PropaGator 2 is back in the water. Today we tested the low level path planner. The boat is able to stay within a small area, but oscillates and struggles to maintain it’s heading while stationary. Much of the oscillations were due to controller gains that needed to be tuned. In addition to the controller, we tested out our passive sonar with a ultrasonic pinger. The sonar works well when the boat is stationary. We also recorded a handful of videos of the parking symbols for vision algorithm testing. It was a great testing day!