Eliot,
Thank you for the prompt response! Good to know that Clyde is working on it, I look forward to seeing its progress.
Thanks again,
Logan
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We’re really looking forward to potentally using a ‘terrain-follow’ or ‘altitude-hold’ mode using the DVL as a rangerfinder as part of our automated surveys 
Do you know if there is an updated beta version of ArduSub with this functionality even partially implemented which we could test?