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Silvana was equipped with a depth sounder mounted off the starboard stern while the modem towfish was being towed from the left side of the vehicle. The bridle was not used to increase separation, and hopefully limit interface, between the towfish and depth sounder. PID gains were as follows:
Kp = 0.4
Kd = 0.6
Ki = 0.015
Integral limit = 750
Silvana was running a typical lawnmower mission at 60% thrust. These are fairly typical settings. William and Josh were running the kayaks on this day.
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