Lots of progress Lots of work got done yesterday. I got the vision system mostly set up; it is generating values suitable to be fed into a control system for both pipeline recognition and bon detection. Pretty much all of the AVR code is written, but untested. The electronics are wired together on the plate that goes inside the sub, but there are some bugs that still need to be worked out. The sonar system seems to be going well, but I don't know any specifics on that. The hull got tested with various connectors on the bulkhead, and leaked a few mL of water over twenty minutes. Mike thinks he's isolated the problem, and we will be testing again today.  ¶ kd5bjo @ 13:15