
duration = 487;
initialDepth = 699.235737;
finalDepth = 694.555417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2552850000001
#   Actual altitude:          52.2552850000001
#   Commanded vehicle depth:  694.555417 
#   Seafloor depth:           -744.555417
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871381 meters
#   Minimum depth: 749.235737 meters looking forward 100.000000 meters along route
#   Maximum depth: 759.017219 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 699.235737 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802753;
longitude = -136.105483;
duration = 487;
initialDepth = 706.051935;
finalDepth = 699.235737;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  699.235737 
#   Seafloor depth:           -749.235737
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871376 meters
#   Minimum depth: 756.051935 meters looking forward 100.000000 meters along route
#   Maximum depth: 759.672831 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 706.051935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803844;
longitude = -136.105665;
duration = 487;
initialDepth = 701.660381;
finalDepth = 706.051935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.620896
#   Actual altitude:          53.620896
#   Commanded vehicle depth:  706.051935 
#   Seafloor depth:           -759.672831
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871372 meters
#   Minimum depth: 751.660381 meters looking forward 100.000000 meters along route
#   Maximum depth: 755.407411 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 701.660381 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804935;
longitude = -136.105846;
duration = 487;
initialDepth = 699.954098;
finalDepth = 701.660381;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.74703
#   Actual altitude:          53.74703
#   Commanded vehicle depth:  701.660381 
#   Seafloor depth:           -755.407411
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871366 meters
#   Minimum depth: 749.954098 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.670783 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 699.954098 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806026;
longitude = -136.106028;
duration = 487;
initialDepth = 701.034706;
finalDepth = 699.954098;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.74703
#   Actual altitude:          53.74703
#   Commanded vehicle depth:  699.954098 
#   Seafloor depth:           -750.670783
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871362 meters
#   Minimum depth: 751.034706 meters looking forward 100.000000 meters along route
#   Maximum depth: 755.910233 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 701.034706 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807117;
longitude = -136.106209;
duration = 487;
initialDepth = 706.659405;
finalDepth = 701.034706;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.716685
#   Actual altitude:          50.716685
#   Commanded vehicle depth:  701.034706 
#   Seafloor depth:           -751.034706
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871357 meters
#   Minimum depth: 756.659405 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.003284 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 706.659405 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808208;
longitude = -136.106391;
duration = 487;
initialDepth = 715.345142;
finalDepth = 706.659405;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  706.659405 
#   Seafloor depth:           -756.659405
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871352 meters
#   Minimum depth: 765.345142 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.943217 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 715.345142 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809299;
longitude = -136.106572;
duration = 487;
initialDepth = 723.802947;
finalDepth = 715.345142;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  715.345142 
#   Seafloor depth:           -765.345142
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 107.684721 meters
#   Minimum depth: 773.802947 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.997847 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.802947 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810390;
longitude = -136.106754;
duration = 430;
initialDepth = 729.758899;
finalDepth = 723.802947;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  723.802947 
#   Seafloor depth:           -773.802947
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 105.590133 meters
#   Minimum depth: 779.758899 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.170852 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.758899 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811354;
longitude = -136.106914;
duration = 422;
initialDepth = 734.479150;
finalDepth = 729.758899;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.758899 
#   Seafloor depth:           -779.758899
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871339 meters
#   Minimum depth: 784.479150 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.022031 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.479150 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812300;
longitude = -136.107071;
duration = 487;
initialDepth = 737.452802;
finalDepth = 734.479150;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  734.47915 
#   Seafloor depth:           -784.479150
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 121.871334 meters
#   Minimum depth: 787.452802 meters looking forward 100.000000 meters along route
#   Maximum depth: 788.934508 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.452802 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813391;
longitude = -136.107253;
duration = 487;
initialDepth = 739.160453;
finalDepth = 737.452802;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  737.452802 
#   Seafloor depth:           -787.452802
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 110.700130 meters
#   Minimum depth: 789.160453 meters looking forward 100.000000 meters along route
#   Maximum depth: 789.734265 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 739.160453 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814482;
longitude = -136.107434;
duration = 442;
initialDepth = 739.644199;
finalDepth = 739.160453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  739.160453 
#   Seafloor depth:           -789.160453
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 12
#   Segment length 150.014941 meters
#   Minimum depth: 789.644199 meters looking forward 100.000000 meters along route
#   Maximum depth: 789.871933 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 739.644199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815473;
longitude = -136.107599;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 738.163413;
finalDepth = 739.644199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.2277340000001
#   Actual altitude:          50.2277340000001
#   Commanded vehicle depth:  739.644199 
#   Seafloor depth:           -789.871933
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 11
#   Segment length 163.370912 meters
#   Minimum depth: 788.163413 meters looking forward 100.000000 meters along route
#   Maximum depth: 789.894135 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.163413 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815399;
longitude = -136.111683;
duration = 653;
# abortOnTimeout    = True; 
initialDepth = 736.563630;
finalDepth = 738.163413;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.730722
#   Actual altitude:          51.730722
#   Commanded vehicle depth:  738.163413 
#   Seafloor depth:           -789.894135
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871827 meters
#   Minimum depth: 786.563630 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.872852 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.563630 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813936;
longitude = -136.111439;
duration = 487;
initialDepth = 733.942663;
finalDepth = 736.563630;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.730722
#   Actual altitude:          51.730722
#   Commanded vehicle depth:  736.56363 
#   Seafloor depth:           -787.872852
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871832 meters
#   Minimum depth: 783.942663 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.317532 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.942663 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812845;
longitude = -136.111258;
duration = 487;
initialDepth = 729.750749;
finalDepth = 733.942663;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.374869
#   Actual altitude:          52.374869
#   Commanded vehicle depth:  733.942663 
#   Seafloor depth:           -786.317532
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871837 meters
#   Minimum depth: 779.750749 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.044035 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.750749 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.811754;
longitude = -136.111076;
duration = 487;
initialDepth = 723.449653;
finalDepth = 729.750749;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.293286
#   Actual altitude:          53.293286
#   Commanded vehicle depth:  729.750749 
#   Seafloor depth:           -783.044035
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871841 meters
#   Minimum depth: 773.449653 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.436508 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.449653 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810663;
longitude = -136.110894;
duration = 487;
initialDepth = 718.406195;
finalDepth = 723.449653;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.986855
#   Actual altitude:          54.986855
#   Commanded vehicle depth:  723.449653 
#   Seafloor depth:           -778.436508
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871847 meters
#   Minimum depth: 768.406195 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.786687 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.406195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809572;
longitude = -136.110713;
duration = 487;
initialDepth = 713.845021;
finalDepth = 718.406195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.986855
#   Actual altitude:          54.986855
#   Commanded vehicle depth:  718.406195 
#   Seafloor depth:           -772.786687
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871851 meters
#   Minimum depth: 763.845021 meters looking forward 100.000000 meters along route
#   Maximum depth: 766.949901 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.845021 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808481;
longitude = -136.110531;
duration = 487;
initialDepth = 711.911791;
finalDepth = 713.845021;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.380492
#   Actual altitude:          54.380492
#   Commanded vehicle depth:  713.845021 
#   Seafloor depth:           -766.949901
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871857 meters
#   Minimum depth: 761.911791 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.263145 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.911791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807390;
longitude = -136.110349;
duration = 487;
initialDepth = 711.798048;
finalDepth = 711.911791;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.10488
#   Actual altitude:          53.10488
#   Commanded vehicle depth:  711.911791 
#   Seafloor depth:           -763.263145
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871861 meters
#   Minimum depth: 761.798048 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.230155 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.798048 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806299;
longitude = -136.110167;
duration = 487;
initialDepth = 712.634855;
finalDepth = 711.798048;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.351354
#   Actual altitude:          51.351354
#   Commanded vehicle depth:  711.798048 
#   Seafloor depth:           -761.830740
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871866 meters
#   Minimum depth: 762.634855 meters looking forward 100.000000 meters along route
#   Maximum depth: 764.376575 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.634855 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805208;
longitude = -136.109986;
duration = 487;
initialDepth = 715.104169;
finalDepth = 712.634855;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.032692
#   Actual altitude:          50.032692
#   Commanded vehicle depth:  712.634855 
#   Seafloor depth:           -762.634855
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871871 meters
#   Minimum depth: 765.104169 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.233018 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 715.104169 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804117;
longitude = -136.109804;
duration = 487;
initialDepth = 717.280952;
finalDepth = 715.104169;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  715.104169 
#   Seafloor depth:           -765.104169
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871876 meters
#   Minimum depth: 767.280952 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.242285 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 717.280952 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803025;
longitude = -136.109622;
duration = 487;
initialDepth = 714.527782;
finalDepth = 717.280952;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1570680000001
#   Actual altitude:          50.1570680000001
#   Commanded vehicle depth:  717.280952 
#   Seafloor depth:           -767.438020
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871881 meters
#   Minimum depth: 764.527782 meters looking forward 100.000000 meters along route
#   Maximum depth: 766.359448 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.527782 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801934;
longitude = -136.109440;
duration = 487;
initialDepth = 714.993908;
finalDepth = 714.527782;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.831666
#   Actual altitude:          51.831666
#   Commanded vehicle depth:  714.527782 
#   Seafloor depth:           -766.359448
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871886 meters
#   Minimum depth: 764.993908 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.314620 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.993908 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800843;
longitude = -136.109259;
duration = 487;
initialDepth = 717.832455;
finalDepth = 714.993908;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.831666
#   Actual altitude:          51.831666
#   Commanded vehicle depth:  714.993908 
#   Seafloor depth:           -764.993908
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871890 meters
#   Minimum depth: 767.832455 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.187344 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 717.832455 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799752;
longitude = -136.109077;
duration = 487;
initialDepth = 722.211762;
finalDepth = 717.832455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  717.832455 
#   Seafloor depth:           -767.832455
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871896 meters
