We completed a variety of sea tests on Tuesday with Mini-AUE unit 1. In general things went quite well and we were able to have the vehicle complete several profiles, receive GPS position data, and recover the vehicle. Below is a photo of Paul Roberts programming the vehicle on the boat (Photo Credit: Rich Walsh).
Below is a map of two tracks inferred from GPS data (0001 and 0002). The map shows the start position (farther off shore) where the vehicle entered the water and the end position (closer to shore) where it surfaced after completing its profile. The vehicle was underwater for 30 minutes during each profile. Although the profiles were performed at different times, we can see from the trajectories that the current direction and velocity was quite consistent and in both cases the vehicle drifted by roughly 300 m towards the shore during the 30 minutes.