We’ve been spending as many hours at the pool as possible this weekend. The full assembled vehicle got its feet wet for the first time this past week. Since then, we’ve had a lot of success and only a few small bugs to work out. The Kalman filter is converging and the thruster mapper and primitive driver components are working as expected. Tomorrow’s goal is to integrate the LPOSVSS with the local waypoint driver, trajectory generator, and controller. Assuming all goes well, we should be able to navigate to waypoints by the end of the day. Watch out buoys, we’re coming for you next.