#   Minimum depth: 772.211762 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.244760 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.211762 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798661;
longitude = -136.108895;
duration = 487;
initialDepth = 724.386985;
finalDepth = 722.211762;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  722.211762 
#   Seafloor depth:           -772.211762
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871900 meters
#   Minimum depth: 774.386985 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.588673 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.386985 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797570;
longitude = -136.108714;
duration = 487;
initialDepth = 725.674598;
finalDepth = 724.386985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  724.386985 
#   Seafloor depth:           -774.386985
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871906 meters
#   Minimum depth: 775.674598 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.168415 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.674598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796479;
longitude = -136.108532;
duration = 487;
initialDepth = 726.691055;
finalDepth = 725.674598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.123511
#   Actual altitude:          50.123511
#   Commanded vehicle depth:  725.674598 
#   Seafloor depth:           -775.798109
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871910 meters
#   Minimum depth: 776.691055 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.336582 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.691055 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795388;
longitude = -136.108350;
duration = 487;
initialDepth = 728.592607;
finalDepth = 726.691055;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.123511
#   Actual altitude:          50.123511
#   Commanded vehicle depth:  726.691055 
#   Seafloor depth:           -776.691055
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871915 meters
#   Minimum depth: 778.592607 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.304500 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.592607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794297;
longitude = -136.108168;
duration = 487;
initialDepth = 729.341609;
finalDepth = 728.592607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  728.592607 
#   Seafloor depth:           -778.592607
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871920 meters
#   Minimum depth: 779.341609 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.902119 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.341609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.793206;
longitude = -136.107987;
duration = 487;
initialDepth = 721.955860;
finalDepth = 729.341609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.341609 
#   Seafloor depth:           -779.341609
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871925 meters
#   Minimum depth: 771.955860 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.817794 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.955860 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792115;
longitude = -136.107805;
duration = 487;
initialDepth = 714.846039;
finalDepth = 721.955860;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.861934
#   Actual altitude:          57.861934
#   Commanded vehicle depth:  721.95586 
#   Seafloor depth:           -779.817794
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871929 meters
#   Minimum depth: 764.846039 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.901727 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.846039 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791023;
longitude = -136.107623;
duration = 487;
initialDepth = 706.791978;
finalDepth = 714.846039;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.861934
#   Actual altitude:          57.861934
#   Commanded vehicle depth:  714.846039 
#   Seafloor depth:           -770.901727
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871935 meters
#   Minimum depth: 756.791978 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.463217 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 706.791978 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789932;
longitude = -136.107441;
duration = 487;
initialDepth = 700.941754;
finalDepth = 706.791978;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.671239
#   Actual altitude:          56.671239
#   Commanded vehicle depth:  706.791978 
#   Seafloor depth:           -763.463217
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871940 meters
#   Minimum depth: 750.941754 meters looking forward 100.000000 meters along route
#   Maximum depth: 755.813054 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.941754 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788841;
longitude = -136.107260;
duration = 487;
initialDepth = 697.805337;
finalDepth = 700.941754;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.671239
#   Actual altitude:          56.671239
#   Commanded vehicle depth:  700.941754 
#   Seafloor depth:           -755.813054
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871944 meters
#   Minimum depth: 747.805337 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.313922 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 697.805337 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787750;
longitude = -136.107078;
duration = 487;
initialDepth = 695.898202;
finalDepth = 697.805337;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.8713
#   Actual altitude:          54.8713
#   Commanded vehicle depth:  697.805337 
#   Seafloor depth:           -750.313922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871949 meters
#   Minimum depth: 745.898202 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.607401 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 695.898202 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786659;
longitude = -136.106896;
duration = 487;
initialDepth = 693.283850;
finalDepth = 695.898202;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.508585
#   Actual altitude:          52.508585
#   Commanded vehicle depth:  695.898202 
#   Seafloor depth:           -747.607401
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871955 meters
#   Minimum depth: 743.283850 meters looking forward 100.000000 meters along route
#   Maximum depth: 745.164056 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.283850 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785568;
longitude = -136.106715;
duration = 487;
initialDepth = 691.136937;
finalDepth = 693.283850;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8802059999999
#   Actual altitude:          51.8802059999999
#   Commanded vehicle depth:  693.28385 
#   Seafloor depth:           -745.164056
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 121.871959 meters
#   Minimum depth: 741.136937 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.771758 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.136937 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784477;
longitude = -136.106533;
duration = 487;
initialDepth = 688.872366;
finalDepth = 691.136937;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8802059999999
#   Actual altitude:          51.8802059999999
#   Commanded vehicle depth:  691.136937 
#   Seafloor depth:           -742.771758
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 130.211701 meters
#   Minimum depth: 738.872366 meters looking forward 100.000000 meters along route
#   Maximum depth: 740.988587 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 688.872366 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783386;
longitude = -136.106351;
duration = 520;
initialDepth = 688.189482;
finalDepth = 688.872366;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.116221
#   Actual altitude:          52.116221
#   Commanded vehicle depth:  688.872366 
#   Seafloor depth:           -740.988587
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   Segment length 150.007435 meters
#   Minimum depth: 738.189482 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.585098 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 688.189482 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782220;
longitude = -136.106157;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 688.393082;
finalDepth = 688.189482;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.116221
#   Actual altitude:          52.116221
#   Commanded vehicle depth:  688.189482 
#   Seafloor depth:           -738.585098
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 168.945944 meters
#   Minimum depth: 738.393082 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.049220 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 688.393082 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.782146;
longitude = -136.110234;
duration = 675;
# abortOnTimeout    = True; 
initialDepth = 691.423982;
finalDepth = 688.393082;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.395616
#   Actual altitude:          50.395616
#   Commanded vehicle depth:  688.393082 
#   Seafloor depth:           -738.393082
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872439 meters
#   Minimum depth: 741.423982 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.715769 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.423982 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.783659;
longitude = -136.110486;
duration = 487;
initialDepth = 693.297041;
finalDepth = 691.423982;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  691.423982 
#   Seafloor depth:           -741.423982
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872435 meters
#   Minimum depth: 743.297041 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.467664 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.297041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784750;
longitude = -136.110668;
duration = 487;
initialDepth = 695.023078;
finalDepth = 693.297041;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  693.297041 
#   Seafloor depth:           -743.297041
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872430 meters
#   Minimum depth: 745.023078 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.150225 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 695.023078 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785841;
longitude = -136.110850;
duration = 487;
initialDepth = 697.515415;
finalDepth = 695.023078;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  695.023078 
#   Seafloor depth:           -745.023078
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872425 meters
#   Minimum depth: 747.515415 meters looking forward 100.000000 meters along route
#   Maximum depth: 749.346471 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 697.515415 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786932;
longitude = -136.111032;
duration = 487;
initialDepth = 699.951326;
finalDepth = 697.515415;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  697.515415 
#   Seafloor depth:           -747.515415
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872419 meters
#   Minimum depth: 749.951326 meters looking forward 100.000000 meters along route
#   Maximum depth: 752.712580 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 699.951326 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788023;
longitude = -136.111214;
duration = 487;
initialDepth = 704.992280;
finalDepth = 699.951326;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  699.951326 
#   Seafloor depth:           -749.951326
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872415 meters
#   Minimum depth: 754.992280 meters looking forward 100.000000 meters along route
#   Maximum depth: 760.451270 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 704.992280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789114;
longitude = -136.111396;
duration = 487;
initialDepth = 710.924269;
finalDepth = 704.992280;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  704.99228 
#   Seafloor depth:           -754.992280
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872410 meters
#   Minimum depth: 760.924269 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.369360 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.924269 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790205;
longitude = -136.111578;
duration = 487;
initialDepth = 719.780225;
finalDepth = 710.924269;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  710.924269 
#   Seafloor depth:           -760.924269
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872405 meters
#   Minimum depth: 769.780225 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.141620 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.780225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791296;
longitude = -136.111760;
duration = 487;
initialDepth = 724.949470;
finalDepth = 719.780225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  719.780225 
#   Seafloor depth:           -769.780225
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872400 meters
#   Minimum depth: 774.949470 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.334725 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.949470 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792387;
longitude = -136.111942;
duration = 487;
initialDepth = 729.130188;
finalDepth = 724.949470;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  724.94947 
#   Seafloor depth:           -774.949470
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872395 meters
#   Minimum depth: 779.130188 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.369472 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.130188 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.793478;
longitude = -136.112124;
duration = 487;
initialDepth = 728.159455;
finalDepth = 729.130188;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.130188 
#   Seafloor depth:           -779.130188
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872391 meters
#   Minimum depth: 778.159455 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.325187 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.159455 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794569;
longitude = -136.112306;
duration = 487;
initialDepth = 725.938458;
finalDepth = 728.159455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.165732
#   Actual altitude:          51.165732
#   Commanded vehicle depth:  728.159455 
#   Seafloor depth:           -779.325187
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872385 meters
#   Minimum depth: 775.938458 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.019386 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.938458 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795661;
longitude = -136.112488;
duration = 487;
initialDepth = 724.460499;
finalDepth = 725.938458;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0809280000001
#   Actual altitude:          52.0809280000001
#   Commanded vehicle depth:  725.938458 
#   Seafloor depth:           -778.019386
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872380 meters
#   Minimum depth: 774.460499 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.432810 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.460499 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796752;
longitude = -136.112670;
