After finally having reassembled the robot the previous day, today we aimed to run a mission and collect sidescan sonar data. We began by driving the boat around Matapalito bay to log GPS coordinates in order to plan the mission. I later plotted these coordinates on top of a map of the area:
Once we had a sense of the area we were working with, we created a mission for the robot that would drive it in zig zag pattern in order to completely cover a rectangle. However, as we got ready to deploy the robot, we realized that we weren't getting any GPS or sidescan sonar readings. Unfortunately, despite our efforts to debug the robot in the field, we were not able to resolve these issues. We decided it would be best to take apart the robot again once we got back to the lodge. Before we left, we drove the robot around in the water manually to make sure that it worked.
Once back at the lodge, we found some water damage to the GPS chip that will need to be replaced. Fortunately, it appears as though the sidescan sonar wasn't due solely to a wire that we forgot to connect.
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