duration = 487;
initialDepth = 723.536077;
finalDepth = 724.460499;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0809280000001
#   Actual altitude:          52.0809280000001
#   Commanded vehicle depth:  724.460499 
#   Seafloor depth:           -775.432810
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872376 meters
#   Minimum depth: 773.536077 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.175212 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.536077 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797843;
longitude = -136.112852;
duration = 487;
initialDepth = 722.205891;
finalDepth = 723.536077;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.972311
#   Actual altitude:          50.972311
#   Commanded vehicle depth:  723.536077 
#   Seafloor depth:           -774.175212
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872370 meters
#   Minimum depth: 772.205891 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.060718 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.205891 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798934;
longitude = -136.113034;
duration = 487;
initialDepth = 722.115113;
finalDepth = 722.205891;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.854827
#   Actual altitude:          50.854827
#   Commanded vehicle depth:  722.205891 
#   Seafloor depth:           -773.060718
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872365 meters
#   Minimum depth: 772.115113 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.982624 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.115113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800025;
longitude = -136.113216;
duration = 487;
initialDepth = 721.306063;
finalDepth = 722.115113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.867511
#   Actual altitude:          50.867511
#   Commanded vehicle depth:  722.115113 
#   Seafloor depth:           -772.982624
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872361 meters
#   Minimum depth: 771.306063 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.965119 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.306063 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801116;
longitude = -136.113397;
duration = 487;
initialDepth = 721.756856;
finalDepth = 721.306063;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.867511
#   Actual altitude:          50.867511
#   Commanded vehicle depth:  721.306063 
#   Seafloor depth:           -771.965119
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872356 meters
#   Minimum depth: 771.756856 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.178607 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.756856 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802207;
longitude = -136.113579;
duration = 487;
initialDepth = 721.233634;
finalDepth = 721.756856;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.659056
#   Actual altitude:          50.659056
#   Commanded vehicle depth:  721.756856 
#   Seafloor depth:           -771.756856
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872350 meters
#   Minimum depth: 771.233634 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.763086 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.233634 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803298;
longitude = -136.113761;
duration = 487;
initialDepth = 720.031991;
finalDepth = 721.233634;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.529452
#   Actual altitude:          50.529452
#   Commanded vehicle depth:  721.233634 
#   Seafloor depth:           -771.763086
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872346 meters
#   Minimum depth: 770.031991 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.831733 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.031991 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804389;
longitude = -136.113943;
duration = 487;
initialDepth = 719.873326;
finalDepth = 720.031991;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.799742
#   Actual altitude:          50.799742
#   Commanded vehicle depth:  720.031991 
#   Seafloor depth:           -770.831733
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872341 meters
#   Minimum depth: 769.873326 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.245497 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.873326 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805480;
longitude = -136.114125;
duration = 487;
initialDepth = 720.438913;
finalDepth = 719.873326;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.799742
#   Actual altitude:          50.799742
#   Commanded vehicle depth:  719.873326 
#   Seafloor depth:           -770.075833
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872336 meters
#   Minimum depth: 770.438913 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.908628 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.438913 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806571;
longitude = -136.114307;
duration = 487;
initialDepth = 722.535815;
finalDepth = 720.438913;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.202507
#   Actual altitude:          50.202507
#   Commanded vehicle depth:  720.438913 
#   Seafloor depth:           -770.438913
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872331 meters
#   Minimum depth: 772.535815 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.772510 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.535815 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807663;
longitude = -136.114489;
duration = 487;
initialDepth = 725.445971;
finalDepth = 722.535815;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  722.535815 
#   Seafloor depth:           -772.535815
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872326 meters
#   Minimum depth: 775.445971 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.970817 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.445971 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808754;
longitude = -136.114671;
duration = 487;
initialDepth = 729.542466;
finalDepth = 725.445971;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  725.445971 
#   Seafloor depth:           -775.445971
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872321 meters
#   Minimum depth: 779.542466 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.213166 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.542466 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809845;
longitude = -136.114853;
duration = 487;
initialDepth = 732.970433;
finalDepth = 729.542466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.542466 
#   Seafloor depth:           -779.542466
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872316 meters
#   Minimum depth: 782.970433 meters looking forward 100.000000 meters along route
#   Maximum depth: 785.006991 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.970433 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810936;
longitude = -136.115035;
duration = 487;
initialDepth = 735.518325;
finalDepth = 732.970433;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  732.970433 
#   Seafloor depth:           -782.970433
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872311 meters
#   Minimum depth: 785.518325 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.735144 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.518325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812027;
longitude = -136.115217;
duration = 487;
initialDepth = 736.987228;
finalDepth = 735.518325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  735.518325 
#   Seafloor depth:           -785.518325
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 121.872306 meters
#   Minimum depth: 786.987228 meters looking forward 100.000000 meters along route
#   Maximum depth: 788.031400 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.987228 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813118;
longitude = -136.115399;
duration = 487;
initialDepth = 738.311594;
finalDepth = 736.987228;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  736.987228 
#   Seafloor depth:           -786.987228
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 124.637873 meters
#   Minimum depth: 788.311594 meters looking forward 100.000000 meters along route
#   Maximum depth: 790.167650 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.311594 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814209;
longitude = -136.115581;
duration = 498;
initialDepth = 738.329540;
finalDepth = 738.311594;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  738.311594 
#   Seafloor depth:           -788.311594
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 154.764181 meters
#   Minimum depth: 788.329540 meters looking forward 100.000000 meters along route
#   Maximum depth: 790.235382 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.329540 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.815325;
longitude = -136.115767;
duration = 619;
# abortOnTimeout    = True; 
initialDepth = 737.910510;
finalDepth = 738.329540;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.905842
#   Actual altitude:          51.905842
#   Commanded vehicle depth:  738.32954 
#   Seafloor depth:           -790.235382
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 108.681328 meters
#   Minimum depth: 787.910510 meters looking forward 100.000000 meters along route
#   Maximum depth: 788.299529 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.910510 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.814168;
longitude = -136.118098;
duration = 434;
initialDepth = 737.442222;
finalDepth = 737.910510;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.905842
#   Actual altitude:          51.905842
#   Commanded vehicle depth:  737.91051 
#   Seafloor depth:           -788.299529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 107.426223 meters
#   Minimum depth: 787.442222 meters looking forward 100.000000 meters along route
#   Maximum depth: 788.029844 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.442222 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813356;
longitude = -136.119734;
duration = 429;
initialDepth = 737.229132;
finalDepth = 737.442222;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.4771039999999
#   Actual altitude:          50.4771039999999
#   Commanded vehicle depth:  737.442222 
#   Seafloor depth:           -787.919326
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 109.463119 meters
#   Minimum depth: 787.229132 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.618118 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.229132 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812553;
longitude = -136.121352;
duration = 437;
# abortOnTimeout    = True; 
initialDepth = 736.377928;
finalDepth = 737.229132;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4771039999999
#   Actual altitude:          50.4771039999999
#   Commanded vehicle depth:  737.229132 
#   Seafloor depth:           -787.253937
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.143210 meters
#   Minimum depth: 786.377928 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.119464 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.377928 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812593;
longitude = -136.118370;
duration = 400;
initialDepth = 736.309720;
finalDepth = 736.377928;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.741536
#   Actual altitude:          50.741536
#   Commanded vehicle depth:  736.377928 
#   Seafloor depth:           -787.119464
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.143015 meters
#   Minimum depth: 786.309720 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.410799 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.309720 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812630;
longitude = -136.115643;
duration = 400;
initialDepth = 735.929104;
finalDepth = 736.309720;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.741536
#   Actual altitude:          50.741536
#   Commanded vehicle depth:  736.30972 
#   Seafloor depth:           -786.376267
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.142820 meters
#   Minimum depth: 785.929104 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.370780 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.929104 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812667;
longitude = -136.112915;
duration = 400;
initialDepth = 735.929090;
finalDepth = 735.929104;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4416759999999
#   Actual altitude:          50.4416759999999
#   Commanded vehicle depth:  735.929104 
#   Seafloor depth:           -786.370780
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.142625 meters
#   Minimum depth: 785.929090 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.050713 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.929090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812704;
longitude = -136.110187;
duration = 400;
initialDepth = 736.006507;
finalDepth = 735.929090;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4416759999999
#   Actual altitude:          50.4416759999999
#   Commanded vehicle depth:  735.92909 
#   Seafloor depth:           -785.974545
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.142430 meters
#   Minimum depth: 786.006507 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.344203 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.006507 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812741;
longitude = -136.107459;
duration = 400;
initialDepth = 736.147518;
finalDepth = 736.006507;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0454550000001
#   Actual altitude:          50.0454550000001
#   Commanded vehicle depth:  736.006507 
#   Seafloor depth:           -786.006507
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.142235 meters
#   Minimum depth: 786.147518 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.462673 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.147518 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812778;
longitude = -136.104732;
duration = 400;
initialDepth = 736.183145;
finalDepth = 736.147518;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.077072
#   Actual altitude:          50.077072
#   Commanded vehicle depth:  736.147518 
#   Seafloor depth:           -786.224590
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.142040 meters
#   Minimum depth: 786.183145 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.893767 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.183145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812815;
longitude = -136.102004;
duration = 400;
initialDepth = 736.958476;
finalDepth = 736.183145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.123337
#   Actual altitude:          50.123337
#   Commanded vehicle depth:  736.183145 
#   Seafloor depth:           -786.306482
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.141845 meters
#   Minimum depth: 786.958476 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.468885 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.958476 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812852;
longitude = -136.099276;
duration = 400;
initialDepth = 737.465696;
finalDepth = 736.958476;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.123337
#   Actual altitude:          50.123337
#   Commanded vehicle depth:  736.958476 
#   Seafloor depth:           -786.958476
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.141651 meters
#   Minimum depth: 787.465696 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.712280 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.465696 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812889;
longitude = -136.096549;
duration = 400;
initialDepth = 737.618238;
finalDepth = 737.465696;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  737.465696 
#   Seafloor depth:           -787.465696
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.141455 meters
#   Minimum depth: 787.618238 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.895842 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.618238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812926;
longitude = -136.093821;
duration = 400;
initialDepth = 737.308403;
finalDepth = 737.618238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.082984
#   Actual altitude:          50.082984
#   Commanded vehicle depth:  737.618238 
#   Seafloor depth:           -787.701222
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.141261 meters
#   Minimum depth: 787.308403 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.665867 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.308403 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812963;
longitude = -136.091093;
duration = 400;
initialDepth = 737.042522;
finalDepth = 737.308403;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.357464
#   Actual altitude:          50.357464
#   Commanded vehicle depth:  737.308403 
#   Seafloor depth:           -787.665867
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.141066 meters
#   Minimum depth: 787.042522 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.297286 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 737.042522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812999;
longitude = -136.088365;
duration = 400;
initialDepth = 735.504016;
finalDepth = 737.042522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.357464
#   Actual altitude:          50.357464
#   Commanded vehicle depth:  737.042522 
#   Seafloor depth:           -787.297286
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.140871 meters
#   Minimum depth: 785.504016 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.907440 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.504016 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813036;
longitude = -136.085638;
duration = 400;
initialDepth = 733.100455;
finalDepth = 735.504016;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.403424
#   Actual altitude:          51.403424
#   Commanded vehicle depth:  735.504016 
#   Seafloor depth:           -786.907440
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.140677 meters
#   Minimum depth: 783.100455 meters looking forward 100.000000 meters along route
#   Maximum depth: 785.220276 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.100455 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813073;
longitude = -136.082910;
duration = 400;
initialDepth = 731.158674;
finalDepth = 733.100455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.119821
#   Actual altitude:          52.119821
#   Commanded vehicle depth:  733.100455 
#   Seafloor depth:           -785.220276
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.140482 meters
#   Minimum depth: 781.158674 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.884794 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.158674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813110;
longitude = -136.080182;
duration = 400;
initialDepth = 730.166707;
finalDepth = 731.158674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.119821
#   Actual altitude:          52.119821
#   Commanded vehicle depth:  731.158674 
#   Seafloor depth:           -782.884794
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.140287 meters
#   Minimum depth: 780.166707 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.963535 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.166707 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813147;
longitude = -136.077454;
duration = 400;
initialDepth = 728.771076;
finalDepth = 730.166707;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.72612
#   Actual altitude:          51.72612
#   Commanded vehicle depth:  730.166707 
#   Seafloor depth:           -780.963535
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.140093 meters
#   Minimum depth: 778.771076 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.209823 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.771076 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813184;
longitude = -136.074727;
duration = 400;
initialDepth = 726.656528;
finalDepth = 728.771076;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.438747
#   Actual altitude:          51.438747
#   Commanded vehicle depth:  728.771076 
#   Seafloor depth:           -780.209823
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.139897 meters
#   Minimum depth: 776.656528 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.676683 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.656528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813221;
longitude = -136.071999;
duration = 400;
initialDepth = 724.623429;
finalDepth = 726.656528;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.020155
#   Actual altitude:          52.020155
#   Commanded vehicle depth:  726.656528 
#   Seafloor depth:           -778.676683
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.139704 meters
#   Minimum depth: 774.623429 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.473955 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.623429 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813258;
longitude = -136.069271;
duration = 400;
initialDepth = 723.229060;
finalDepth = 724.623429;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.020155
#   Actual altitude:          52.020155
#   Commanded vehicle depth:  724.623429 
#   Seafloor depth:           -776.473955
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.139509 meters
#   Minimum depth: 773.229060 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.426381 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.229060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813295;
longitude = -136.066543;
duration = 400;
initialDepth = 722.054210;
finalDepth = 723.229060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8505260000001
#   Actual altitude:          51.8505260000001
#   Commanded vehicle depth:  723.22906 
#   Seafloor depth:           -774.426381
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.139314 meters
#   Minimum depth: 772.054210 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.066769 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.054210 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813332;
longitude = -136.063816;
duration = 400;
initialDepth = 722.033144;
finalDepth = 722.054210;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.197321
#   Actual altitude:          51.197321
#   Commanded vehicle depth:  722.05421 
#   Seafloor depth:           -773.066769
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.139119 meters
#   Minimum depth: 772.033144 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.602661 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.033144 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813369;
longitude = -136.061088;
duration = 400;
initialDepth = 721.174940;
finalDepth = 722.033144;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.012559
#   Actual altitude:          51.012559
#   Commanded vehicle depth:  722.033144 
#   Seafloor depth:           -772.044965
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.138925 meters
#   Minimum depth: 771.174940 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.201929 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.174940 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813406;
longitude = -136.058360;
duration = 400;
initialDepth = 719.435659;
finalDepth = 721.174940;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.026989
#   Actual altitude:          51.026989
#   Commanded vehicle depth:  721.17494 
#   Seafloor depth:           -772.201929
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.138731 meters
#   Minimum depth: 769.435659 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.012238 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.435659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813442;
longitude = -136.055633;
duration = 400;
initialDepth = 718.608373;
finalDepth = 719.435659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.576579
#   Actual altitude:          51.576579
#   Commanded vehicle depth:  719.435659 
#   Seafloor depth:           -771.012238
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.138536 meters
#   Minimum depth: 768.608373 meters looking forward 100.000000 meters along route
#   Maximum depth: 769.384827 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.608373 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813479;
longitude = -136.052905;
duration = 400;
initialDepth = 716.594977;
finalDepth = 718.608373;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.576579
#   Actual altitude:          51.576579
#   Commanded vehicle depth:  718.608373 
#   Seafloor depth:           -769.384827
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.138342 meters
#   Minimum depth: 766.594977 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.405397 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.594977 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813516;
longitude = -136.050177;
duration = 400;
initialDepth = 711.119651;
finalDepth = 716.594977;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.81042
#   Actual altitude:          51.81042
#   Commanded vehicle depth:  716.594977 
#   Seafloor depth:           -768.405397
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.138147 meters
#   Minimum depth: 761.119651 meters looking forward 100.000000 meters along route
#   Maximum depth: 766.279630 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.119651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813553;
longitude = -136.047449;
duration = 400;
initialDepth = 710.681064;
finalDepth = 711.119651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.159979
#   Actual altitude:          55.159979
#   Commanded vehicle depth:  711.119651 
#   Seafloor depth:           -766.279630
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 109.030236 meters
#   Minimum depth: 760.681064 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.453177 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.681064 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813590;
longitude = -136.044722;
duration = 436;
initialDepth = 712.826317;
finalDepth = 710.681064;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.159979
#   Actual altitude:          55.159979
#   Commanded vehicle depth:  710.681064 
#   Seafloor depth:           -760.821325
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 179.058328 meters
#   Minimum depth: 762.826317 meters looking forward 100.000000 meters along route
#   Maximum depth: 765.247192 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.826317 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.813630;
longitude = -136.041752;
duration = 716;
# abortOnTimeout    = True; 
initialDepth = 711.570956;
finalDepth = 712.826317;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.420875
#   Actual altitude:          52.420875
#   Commanded vehicle depth:  712.826317 
#   Seafloor depth:           -765.247192
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 121.845948 meters
#   Minimum depth: 761.570956 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.436363 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.570956 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.812027;
longitude = -136.041504;
duration = 487;
initialDepth = 711.234186;
finalDepth = 711.570956;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.420875
#   Actual altitude:          52.420875
#   Commanded vehicle depth:  711.570956 
#   Seafloor depth:           -762.436363
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 121.845951 meters
#   Minimum depth: 761.234186 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.262393 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.234186 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.810936;
longitude = -136.041336;
duration = 487;
initialDepth = 710.564874;
finalDepth = 711.234186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.865407
#   Actual altitude:          50.865407
#   Commanded vehicle depth:  711.234186 
#   Seafloor depth:           -761.595503
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 121.845953 meters
#   Minimum depth: 760.564874 meters looking forward 100.000000 meters along route
#   Maximum depth: 761.534907 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.564874 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.809845;
longitude = -136.041167;
duration = 487;
initialDepth = 709.779790;
finalDepth = 710.564874;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.406841
#   Actual altitude:          50.406841
#   Commanded vehicle depth:  710.564874 
#   Seafloor depth:           -760.971715
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 121.845955 meters
#   Minimum depth: 759.779790 meters looking forward 100.000000 meters along route
#   Maximum depth: 760.958882 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 709.779790 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.808754;
longitude = -136.040999;
duration = 487;
initialDepth = 709.587027;
finalDepth = 709.779790;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9849869999999
#   Actual altitude:          50.9849869999999
#   Commanded vehicle depth:  709.77979 
#   Seafloor depth:           -760.764777
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 121.845957 meters
#   Minimum depth: 759.587027 meters looking forward 100.000000 meters along route
#   Maximum depth: 760.457181 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 709.587027 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.807663;
longitude = -136.040830;
duration = 487;
initialDepth = 709.162339;
finalDepth = 709.587027;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9849869999999
#   Actual altitude:          50.9849869999999
#   Commanded vehicle depth:  709.587027 
#   Seafloor depth:           -759.699474
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 121.845960 meters
#   Minimum depth: 759.162339 meters looking forward 100.000000 meters along route
#   Maximum depth: 759.970872 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 709.162339 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.806571;
longitude = -136.040662;
duration = 487;
initialDepth = 707.535291;
finalDepth = 709.162339;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4834900000001
#   Actual altitude:          50.4834900000001
#   Commanded vehicle depth:  709.162339 
#   Seafloor depth:           -759.645829
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 121.845961 meters
#   Minimum depth: 757.535291 meters looking forward 100.000000 meters along route
#   Maximum depth: 758.736635 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 707.535291 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.805480;
longitude = -136.040493;
duration = 487;
initialDepth = 706.042164;
finalDepth = 707.535291;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2013439999999
#   Actual altitude:          51.2013439999999
#   Commanded vehicle depth:  707.535291 
#   Seafloor depth:           -758.736635
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 121.845964 meters
#   Minimum depth: 756.042164 meters looking forward 100.000000 meters along route
#   Maximum depth: 757.405325 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 706.042164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.804389;
longitude = -136.040325;
duration = 487;
initialDepth = 706.570271;
finalDepth = 706.042164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.363161
#   Actual altitude:          51.363161
#   Commanded vehicle depth:  706.042164 
#   Seafloor depth:           -757.405325
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 112.126782 meters
#   Minimum depth: 756.570271 meters looking forward 100.000000 meters along route
#   Maximum depth: 757.429926 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 706.570271 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.803298;
longitude = -136.040156;
duration = 448;
initialDepth = 706.259017;
finalDepth = 706.570271;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.363161
#   Actual altitude:          51.363161
#   Commanded vehicle depth:  706.570271 
#   Seafloor depth:           -756.570271
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 143.377210 meters
#   Minimum depth: 756.259017 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.859340 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 706.259017 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802294;
longitude = -136.040001;
duration = 573;
# abortOnTimeout    = True; 
initialDepth = 710.580331;
finalDepth = 706.259017;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.135163
#   Actual altitude:          51.135163
#   Commanded vehicle depth:  706.259017 
#   Seafloor depth:           -757.394180
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.223825 meters
#   Minimum depth: 760.580331 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.612307 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.580331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802233;
longitude = -136.043903;
duration = 400;
initialDepth = 717.848647;
finalDepth = 710.580331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.135163
#   Actual altitude:          51.135163
#   Commanded vehicle depth:  710.580331 
#   Seafloor depth:           -760.580331
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.224049 meters
#   Minimum depth: 767.848647 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.422185 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 717.848647 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802190;
longitude = -136.046631;
duration = 400;
initialDepth = 721.231060;
finalDepth = 717.848647;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  717.848647 
#   Seafloor depth:           -767.848647
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.224273 meters
#   Minimum depth: 771.231060 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.780279 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.231060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802148;
longitude = -136.049359;
duration = 400;
initialDepth = 722.001963;
finalDepth = 721.231060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1166040000001
#   Actual altitude:          50.1166040000001
#   Commanded vehicle depth:  721.23106 
#   Seafloor depth:           -771.347664
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.224496 meters
#   Minimum depth: 772.001963 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.868789 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.001963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802105;
longitude = -136.052086;
duration = 400;
initialDepth = 722.619369;
finalDepth = 722.001963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1166040000001
#   Actual altitude:          50.1166040000001
#   Commanded vehicle depth:  722.001963 
#   Seafloor depth:           -772.001963
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.224720 meters
#   Minimum depth: 772.619369 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.824327 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.619369 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802062;
longitude = -136.054814;
duration = 400;
initialDepth = 724.005625;
finalDepth = 722.619369;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.068322
#   Actual altitude:          50.068322
#   Commanded vehicle depth:  722.619369 
#   Seafloor depth:           -772.687691
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.224943 meters
#   Minimum depth: 774.005625 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.192407 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.005625 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.802019;
longitude = -136.057542;
duration = 400;
initialDepth = 719.377541;
finalDepth = 724.005625;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.068322
#   Actual altitude:          50.068322
#   Commanded vehicle depth:  724.005625 
#   Seafloor depth:           -774.005625
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.225167 meters
#   Minimum depth: 769.377541 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.685585 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.377541 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801977;
longitude = -136.060270;
duration = 400;
initialDepth = 720.148366;
finalDepth = 719.377541;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.308044
#   Actual altitude:          56.308044
#   Commanded vehicle depth:  719.377541 
#   Seafloor depth:           -775.685585
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.225390 meters
#   Minimum depth: 770.148366 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.329110 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.148366 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801934;
longitude = -136.062997;
duration = 400;
initialDepth = 720.842568;
finalDepth = 720.148366;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.308044
#   Actual altitude:          56.308044
#   Commanded vehicle depth:  720.148366 
#   Seafloor depth:           -770.148366
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.225615 meters
#   Minimum depth: 770.842568 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.380268 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.842568 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801891;
longitude = -136.065725;
duration = 400;
initialDepth = 720.770231;
finalDepth = 720.842568;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.238346
#   Actual altitude:          50.238346
#   Commanded vehicle depth:  720.842568 
#   Seafloor depth:           -771.080914
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.225837 meters
#   Minimum depth: 770.770231 meters looking forward 100.000000 meters along route
#   Maximum depth: 771.526783 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.770231 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801848;
longitude = -136.068453;
duration = 400;
initialDepth = 721.171595;
finalDepth = 720.770231;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.238346
#   Actual altitude:          50.238346
#   Commanded vehicle depth:  720.770231 
#   Seafloor depth:           -770.945543
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.226062 meters
#   Minimum depth: 771.171595 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.366414 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.171595 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801806;
longitude = -136.071181;
duration = 400;
initialDepth = 723.448303;
finalDepth = 721.171595;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1753120000001
#   Actual altitude:          50.1753120000001
#   Commanded vehicle depth:  721.171595 
#   Seafloor depth:           -771.171595
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.226285 meters
#   Minimum depth: 773.448303 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.917277 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.448303 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801763;
longitude = -136.073908;
duration = 400;
initialDepth = 726.571582;
finalDepth = 723.448303;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.797229
#   Actual altitude:          51.797229
#   Commanded vehicle depth:  723.448303 
#   Seafloor depth:           -775.245532
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.226510 meters
#   Minimum depth: 776.571582 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.032025 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.571582 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801720;
longitude = -136.076636;
duration = 400;
initialDepth = 725.897360;
finalDepth = 726.571582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.797229
#   Actual altitude:          51.797229
#   Commanded vehicle depth:  726.571582 
#   Seafloor depth:           -776.571582
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.226732 meters
#   Minimum depth: 775.897360 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.428293 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.897360 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801677;
longitude = -136.079364;
duration = 400;
initialDepth = 721.719417;
finalDepth = 725.897360;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.530933
#   Actual altitude:          51.530933
#   Commanded vehicle depth:  725.89736 
#   Seafloor depth:           -777.428293
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.226957 meters
#   Minimum depth: 771.719417 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.621604 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.719417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801635;
longitude = -136.082092;
duration = 400;
initialDepth = 713.664768;
finalDepth = 721.719417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.902187
#   Actual altitude:          53.902187
#   Commanded vehicle depth:  721.719417 
#   Seafloor depth:           -775.621604
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.227181 meters
#   Minimum depth: 763.664768 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.236066 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.664768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801592;
longitude = -136.084819;
duration = 400;
initialDepth = 698.676475;
finalDepth = 713.664768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.5712980000001
#   Actual altitude:          56.5712980000001
#   Commanded vehicle depth:  713.664768 
#   Seafloor depth:           -770.236066
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.227404 meters
#   Minimum depth: 748.676475 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.970760 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 698.676475 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801549;
longitude = -136.087547;
duration = 400;
initialDepth = 693.347138;
finalDepth = 698.676475;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.2942850000001
#   Actual altitude:          65.2942850000001
#   Commanded vehicle depth:  698.676475 
#   Seafloor depth:           -763.970760
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.227628 meters
#   Minimum depth: 743.347138 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.124001 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.347138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801506;
longitude = -136.090275;
duration = 400;
initialDepth = 692.583922;
finalDepth = 693.347138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.2942850000001
#   Actual altitude:          65.2942850000001
#   Commanded vehicle depth:  693.347138 
#   Seafloor depth:           -747.124001
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.227853 meters
#   Minimum depth: 742.583922 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.022272 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.583922 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801464;
longitude = -136.093002;
duration = 400;
initialDepth = 692.523991;
finalDepth = 692.583922;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.776863
#   Actual altitude:          53.776863
#   Commanded vehicle depth:  692.583922 
#   Seafloor depth:           -743.016935
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.228076 meters
#   Minimum depth: 742.523991 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.202629 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.523991 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801421;
longitude = -136.095730;
duration = 400;
initialDepth = 693.609135;
finalDepth = 692.523991;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.433013
#   Actual altitude:          50.433013
#   Commanded vehicle depth:  692.523991 
#   Seafloor depth:           -742.523991
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.228300 meters
#   Minimum depth: 743.609135 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.130776 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.609135 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801378;
longitude = -136.098458;
duration = 400;
initialDepth = 692.538118;
finalDepth = 693.609135;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.178446
#   Actual altitude:          50.178446
#   Commanded vehicle depth:  693.609135 
#   Seafloor depth:           -743.787581
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.228524 meters
#   Minimum depth: 742.538118 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.442754 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.538118 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801336;
longitude = -136.101186;
duration = 400;
initialDepth = 693.380360;
finalDepth = 692.538118;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.904636
#   Actual altitude:          50.904636
#   Commanded vehicle depth:  692.538118 
#   Seafloor depth:           -743.442754
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.228748 meters
#   Minimum depth: 743.380360 meters looking forward 100.000000 meters along route
#   Maximum depth: 751.367869 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.380360 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801293;
longitude = -136.103913;
duration = 400;
initialDepth = 703.341480;
finalDepth = 693.380360;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.904636
#   Actual altitude:          50.904636
#   Commanded vehicle depth:  693.38036 
#   Seafloor depth:           -743.380360
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.228972 meters
#   Minimum depth: 753.341480 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.933415 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 703.341480 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801250;
longitude = -136.106641;
duration = 400;
initialDepth = 714.796426;
finalDepth = 703.341480;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  703.34148 
#   Seafloor depth:           -753.341480
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.229197 meters
#   Minimum depth: 764.796426 meters looking forward 100.000000 meters along route
#   Maximum depth: 769.835861 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.796426 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801207;
longitude = -136.109369;
duration = 400;
initialDepth = 720.113682;
finalDepth = 714.796426;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  714.796426 
#   Seafloor depth:           -764.796426
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.229420 meters
#   Minimum depth: 770.113682 meters looking forward 100.000000 meters along route
#   Maximum depth: 772.908357 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.113682 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801165;
longitude = -136.112097;
duration = 400;
initialDepth = 723.200481;
finalDepth = 720.113682;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  720.113682 
#   Seafloor depth:           -770.113682
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.229644 meters
#   Minimum depth: 773.200481 meters looking forward 100.000000 meters along route
#   Maximum depth: 773.801277 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.200481 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801122;
longitude = -136.114824;
duration = 400;
initialDepth = 722.946465;
finalDepth = 723.200481;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  723.200481 
#   Seafloor depth:           -773.200481
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.229869 meters
#   Minimum depth: 772.946465 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.453267 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.946465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801079;
longitude = -136.117552;
duration = 400;
initialDepth = 725.655802;
finalDepth = 722.946465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.580447
#   Actual altitude:          50.580447
#   Commanded vehicle depth:  722.946465 
#   Seafloor depth:           -773.526912
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 108.771038 meters
#   Minimum depth: 775.655802 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.442195 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.655802 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.801036;
longitude = -136.120280;
duration = 435;
initialDepth = 726.535522;
finalDepth = 725.655802;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.580447
#   Actual altitude:          50.580447
#   Commanded vehicle depth:  725.655802 
#   Seafloor depth:           -775.655802
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 138.061310 meters
#   Minimum depth: 776.535522 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.297711 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.535522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.800990;
longitude = -136.123240;
duration = 552;
# abortOnTimeout    = True; 
initialDepth = 727.415216;
finalDepth = 726.535522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  726.535522 
#   Seafloor depth:           -776.535522
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 121.693954 meters
#   Minimum depth: 777.415216 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.100017 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.415216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.799752;
longitude = -136.123207;
duration = 486;
initialDepth = 728.297994;
finalDepth = 727.415216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  727.415216 
#   Seafloor depth:           -777.415216
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 121.693939 meters
#   Minimum depth: 778.297994 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.580427 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.297994 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.798661;
longitude = -136.123178;
duration = 486;
initialDepth = 728.280579;
finalDepth = 728.297994;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  728.297994 
#   Seafloor depth:           -778.297994
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 121.693926 meters
#   Minimum depth: 778.280579 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.657224 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.280579 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.797570;
longitude = -136.123149;
duration = 486;
initialDepth = 727.658070;
finalDepth = 728.280579;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3766450000001
#   Actual altitude:          50.3766450000001
#   Commanded vehicle depth:  728.280579 
#   Seafloor depth:           -778.657224
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 121.693912 meters
#   Minimum depth: 777.658070 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.331176 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.658070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.796479;
longitude = -136.123120;
duration = 486;
initialDepth = 718.998532;
finalDepth = 727.658070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6731060000001
#   Actual altitude:          50.6731060000001
#   Commanded vehicle depth:  727.65807 
#   Seafloor depth:           -778.331176
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 128.351549 meters
#   Minimum depth: 768.998532 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.627648 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.998532 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795388;
longitude = -136.123091;
duration = 513;
initialDepth = 718.172119;
finalDepth = 718.998532;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.6291160000001
#   Actual altitude:          57.6291160000001
#   Commanded vehicle depth:  718.998532 
#   Seafloor depth:           -776.627648
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 92.184073 meters
#   Minimum depth: 768.172119 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.377988 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.172119 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794237;
longitude = -136.123060;
duration = 368;
# abortOnTimeout    = True; 
initialDepth = 726.976529;
finalDepth = 718.172119;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.6291160000001
#   Actual altitude:          57.6291160000001
#   Commanded vehicle depth:  718.172119 
#   Seafloor depth:           -768.172119
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.284387 meters
#   Minimum depth: 776.976529 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.149899 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.976529 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794280;
longitude = -136.120553;
duration = 401;
initialDepth = 729.110930;
finalDepth = 726.976529;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  726.976529 
#   Seafloor depth:           -776.976529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.284145 meters
#   Minimum depth: 779.110930 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.367878 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.110930 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794326;
longitude = -136.117825;
duration = 401;
initialDepth = 729.026679;
finalDepth = 729.110930;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  729.11093 
#   Seafloor depth:           -779.110930
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.283901 meters
#   Minimum depth: 779.026679 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.395800 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 729.026679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794373;
longitude = -136.115097;
duration = 401;
initialDepth = 728.432635;
finalDepth = 729.026679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3691210000001
#   Actual altitude:          50.3691210000001
#   Commanded vehicle depth:  729.026679 
#   Seafloor depth:           -779.395800
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.283659 meters
#   Minimum depth: 778.432635 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.379274 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.432635 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794419;
longitude = -136.112369;
duration = 401;
initialDepth = 727.939220;
finalDepth = 728.432635;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.926305
#   Actual altitude:          50.926305
#   Commanded vehicle depth:  728.432635 
#   Seafloor depth:           -779.358940
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.283416 meters
#   Minimum depth: 777.939220 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.452517 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.939220 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794466;
longitude = -136.109642;
duration = 401;
initialDepth = 727.122647;
finalDepth = 727.939220;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.926305
#   Actual altitude:          50.926305
#   Commanded vehicle depth:  727.93922 
#   Seafloor depth:           -778.415018
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.283173 meters
#   Minimum depth: 777.122647 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.677660 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.122647 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794512;
longitude = -136.106914;
duration = 401;
initialDepth = 726.543156;
finalDepth = 727.122647;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5550129999999
#   Actual altitude:          50.5550129999999
#   Commanded vehicle depth:  727.122647 
#   Seafloor depth:           -777.677660
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.282930 meters
#   Minimum depth: 776.543156 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.916230 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.543156 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794559;
longitude = -136.104186;
duration = 401;
initialDepth = 725.849164;
finalDepth = 726.543156;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5550129999999
#   Actual altitude:          50.5550129999999
#   Commanded vehicle depth:  726.543156 
#   Seafloor depth:           -776.916230
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.282688 meters
#   Minimum depth: 775.849164 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.554810 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.849164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794605;
longitude = -136.101458;
duration = 401;
initialDepth = 725.777032;
finalDepth = 725.849164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.705646
#   Actual altitude:          50.705646
#   Commanded vehicle depth:  725.849164 
#   Seafloor depth:           -776.554810
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.282446 meters
#   Minimum depth: 775.777032 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.157031 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.777032 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794652;
longitude = -136.098731;
duration = 401;
initialDepth = 726.222692;
finalDepth = 725.777032;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.705646
#   Actual altitude:          50.705646
#   Commanded vehicle depth:  725.777032 
#   Seafloor depth:           -775.826312
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.282202 meters
#   Minimum depth: 776.222692 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.321219 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.222692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794698;
longitude = -136.096003;
duration = 401;
initialDepth = 727.469100;
finalDepth = 726.222692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0492800000001
#   Actual altitude:          50.0492800000001
#   Commanded vehicle depth:  726.222692 
#   Seafloor depth:           -776.222692
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.281960 meters
#   Minimum depth: 777.469100 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.918051 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.469100 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794744;
longitude = -136.093275;
duration = 401;
initialDepth = 727.859699;
finalDepth = 727.469100;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  727.4691 
#   Seafloor depth:           -777.469100
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.281718 meters
#   Minimum depth: 777.859699 meters looking forward 100.000000 meters along route
#   Maximum depth: 778.690892 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.859699 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794791;
longitude = -136.090548;
duration = 401;
initialDepth = 728.714404;
finalDepth = 727.859699;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  727.859699 
#   Seafloor depth:           -777.859699
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.281474 meters
#   Minimum depth: 778.714404 meters looking forward 100.000000 meters along route
#   Maximum depth: 779.829825 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.714404 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794837;
longitude = -136.087820;
duration = 401;
initialDepth = 730.016152;
finalDepth = 728.714404;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0245440000001
#   Actual altitude:          50.0245440000001
#   Commanded vehicle depth:  728.714404 
#   Seafloor depth:           -778.738948
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.281233 meters
#   Minimum depth: 780.016152 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.763107 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.016152 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794884;
longitude = -136.085092;
duration = 401;
initialDepth = 731.767994;
finalDepth = 730.016152;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0245440000001
#   Actual altitude:          50.0245440000001
#   Commanded vehicle depth:  730.016152 
#   Seafloor depth:           -780.016152
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.280990 meters
#   Minimum depth: 781.767994 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.052399 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.767994 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794930;
longitude = -136.082364;
duration = 401;
initialDepth = 732.018077;
finalDepth = 731.767994;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  731.767994 
#   Seafloor depth:           -781.767994
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.280747 meters
#   Minimum depth: 782.018077 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.748675 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.018077 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794977;
longitude = -136.079637;
duration = 401;
initialDepth = 732.457942;
finalDepth = 732.018077;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  732.018077 
#   Seafloor depth:           -782.018077
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.280505 meters
#   Minimum depth: 782.457942 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.781366 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.457942 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795023;
longitude = -136.076909;
duration = 401;
initialDepth = 732.785184;
finalDepth = 732.457942;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.323424
#   Actual altitude:          50.323424
#   Commanded vehicle depth:  732.457942 
#   Seafloor depth:           -782.781366
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.280263 meters
#   Minimum depth: 782.785184 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.201301 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.785184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795070;
longitude = -136.074181;
duration = 401;
initialDepth = 732.868410;
finalDepth = 732.785184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.323424
#   Actual altitude:          50.323424
#   Commanded vehicle depth:  732.785184 
#   Seafloor depth:           -782.785184
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.280020 meters
#   Minimum depth: 782.868410 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.104325 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.868410 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795116;
longitude = -136.071453;
duration = 401;
initialDepth = 732.789062;
finalDepth = 732.868410;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.235915
#   Actual altitude:          50.235915
#   Commanded vehicle depth:  732.86841 
#   Seafloor depth:           -783.104325
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.279777 meters
#   Minimum depth: 782.789062 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.195875 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.789062 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795163;
longitude = -136.068726;
duration = 401;
initialDepth = 732.769995;
finalDepth = 732.789062;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.235915
#   Actual altitude:          50.235915
#   Commanded vehicle depth:  732.789062 
#   Seafloor depth:           -782.837109
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.279536 meters
#   Minimum depth: 782.769995 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.323480 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.769995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795209;
longitude = -136.065998;
duration = 401;
initialDepth = 731.786960;
finalDepth = 732.769995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5342920000001
#   Actual altitude:          50.5342920000001
#   Commanded vehicle depth:  732.769995 
#   Seafloor depth:           -783.304287
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.279293 meters
#   Minimum depth: 781.786960 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.801367 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.786960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795256;
longitude = -136.063270;
duration = 401;
initialDepth = 730.319481;
finalDepth = 731.786960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.014407
#   Actual altitude:          51.014407
#   Commanded vehicle depth:  731.78696 
#   Seafloor depth:           -782.801367
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.279051 meters
#   Minimum depth: 780.319481 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.675047 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.319481 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795302;
longitude = -136.060542;
duration = 401;
initialDepth = 727.577480;
finalDepth = 730.319481;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.355566
#   Actual altitude:          51.355566
#   Commanded vehicle depth:  730.319481 
#   Seafloor depth:           -781.675047
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.278808 meters
#   Minimum depth: 777.577480 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.179911 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.577480 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795349;
longitude = -136.057815;
duration = 401;
initialDepth = 721.043103;
finalDepth = 727.577480;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6024309999999
#   Actual altitude:          52.6024309999999
#   Commanded vehicle depth:  727.57748 
#   Seafloor depth:           -780.179911
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.278567 meters
#   Minimum depth: 771.043103 meters looking forward 100.000000 meters along route
#   Maximum depth: 777.261622 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.043103 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795395;
longitude = -136.055087;
duration = 401;
initialDepth = 715.871169;
finalDepth = 721.043103;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.218519
#   Actual altitude:          56.218519
#   Commanded vehicle depth:  721.043103 
#   Seafloor depth:           -777.261622
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.278324 meters
#   Minimum depth: 765.871169 meters looking forward 100.000000 meters along route
#   Maximum depth: 770.303911 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 715.871169 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795442;
longitude = -136.052359;
duration = 401;
initialDepth = 702.234984;
finalDepth = 715.871169;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.218519
#   Actual altitude:          56.218519
#   Commanded vehicle depth:  715.871169 
#   Seafloor depth:           -770.303911
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.278082 meters
#   Minimum depth: 752.234984 meters looking forward 100.000000 meters along route
#   Maximum depth: 765.238063 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.234984 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795488;
longitude = -136.049632;
duration = 401;
initialDepth = 698.109710;
finalDepth = 702.234984;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.003079
#   Actual altitude:          63.003079
#   Commanded vehicle depth:  702.234984 
#   Seafloor depth:           -765.238063
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.277839 meters
#   Minimum depth: 748.109710 meters looking forward 100.000000 meters along route
#   Maximum depth: 750.336616 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 698.109710 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795535;
longitude = -136.046904;
duration = 401;
initialDepth = 695.377727;
finalDepth = 698.109710;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.003079
#   Actual altitude:          63.003079
#   Commanded vehicle depth:  698.10971 
#   Seafloor depth:           -750.336616
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.277598 meters
#   Minimum depth: 745.377727 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.721842 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 695.377727 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795581;
longitude = -136.044176;
duration = 401;
initialDepth = 693.399745;
finalDepth = 695.377727;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.344115
#   Actual altitude:          52.344115
#   Commanded vehicle depth:  695.377727 
#   Seafloor depth:           -747.721842
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 103.145035 meters
#   Minimum depth: 743.399745 meters looking forward 100.000000 meters along route
#   Maximum depth: 745.312872 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.399745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795627;
longitude = -136.041448;
duration = 412;
initialDepth = 692.376530;
finalDepth = 693.399745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.344115
#   Actual altitude:          52.344115
#   Commanded vehicle depth:  693.399745 
#   Seafloor depth:           -745.312872
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 92.992374 meters
#   Minimum depth: 742.376530 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.502045 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.376530 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.795675;
longitude = -136.038643;
duration = 371;
# abortOnTimeout    = True; 
initialDepth = 690.800009;
finalDepth = 692.376530;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9131269999999
#   Actual altitude:          51.9131269999999
#   Commanded vehicle depth:  692.37653 
#   Seafloor depth:           -743.502045
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 121.795475 meters
#   Minimum depth: 740.800009 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.940178 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 690.800009 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.794842;
longitude = -136.038537;
duration = 487;
initialDepth = 688.888472;
finalDepth = 690.800009;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1401689999999
#   Actual altitude:          51.1401689999999
#   Commanded vehicle depth:  690.800009 
#   Seafloor depth:           -741.940178
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 121.795472 meters
#   Minimum depth: 738.888472 meters looking forward 100.000000 meters along route
#   Maximum depth: 740.368782 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 688.888472 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.793751;
longitude = -136.038398;
duration = 487;
initialDepth = 687.638231;
finalDepth = 688.888472;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.48031
#   Actual altitude:          51.48031
#   Commanded vehicle depth:  688.888472 
#   Seafloor depth:           -740.368782
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 121.795469 meters
#   Minimum depth: 737.638231 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.757381 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 687.638231 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.792660;
longitude = -136.038259;
duration = 487;
initialDepth = 685.660591;
finalDepth = 687.638231;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.48031
#   Actual altitude:          51.48031
#   Commanded vehicle depth:  687.638231 
#   Seafloor depth:           -738.757381
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 121.795466 meters
#   Minimum depth: 735.660591 meters looking forward 100.000000 meters along route
#   Maximum depth: 736.953114 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.660591 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.791569;
longitude = -136.038120;
duration = 487;
initialDepth = 684.054567;
finalDepth = 685.660591;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2925230000001
#   Actual altitude:          51.2925230000001
#   Commanded vehicle depth:  685.660591 
#   Seafloor depth:           -736.953114
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 121.795462 meters
#   Minimum depth: 734.054567 meters looking forward 100.000000 meters along route
#   Maximum depth: 735.395414 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.054567 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.790478;
longitude = -136.037981;
duration = 487;
initialDepth = 682.578848;
finalDepth = 684.054567;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3408469999999
#   Actual altitude:          51.3408469999999
#   Commanded vehicle depth:  684.054567 
#   Seafloor depth:           -735.395414
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 121.795459 meters
#   Minimum depth: 732.578848 meters looking forward 100.000000 meters along route
#   Maximum depth: 733.936887 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 682.578848 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.789387;
longitude = -136.037843;
duration = 487;
initialDepth = 682.192926;
finalDepth = 682.578848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.358039
#   Actual altitude:          51.358039
#   Commanded vehicle depth:  682.578848 
#   Seafloor depth:           -733.936887
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 121.795456 meters
#   Minimum depth: 732.192926 meters looking forward 100.000000 meters along route
#   Maximum depth: 732.360752 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 682.192926 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.788296;
longitude = -136.037704;
duration = 487;
initialDepth = 681.987252;
finalDepth = 682.192926;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.358039
#   Actual altitude:          51.358039
#   Commanded vehicle depth:  682.192926 
#   Seafloor depth:           -732.304361
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 128.625906 meters
#   Minimum depth: 731.987252 meters looking forward 100.000000 meters along route
#   Maximum depth: 732.516382 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 681.987252 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.787205;
longitude = -136.037565;
duration = 514;
initialDepth = 682.038361;
finalDepth = 681.987252;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.52913
#   Actual altitude:          50.52913
#   Commanded vehicle depth:  681.987252 
#   Seafloor depth:           -732.516382
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 128.195334 meters
#   Minimum depth: 732.038361 meters looking forward 100.000000 meters along route
#   Maximum depth: 733.304940 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 682.038361 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.786052;
longitude = -136.037419;
duration = 512;
# abortOnTimeout    = True; 
initialDepth = 683.383986;
finalDepth = 682.038361;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.52913
#   Actual altitude:          50.52913
#   Commanded vehicle depth:  682.038361 
#   Seafloor depth:           -732.038361
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.362504 meters
#   Minimum depth: 733.383986 meters looking forward 100.000000 meters along route
#   Maximum depth: 734.178070 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 683.383986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785985;
longitude = -136.040903;
duration = 401;
initialDepth = 684.336993;
finalDepth = 683.383986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  683.383986 
#   Seafloor depth:           -733.383986
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.362775 meters
#   Minimum depth: 734.336993 meters looking forward 100.000000 meters along route
#   Maximum depth: 735.826227 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.336993 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785933;
longitude = -136.043631;
duration = 401;
initialDepth = 686.103066;
finalDepth = 684.336993;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  684.336993 
#   Seafloor depth:           -734.336993
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.363047 meters
#   Minimum depth: 736.103066 meters looking forward 100.000000 meters along route
#   Maximum depth: 736.682913 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.103066 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785880;
longitude = -136.046358;
duration = 401;
initialDepth = 686.714812;
finalDepth = 686.103066;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  686.103066 
#   Seafloor depth:           -736.103066
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.363319 meters
#   Minimum depth: 736.714812 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.317088 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.714812 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785828;
longitude = -136.049086;
duration = 401;
initialDepth = 688.429531;
finalDepth = 686.714812;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  686.714812 
#   Seafloor depth:           -736.714812
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.363591 meters
#   Minimum depth: 738.429531 meters looking forward 100.000000 meters along route
#   Maximum depth: 739.072807 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 688.429531 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785776;
longitude = -136.051814;
duration = 401;
initialDepth = 689.162523;
finalDepth = 688.429531;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  688.429531 
#   Seafloor depth:           -738.429531
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.363864 meters
#   Minimum depth: 739.162523 meters looking forward 100.000000 meters along route
#   Maximum depth: 739.407198 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.162523 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785723;
longitude = -136.054541;
duration = 401;
initialDepth = 689.335685;
finalDepth = 689.162523;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  689.162523 
#   Seafloor depth:           -739.162523
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.364135 meters
#   Minimum depth: 739.335685 meters looking forward 100.000000 meters along route
#   Maximum depth: 740.173220 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.335685 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785671;
longitude = -136.057269;
duration = 401;
initialDepth = 689.453957;
finalDepth = 689.335685;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.016738
#   Actual altitude:          50.016738
#   Commanded vehicle depth:  689.335685 
#   Seafloor depth:           -739.352423
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.364408 meters
#   Minimum depth: 739.453957 meters looking forward 100.000000 meters along route
#   Maximum depth: 740.143105 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.453957 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785618;
longitude = -136.059997;
duration = 401;
initialDepth = 689.012007;
finalDepth = 689.453957;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.689148
#   Actual altitude:          50.689148
#   Commanded vehicle depth:  689.453957 
#   Seafloor depth:           -740.143105
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.364679 meters
#   Minimum depth: 739.012007 meters looking forward 100.000000 meters along route
#   Maximum depth: 739.437320 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.012007 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785566;
longitude = -136.062725;
duration = 401;
initialDepth = 689.054018;
finalDepth = 689.012007;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.689148
#   Actual altitude:          50.689148
#   Commanded vehicle depth:  689.012007 
#   Seafloor depth:           -739.437320
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.364952 meters
#   Minimum depth: 739.054018 meters looking forward 100.000000 meters along route
#   Maximum depth: 739.679295 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.054018 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785513;
longitude = -136.065452;
duration = 401;
initialDepth = 689.770207;
finalDepth = 689.054018;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.425313
#   Actual altitude:          50.425313
#   Commanded vehicle depth:  689.054018 
#   Seafloor depth:           -739.054018
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.365224 meters
#   Minimum depth: 739.770207 meters looking forward 100.000000 meters along route
#   Maximum depth: 740.534803 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.770207 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785461;
longitude = -136.068180;
duration = 401;
initialDepth = 690.732858;
finalDepth = 689.770207;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  689.770207 
#   Seafloor depth:           -739.770207
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.365496 meters
#   Minimum depth: 740.732858 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.875925 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 690.732858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785408;
longitude = -136.070908;
duration = 401;
initialDepth = 691.618013;
finalDepth = 690.732858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  690.732858 
#   Seafloor depth:           -740.732858
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.365768 meters
#   Minimum depth: 741.618013 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.790540 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.618013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785356;
longitude = -136.073636;
duration = 401;
initialDepth = 691.695981;
finalDepth = 691.618013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1725269999999
#   Actual altitude:          50.1725269999999
#   Commanded vehicle depth:  691.618013 
#   Seafloor depth:           -741.790540
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.366041 meters
#   Minimum depth: 741.695981 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.920041 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.695981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785304;
longitude = -136.076363;
duration = 401;
initialDepth = 691.821493;
finalDepth = 691.695981;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1725269999999
#   Actual altitude:          50.1725269999999
#   Commanded vehicle depth:  691.695981 
#   Seafloor depth:           -741.703172
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.366312 meters
#   Minimum depth: 741.821493 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.093489 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.821493 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785251;
longitude = -136.079091;
duration = 401;
initialDepth = 691.642068;
finalDepth = 691.821493;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0738729999999
#   Actual altitude:          50.0738729999999
#   Commanded vehicle depth:  691.821493 
#   Seafloor depth:           -741.895366
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.366586 meters
#   Minimum depth: 741.642068 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.001083 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.642068 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785199;
longitude = -136.081819;
duration = 401;
initialDepth = 691.502058;
finalDepth = 691.642068;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.359015
#   Actual altitude:          50.359015
#   Commanded vehicle depth:  691.642068 
#   Seafloor depth:           -742.001083
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.366857 meters
#   Minimum depth: 741.502058 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.005852 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.502058 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785146;
longitude = -136.084547;
duration = 401;
initialDepth = 690.744641;
finalDepth = 691.502058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.359015
#   Actual altitude:          50.359015
#   Commanded vehicle depth:  691.502058 
#   Seafloor depth:           -741.793496
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.367130 meters
#   Minimum depth: 740.744641 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.358890 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 690.744641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785094;
longitude = -136.087274;
duration = 401;
initialDepth = 690.619894;
finalDepth = 690.744641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.614249
#   Actual altitude:          50.614249
#   Commanded vehicle depth:  690.744641 
#   Seafloor depth:           -741.358890
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.367402 meters
#   Minimum depth: 740.619894 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.718982 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 690.619894 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.785041;
longitude = -136.090002;
duration = 401;
initialDepth = 691.854528;
finalDepth = 690.619894;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.614249
#   Actual altitude:          50.614249
#   Commanded vehicle depth:  690.619894 
#   Seafloor depth:           -740.695044
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.367674 meters
#   Minimum depth: 741.854528 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.344586 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.854528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784989;
longitude = -136.092730;
duration = 401;
initialDepth = 692.256515;
finalDepth = 691.854528;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.07515
#   Actual altitude:          50.07515
#   Commanded vehicle depth:  691.854528 
#   Seafloor depth:           -741.854528
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.367947 meters
#   Minimum depth: 742.256515 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.369747 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.256515 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784936;
longitude = -136.095457;
duration = 401;
initialDepth = 692.067347;
finalDepth = 692.256515;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.044309
#   Actual altitude:          50.044309
#   Commanded vehicle depth:  692.256515 
#   Seafloor depth:           -742.300824
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.368220 meters
#   Minimum depth: 742.067347 meters looking forward 100.000000 meters along route
#   Maximum depth: 742.709731 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.067347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784884;
longitude = -136.098185;
duration = 401;
initialDepth = 692.808728;
finalDepth = 692.067347;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.116503
#   Actual altitude:          50.116503
#   Commanded vehicle depth:  692.067347 
#   Seafloor depth:           -742.183850
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.368492 meters
#   Minimum depth: 742.808728 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.634913 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.808728 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784831;
longitude = -136.100913;
duration = 401;
initialDepth = 693.261287;
finalDepth = 692.808728;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.116503
#   Actual altitude:          50.116503
#   Commanded vehicle depth:  692.808728 
#   Seafloor depth:           -742.808728
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.368764 meters
#   Minimum depth: 743.261287 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.402088 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.261287 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784779;
longitude = -136.103641;
duration = 401;
initialDepth = 693.191061;
finalDepth = 693.261287;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.140801
#   Actual altitude:          50.140801
#   Commanded vehicle depth:  693.261287 
#   Seafloor depth:           -743.402088
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.369037 meters
#   Minimum depth: 743.191061 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.321037 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.191061 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784727;
longitude = -136.106368;
duration = 401;
initialDepth = 692.889572;
finalDepth = 693.191061;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.140801
#   Actual altitude:          50.140801
#   Commanded vehicle depth:  693.191061 
#   Seafloor depth:           -743.205799
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.369310 meters
#   Minimum depth: 742.889572 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.113784 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.889572 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784674;
longitude = -136.109096;
duration = 401;
initialDepth = 692.959298;
finalDepth = 692.889572;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.224212
#   Actual altitude:          50.224212
#   Commanded vehicle depth:  692.889572 
#   Seafloor depth:           -743.113784
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.369582 meters
#   Minimum depth: 742.959298 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.352875 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.959298 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784622;
longitude = -136.111824;
duration = 401;
initialDepth = 691.315809;
finalDepth = 692.959298;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.224212
#   Actual altitude:          50.224212
#   Commanded vehicle depth:  692.959298 
#   Seafloor depth:           -742.959298
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.593894 meters
#   Minimum depth: 741.315809 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.217667 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 766.420157 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.315809 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 70.784569;
longitude = -136.114552;
duration = 438;
initialDepth = 691.315809;
finalDepth = 691.315809;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.86927
#   Actual altitude:          51.86927
#   Commanded vehicle depth:  691.315809 
#   Seafloor depth:           -743.185079
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
#######################################################
# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 2;
}
# Set sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.86927
#   Sonar parameter altitude: 51.86927
#   Commanded vehicle depth:  691.315809 
#   Seafloor depth:           -741.445267
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 200.00;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 33;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 31.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint behavior to get back to start of line 1
#   Segment length 109.593894 meters
#   Minimum depth: 741.315809 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.217667 meters looking forward 100.000000 meters along route
#   Vehicle depth: 691.315809 meters
behavior waypoint
{
latitude = 70.784512;
longitude = -136.117530;
duration = 1382;
depth = 691.315809;
speed = 1.500000;
}
# 
# Zero speed hang to allow final nav updates over acoustic modem
# - must get start survey command over acoustic modem or mission aborts
behavior StartSurvey
{
duration = 300;
}
# 
# Acoustic update 4 - sent status ping at beginning of StartSurvey behavior 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# Spiral descend behavior to get to proper depth at start of line 1 
#   Behavior depth of 691.315809 meters set by local depth and desired altitude
behavior descend
{
duration = 3600;
horizontalMode = rudder;
horizontal = 2.000000;
pitch = -45.000000;
speed = 1.500000;
maxDepth = 701.445267;
minAltitude = 30.000000;
}
# 
# Acoustic update 5 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# Waypoint behavior to get to start of line 1
#   Segment length 109.593894 meters
#   Minimum depth: 741.315809 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.217667 meters looking forward 100.000000 meters along route
#   Vehicle depth: 50.000000 meters
behavior waypoint
{
latitude = 70.784512;
longitude = -136.117530;
duration = 2000;
depth = 50.000000;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 180.0;
pitch = -45.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 180.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
# Set sonar parameters, turn pinging on, power zero and logging off 
# 
behavior reson
{
duration = 6;
MB_Mode = 1;
Log_Mode = 0;
SBP_Mode = 0;
SBP_Power = 0.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 0;
LoSS_Power = 0.0;
LoSS_Range = 200.00;
HiSS_Mode = 0;
HiSS_Power = 0.0;
HiSS_Range = 200;
MB_Power = 0;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 33;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
